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InfiH
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
27.1
frame_index
int64
0
814
episode_index
int64
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1
index
int64
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1.42k
task_index
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[ 22.8515625, 99.404296875, -127.529296875, 39.7265625, -0.703125, 28.81646728515625 ]
[ 21.533203125, 98.96484375, -127.79296875, 39.19921875, -0.263671875, 28.759244918823242 ]
2.4
72
0
72
0
[ 22.8515625, 99.404296875, -127.529296875, 39.7265625, -0.703125, 28.730703353881836 ]
[ 21.533203125, 98.96484375, -127.79296875, 39.0234375, -0.263671875, 28.51273536682129 ]
2.433333
73
0
73
0
[ 22.8515625, 99.404296875, -127.529296875, 39.7265625, -0.703125, 28.730703353881836 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.466667
74
0
74
0
[ 22.8515625, 99.404296875, -127.529296875, 39.7265625, -0.703125, 28.730703353881836 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.5
75
0
75
0
[ 22.8515625, 99.404296875, -127.44140625, 39.7265625, -0.703125, 28.730703353881836 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.533333
76
0
76
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.615234375, 28.730703353881836 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.566667
77
0
77
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.615234375, 28.644939422607422 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.6
78
0
78
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.615234375, 28.644939422607422 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.633333
79
0
79
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.615234375, 28.644939422607422 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.666667
80
0
80
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.52734375, 28.644939422607422 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.7
81
0
81
0
[ 22.8515625, 99.404296875, -127.44140625, 39.638671875, -0.3515625, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.733333
82
0
82
0
[ 22.8515625, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.766667
83
0
83
0
[ 22.8515625, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.8
84
0
84
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.833333
85
0
85
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.866667
86
0
86
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.9
87
0
87
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.55917739868164 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.933333
88
0
88
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.473413467407227 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
2.966667
89
0
89
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.473413467407227 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3
90
0
90
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.473413467407227 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.033333
91
0
91
0
[ 22.763671875, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.473413467407227 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.066667
92
0
92
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.263671875, 28.387649536132812 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.1
93
0
93
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.17578125, 28.130359649658203 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.133333
94
0
94
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.17578125, 27.18696403503418 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.166667
95
0
95
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.17578125, 25.728988647460938 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 28.348398208618164 ]
3.2
96
0
96
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.3515625, 23.756431579589844 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 27.855382919311523 ]
3.233333
97
0
97
0
[ 22.67578125, 99.404296875, -127.44140625, 39.55078125, -0.439453125, 21.526586532592773 ]
[ 21.533203125, 98.876953125, -127.79296875, 39.0234375, -0.263671875, 26.787181854248047 ]
3.266667
98
0
98
0
[ 22.587890625, 99.404296875, -127.44140625, 39.55078125, -0.52734375, 19.039451599121094 ]
[ 21.533203125, 98.876953125, -127.6171875, 39.0234375, -0.263671875, 25.308134078979492 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1792,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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