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Datasets:
arulloomba
/
so100_test_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
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0
index
int64
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597
task_index
int64
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[ -5.09765625, 189.580078125, 178.76953125, 52.119140625, -3.69140625, 2.2624435424804688 ]
[ -4.658203125, 188.7890625, 179.033203125, 53.26171875, -3.69140625, 2.1137027740478516 ]
2.333333
70
0
70
0
[ -5.361328125, 189.580078125, 178.59375, 52.03125, -3.251953125, 2.3529412746429443 ]
[ -4.658203125, 188.7890625, 179.033203125, 53.26171875, -3.69140625, 2.1137027740478516 ]
2.366667
71
0
71
0
[ -6.240234375, 189.580078125, 178.330078125, 51.943359375, -3.1640625, 2.3529412746429443 ]
[ -4.658203125, 188.7890625, 178.9453125, 53.26171875, -3.69140625, 2.1137027740478516 ]
2.4
72
0
72
0
[ -7.55859375, 189.4921875, 177.36328125, 51.240234375, -3.33984375, 2.3529412746429443 ]
[ -4.658203125, 188.7890625, 178.857421875, 53.26171875, -3.69140625, 2.1137027740478516 ]
2.433333
73
0
73
0
[ -9.4921875, 188.876953125, 175.60546875, 49.74609375, -3.603515625, 2.3529412746429443 ]
[ -4.658203125, 188.7890625, 178.857421875, 53.26171875, -3.69140625, 2.1137027740478516 ]
2.466667
74
0
74
0
[ -11.77734375, 188.701171875, 173.759765625, 47.724609375, -3.603515625, 2.3529412746429443 ]
[ -5.09765625, 188.7890625, 178.681640625, 53.0859375, -3.69140625, 2.1137027740478516 ]
2.5
75
0
75
0
[ -14.150390625, 188.349609375, 171.826171875, 45.439453125, -3.603515625, 2.3529412746429443 ]
[ -6.064453125, 188.701171875, 178.06640625, 52.294921875, -3.69140625, 2.1137027740478516 ]
2.533333
76
0
76
0
[ -15.99609375, 187.646484375, 170.068359375, 42.978515625, -3.603515625, 2.44343900680542 ]
[ -7.91015625, 188.701171875, 176.748046875, 51.15234375, -3.69140625, 2.1137027740478516 ]
2.566667
77
0
77
0
[ -17.841796875, 186.591796875, 168.3984375, 40.4296875, -3.603515625, 2.44343900680542 ]
[ -10.1953125, 188.4375, 175.693359375, 49.5703125, -3.69140625, 2.1137027740478516 ]
2.6
78
0
78
0
[ -19.248046875, 184.921875, 166.81640625, 38.49609375, -3.69140625, 2.44343900680542 ]
[ -12.744140625, 187.998046875, 174.990234375, 47.8125, -3.69140625, 2.1137027740478516 ]
2.633333
79
0
79
0
[ -20.390625, 182.8125, 165.234375, 36.9140625, -3.69140625, 2.44343900680542 ]
[ -14.58984375, 187.3828125, 174.19921875, 45.791015625, -3.69140625, 2.1137027740478516 ]
2.666667
80
0
80
0
[ -21.181640625, 180.17578125, 163.740234375, 35.33203125, -3.69140625, 2.44343900680542 ]
[ -16.259765625, 186.416015625, 173.3203125, 43.857421875, -3.69140625, 2.1137027740478516 ]
2.7
81
0
81
0
[ -21.708984375, 177.01171875, 162.333984375, 34.013671875, -3.69140625, 2.44343900680542 ]
[ -17.841796875, 185.009765625, 172.177734375, 41.923828125, -3.69140625, 2.1137027740478516 ]
2.733333
82
0
82
0
[ -21.97265625, 173.3203125, 160.83984375, 32.958984375, -3.69140625, 2.44343900680542 ]
[ -19.16015625, 183.33984375, 171.03515625, 40.25390625, -3.69140625, 2.1137027740478516 ]
2.766667
83
0
83
0
[ -22.060546875, 169.189453125, 159.08203125, 31.9921875, -3.69140625, 2.44343900680542 ]
