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Datasets:
Thorns07
/
so100_test_diffusion_grasp

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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15.5
frame_index
int64
0
464
episode_index
int64
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24
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int64
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task_index
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[ 17.138671875, 158.203125, 145.01953125, 61.611328125, -31.376953125, -0.20618557929992676 ]
[ 16.435546875, 165.76171875, 149.4140625, 61.787109375, -28.30078125, 0.26292726397514343 ]
2.433333
73
0
73
0
[ 16.875, 154.775390625, 144.931640625, 61.611328125, -33.486328125, -0.20618557929992676 ]
[ 16.875, 161.806640625, 148.359375, 61.787109375, -29.619140625, 0.26292726397514343 ]
2.466667
74
0
74
0
[ 17.314453125, 150.380859375, 144.140625, 61.5234375, -34.8046875, -0.20618557929992676 ]
[ 16.875, 157.8515625, 147.65625, 61.69921875, -30.9375, 0.26292726397514343 ]
2.5
75
0
75
0
[ 17.9296875, 143.96484375, 142.646484375, 61.34765625, -36.03515625, -0.20618557929992676 ]
[ 16.69921875, 153.80859375, 146.953125, 61.69921875, -32.87109375, 0.26292726397514343 ]
2.533333
76
0
76
0
[ 19.51171875, 135.52734375, 139.482421875, 61.34765625, -37.177734375, -0.20618557929992676 ]
[ 17.40234375, 147.48046875, 145.458984375, 61.69921875, -34.541015625, 0.26292726397514343 ]
2.566667
77
0
77
0
[ 20.7421875, 131.044921875, 137.4609375, 61.5234375, -38.14453125, 0 ]
[ 18.017578125, 142.3828125, 143.7890625, 61.69921875, -35.419921875, 0.26292726397514343 ]
2.6
78
0
78
0
[ 21.708984375, 128.759765625, 136.845703125, 61.34765625, -39.55078125, 0 ]
[ 19.51171875, 134.208984375, 140.888671875, 61.5234375, -37.001953125, 0.26292726397514343 ]
2.633333
79
0
79
0
[ 21.796875, 128.759765625, 136.845703125, 61.787109375, -40.517578125, 0 ]
[ 20.91796875, 130.4296875, 139.658203125, 61.611328125, -38.408203125, 0.26292726397514343 ]
2.666667
80
0
80
0
[ 21.796875, 128.583984375, 136.93359375, 61.875, -41.1328125, 0 ]
[ 20.91796875, 129.375, 139.482421875, 61.69921875, -39.287109375, 0.26292726397514343 ]
2.7
81
0
81
0
[ 21.884765625, 127.96875, 136.845703125, 61.69921875, -41.66015625, 0 ]
[ 21.708984375, 128.759765625, 139.39453125, 61.69921875, -40.166015625, 0.26292726397514343 ]
2.733333
82
0
82
0
[ 21.62109375, 127.353515625, 136.93359375, 61.435546875, -42.275390625, 2.6804122924804688 ]
[ 21.26953125, 128.056640625, 139.306640625, 61.69921875, -40.95703125, 0.26292726397514343 ]
2.766667
83
0
83
0
[ 20.91796875, 125.68359375, 136.58203125, 61.259765625, -42.978515625, 9.69072151184082 ]
[ 21.533203125, 127.44140625, 139.21875, 61.69921875, -41.66015625, 0.8764241933822632 ]
2.8
84
0
84
0
[ 20.126953125, 123.3984375, 136.318359375, 60.205078125, -43.505859375, 15.463916778564453 ]
[ 21.181640625, 125.947265625, 138.955078125, 61.69921875, -42.36328125, 4.907975196838379 ]
2.833333
85
0
85
0
[ 19.423828125, 121.552734375, 136.142578125, 59.23828125, -44.208984375, 17.731958389282227 ]
[ 20.478515625, 123.837890625, 138.515625, 60.908203125, -42.978515625, 11.130586624145508 ]
2.866667
86
0
86
0
[ 18.896484375, 119.970703125, 135.703125, 58.447265625, -44.296875, 17.93814468383789 ]
[ 20.302734375, 121.9921875, 138.33984375, 59.94140625, -43.681640625, 15.249781608581543 ]
2.9
87
0
87
0
[ 18.28125, 118.388671875, 135.439453125, 57.65625, -44.82421875, 18.969072341918945 ]
[ 18.984375, 120.322265625, 137.98828125, 59.0625, -43.857421875, 17.002628326416016 ]
2.933333
88
0
88
0
[ 17.9296875, 117.24609375, 135.3515625, 57.216796875, -45.263671875, 20.206186294555664 ]
[ 18.984375, 118.828125, 137.63671875, 58.271484375, -44.208984375, 18.054338455200195 ]
2.966667
89
0
89
0
[ 17.666015625, 116.015625, 135.3515625, 57.12890625, -46.142578125, 23.50515365600586 ]
[ 17.9296875, 117.421875, 137.4609375, 57.744140625, -44.82421875, 19.54425811767578 ]
3
90
0
90
0
[ 17.75390625, 115.13671875, 135.3515625, 57.041015625, -47.021484375, 24.536081314086914 ]
[ 18.017578125, 116.279296875, 137.4609375, 57.65625, -45.3515625, 20.77125358581543 ]
3.033333
91
0
91
0
[ 18.10546875, 114.169921875, 135.3515625, 56.513671875, -47.63671875, 25.154638290405273 ]
[ 18.45703125, 115.400390625, 137.4609375, 57.65625, -46.0546875, 22.96231460571289 ]
3.066667
92
0
92
0
[ 18.80859375, 113.02734375, 135.263671875, 56.07421875, -48.955078125, 25.979381561279297 ]
[ 18.10546875, 114.43359375, 137.4609375, 57.12890625, -46.93359375, 24.101665496826172 ]
3.1
93
0
93
0
[ 19.86328125, 111.4453125, 134.560546875, 55.634765625, -50.361328125, 26.597938537597656 ]
[ 18.193359375, 113.291015625, 137.4609375, 56.6015625, -47.900390625, 25.065731048583984 ]
3.133333
94
0
94
0
[ 20.830078125, 109.775390625, 133.41796875, 55.546875, -51.943359375, 26.597938537597656 ]
[ 19.248046875, 111.796875, 136.845703125, 55.986328125, -49.21875, 25.942155838012695 ]
3.166667
95
0
95
0
[ 21.884765625, 107.666015625, 131.572265625, 55.810546875, -53.61328125, 26.597938537597656 ]
[ 19.86328125, 110.21484375, 135.966796875, 55.986328125, -50.537109375, 26.117441177368164 ]
3.2
96
0
96
0
[ 23.02734375, 106.34765625, 129.990234375, 56.07421875, -55.1953125, 27.01030921936035 ]
[ 20.654296875, 108.28125, 134.384765625, 56.162109375, -51.943359375, 26.2050838470459 ]
3.233333
97
0
97
0
[ 24.08203125, 105.1171875, 128.3203125, 57.041015625, -56.953125, 27.01030921936035 ]
[ 22.1484375, 106.787109375, 132.978515625, 56.337890625, -53.525390625, 26.4680118560791 ]
3.266667
98
0
98
0
[ 24.873046875, 104.23828125, 127.44140625, 57.48046875, -58.623046875, 27.216493606567383 ]
[ 22.939453125, 105.46875, 131.30859375, 56.689453125, -55.107421875, 26.643293380737305 ]
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": 25,
    "total_frames": 11353,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": {
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            "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop1": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.eyeonhand": {
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            "info": {
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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