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Datasets:
Mwuqiu
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
24.1
frame_index
int64
0
722
episode_index
int64
0
1
index
int64
0
1.28k
task_index
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[ -41.748046875, 71.279296875, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.4
72
0
72
0
[ -41.30859375, 68.90625, 54.31640625, 103.623046875, -8.4375, 29.639888763427734 ]
[ -41.748046875, 69.9609375, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.433333
73
0
73
0
[ -41.220703125, 68.818359375, 54.404296875, 101.337890625, -8.4375, 29.639888763427734 ]
[ -41.572265625, 69.2578125, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.466667
74
0
74
0
[ -41.220703125, 68.73046875, 54.404296875, 99.140625, -8.525390625, 29.639888763427734 ]
[ -41.484375, 68.818359375, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.5
75
0
75
0
[ -41.220703125, 68.642578125, 54.580078125, 97.20703125, -8.525390625, 29.639888763427734 ]
[ -41.396484375, 68.642578125, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.533333
76
0
76
0
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[ -41.396484375, 68.466796875, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.566667
77
0
77
0
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[ -41.396484375, 68.203125, 56.865234375, 95.2734375, -8.0859375, 29.26421356201172 ]
2.6
78
0
78
0
[ -41.044921875, 65.478515625, 54.4921875, 93.076171875, -8.525390625, 29.639888763427734 ]
[ -41.396484375, 67.8515625, 56.865234375, 95.185546875, -8.0859375, 29.26421356201172 ]
2.633333
79
0
79
0
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[ -41.396484375, 67.060546875, 56.865234375, 94.5703125, -8.0859375, 29.26421356201172 ]
2.666667
80
0
80
0
[ -40.95703125, 62.490234375, 54.31640625, 92.021484375, -8.525390625, 29.54755401611328 ]
[ -41.484375, 65.7421875, 56.6015625, 93.8671875, -8.0859375, 29.26421356201172 ]
2.7
81
0
81
0
[ -40.95703125, 61.435546875, 54.31640625, 91.93359375, -8.525390625, 29.54755401611328 ]
[ -41.484375, 64.248046875, 56.513671875, 93.1640625, -8.0859375, 29.26421356201172 ]
2.733333
82
0
82
0
[ -40.95703125, 60.732421875, 54.31640625, 91.7578125, -8.525390625, 29.54755401611328 ]
[ -41.484375, 62.75390625, 56.513671875, 92.8125, -8.0859375, 29.26421356201172 ]
2.766667
83
0
83
0
[ -40.95703125, 60.1171875, 54.31640625, 91.142578125, -8.525390625, 29.455217361450195 ]
[ -41.484375, 61.5234375, 56.513671875, 92.548828125, -8.0859375, 29.26421356201172 ]
2.8
84
0
84
0
[ -40.95703125, 59.765625, 54.31640625, 90.17578125, -8.525390625, 29.36288070678711 ]
[ -41.30859375, 60.556640625, 56.513671875, 92.197265625, -8.0859375, 29.26421356201172 ]
2.833333
85
0
85
0
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[ -41.220703125, 59.853515625, 56.513671875, 91.7578125, -7.998046875, 29.26421356201172 ]
2.866667
86
0
86
0
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[ -41.1328125, 59.501953125, 56.513671875, 91.0546875, -7.998046875, 29.26421356201172 ]
2.9
87
0
87
0
[ -40.869140625, 59.326171875, 54.31640625, 86.66015625, -8.525390625, 29.270544052124023 ]
[ -41.1328125, 59.150390625, 56.513671875, 90, -7.998046875, 29.26421356201172 ]
2.933333
88
0
88
0
[ -40.869140625, 59.23828125, 54.31640625, 85.60546875, -8.525390625, 29.17820930480957 ]
[ -41.044921875, 58.974609375, 56.513671875, 89.033203125, -8.0859375, 29.26421356201172 ]
2.966667
89
0
89
0
[ -40.78125, 58.798828125, 54.31640625, 84.7265625, -8.525390625, 29.17820930480957 ]
[ -41.044921875, 58.798828125, 56.513671875, 87.978515625, -8.173828125, 29.26421356201172 ]
3
90
0
90
0
[ -40.78125, 58.095703125, 54.31640625, 83.935546875, -8.525390625, 29.17820930480957 ]
[ -41.044921875, 58.798828125, 56.513671875, 87.01171875, -8.173828125, 29.26421356201172 ]
3.033333
91
0
91
0
[ -40.78125, 57.392578125, 54.31640625, 83.408203125, -8.525390625, 29.17820930480957 ]
[ -41.044921875, 58.53515625, 56.513671875, 86.044921875, -8.173828125, 29.26421356201172 ]
3.066667
92
0
92
0
[ -40.78125, 56.6015625, 54.31640625, 82.880859375, -8.525390625, 29.17820930480957 ]
[ -41.1328125, 57.919921875, 56.42578125, 85.166015625, -8.173828125, 29.26421356201172 ]
3.1
93
0
93
0
[ -40.78125, 55.810546875, 54.31640625, 82.529296875, -8.525390625, 29.17820930480957 ]
[ -41.1328125, 56.953125, 56.42578125, 84.462890625, -8.173828125, 29.26421356201172 ]
3.133333
94
0
94
0
[ -40.78125, 55.283203125, 54.228515625, 82.265625, -8.525390625, 29.17820930480957 ]
[ -41.1328125, 56.162109375, 56.42578125, 83.84765625, -8.173828125, 29.26421356201172 ]
3.166667
95
0
95
0
[ -40.78125, 54.931640625, 54.228515625, 81.9140625, -8.525390625, 29.17820930480957 ]
[ -41.1328125, 55.458984375, 56.42578125, 83.3203125, -8.525390625, 29.26421356201172 ]
3.2
96
0
96
0
[ -40.78125, 54.755859375, 53.7890625, 81.73828125, -8.525390625, 29.085872650146484 ]
[ -41.220703125, 55.01953125, 56.42578125, 82.96875, -8.525390625, 29.26421356201172 ]
3.233333
97
0
97
0
[ -40.78125, 54.66796875, 53.173828125, 81.73828125, -8.525390625, 29.085872650146484 ]
[ -41.30859375, 54.66796875, 56.42578125, 82.6171875, -8.525390625, 29.26421356201172 ]
3.266667
98
0
98
0
[ -40.78125, 54.404296875, 52.55859375, 81.650390625, -8.525390625, 29.085872650146484 ]
[ -41.396484375, 54.31640625, 56.42578125, 82.353515625, -8.525390625, 29.26421356201172 ]
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": 1281,
    "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": [
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                3
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            "names": [
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            "info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.phone": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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": {
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                1
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            "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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