[ -20.126953125, 181.23046875, 169.716796875, 38.583984375, -3.69140625, 2.1137027740478516 ]
2.8
84
0
84
0
[ -22.1484375, 164.8828125, 157.32421875, 30.849609375, -3.69140625, 2.44343900680542 ]
[ -20.830078125, 178.857421875, 168.3984375, 37.177734375, -3.69140625, 2.1137027740478516 ]
2.833333
85
0
85
0
[ -22.1484375, 160.400390625, 155.126953125, 30.05859375, -3.69140625, 2.44343900680542 ]
[ -21.26953125, 175.869140625, 167.080078125, 35.947265625, -3.69140625, 2.1137027740478516 ]
2.866667
86
0
86
0
[ -22.5, 156.09375, 152.490234375, 29.443359375, -3.69140625, 2.44343900680542 ]
[ -21.62109375, 173.3203125, 165.9375, 34.98046875, -3.69140625, 2.1137027740478516 ]
2.9
87
0
87
0
[ -22.587890625, 151.875, 149.677734375, 28.828125, -3.69140625, 2.44343900680542 ]
[ -21.884765625, 171.03515625, 164.8828125, 34.013671875, -3.69140625, 2.1137027740478516 ]
2.933333
88
0
88
0
[ -22.67578125, 147.744140625, 146.865234375, 28.564453125, -3.69140625, 2.44343900680542 ]
[ -22.1484375, 167.87109375, 163.125, 33.046875, -3.69140625, 2.1137027740478516 ]
2.966667
89
0
89
0
[ -22.763671875, 143.7890625, 144.140625, 28.4765625, -3.69140625, 2.44343900680542 ]
[ -22.32421875, 164.1796875, 161.279296875, 32.255859375, -3.69140625, 2.1137027740478516 ]
3
90
0
90
0
[ -22.763671875, 139.833984375, 141.416015625, 28.30078125, -3.69140625, 2.44343900680542 ]
[ -22.587890625, 160.048828125, 159.521484375, 31.552734375, -3.69140625, 2.1137027740478516 ]
3.033333
91
0
91
0
[ -22.763671875, 136.845703125, 138.8671875, 28.4765625, -3.603515625, 2.44343900680542 ]
[ -22.67578125, 155.56640625, 157.32421875, 31.025390625, -3.69140625, 2.1137027740478516 ]
3.066667
92
0
92
0
[ -22.763671875, 133.76953125, 136.494140625, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 151.259765625, 154.86328125, 30.5859375, -3.69140625, 2.1137027740478516 ]
3.1
93
0
93
0
[ -22.763671875, 130.78125, 134.296875, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 148.18359375, 153.10546875, 30.322265625, -3.69140625, 2.1137027740478516 ]
3.133333
94
0
94
0
[ -22.8515625, 128.3203125, 132.1875, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 146.25, 151.875, 30.146484375, -3.69140625, 2.1137027740478516 ]
3.166667
95
0
95
0
[ -22.8515625, 126.298828125, 130.166015625, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 144.4921875, 150.556640625, 30.05859375, -3.69140625, 2.1137027740478516 ]
3.2
96
0
96
0
[ -22.8515625, 124.98046875, 128.49609375, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 141.85546875, 148.53515625, 30.05859375, -3.69140625, 2.1137027740478516 ]
3.233333
97
0
97
0
[ -22.8515625, 123.92578125, 126.9140625, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 138.427734375, 145.810546875, 30.05859375, -3.69140625, 2.1137027740478516 ]
3.266667
98
0
98
0
[ -22.8515625, 123.310546875, 125.419921875, 28.564453125, -3.603515625, 2.5339367389678955 ]
[ -22.67578125, 134.6484375, 142.91015625, 30.05859375, -3.69140625, 2.1137027740478516 ]
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": 1,
    "total_frames": 598,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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