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Datasets:
rossliu
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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observation.state
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -7.3828125, 78.837890625, 108.896484375, 54.4921875, -68.115234375, 20.265151977539062 ]
2.4
72
0
72
0
[ -8.26171875, 86.396484375, 108.193359375, 55.37109375, -65.7421875, 0.08196721225976944 ]
[ -7.294921875, 79.189453125, 108.896484375, 54.404296875, -67.412109375, 20.265151977539062 ]
2.433333
73
0
73
0
[ -8.349609375, 89.033203125, 108.193359375, 56.513671875, -64.775390625, 0.08196721225976944 ]
[ -7.119140625, 79.541015625, 108.896484375, 54.404296875, -66.357421875, 20.265151977539062 ]
2.466667
74
0
74
0
[ -8.525390625, 92.28515625, 108.193359375, 57.919921875, -63.6328125, 0.08196721225976944 ]
[ -7.3828125, 80.5078125, 108.984375, 54.404296875, -65.302734375, 20.265151977539062 ]
2.5
75
0
75
0
[ -8.96484375, 95.537109375, 108.193359375, 59.765625, -62.314453125, 0.08196721225976944 ]
[ -7.822265625, 82.177734375, 108.984375, 55.458984375, -64.599609375, 20.265151977539062 ]
2.533333
76
0
76
0
[ -9.755859375, 99.052734375, 108.28125, 61.69921875, -60.029296875, 0.08196721225976944 ]
[ -8.173828125, 84.814453125, 108.984375, 56.513671875, -63.984375, 20.265151977539062 ]
2.566667
77
0
77
0
[ -10.546875, 102.65625, 108.45703125, 63.017578125, -56.25, 0.08196721225976944 ]
[ -8.26171875, 87.275390625, 108.984375, 57.12890625, -62.841796875, 20.265151977539062 ]
2.6
78
0
78
0
[ -11.42578125, 106.259765625, 108.720703125, 63.369140625, -49.74609375, 0.08196721225976944 ]
[ -8.173828125, 90.791015625, 108.984375, 58.974609375, -61.083984375, 20.265151977539062 ]
2.633333
79
0
79
0
[ -11.953125, 109.51171875, 108.984375, 63.720703125, -42.802734375, 0.08196721225976944 ]
[ -8.701171875, 93.8671875, 108.984375, 61.5234375, -59.0625, 20.265151977539062 ]
2.666667
80
0
80
0
[ -12.392578125, 112.5, 109.775390625, 63.984375, -36.5625, 0.16393442451953888 ]
[ -9.84375, 97.3828125, 109.072265625, 62.2265625, -56.07421875, 20.265151977539062 ]
2.7
81
0
81
0
[ -13.271484375, 114.2578125, 110.830078125, 63.984375, -31.728515625, 0.16393442451953888 ]
[ -10.8984375, 101.162109375, 109.072265625, 62.05078125, -51.240234375, 20.265151977539062 ]
2.733333
82
0
82
0
[ -14.4140625, 114.78515625, 111.708984375, 63.984375, -27.421875, 0.16393442451953888 ]
[ -11.42578125, 105.556640625, 109.775390625, 62.666015625, -44.384765625, 20.265151977539062 ]
2.766667
83
0
83
0
[ -15.8203125, 114.78515625, 112.67578125, 63.984375, -23.994140625, 0.16393442451953888 ]
[ -11.865234375, 108.45703125, 110.478515625, 62.75390625, -39.0234375, 20.265151977539062 ]
2.8
84
0
84
0
[ -17.2265625, 114.697265625, 114.08203125, 63.544921875, -21.533203125, 0.16393442451953888 ]
[ -12.65625, 110.0390625, 111.26953125, 62.841796875, -34.189453125, 20.265151977539062 ]
2.833333
85
0
85
0
[ -18.369140625, 114.78515625, 115.6640625, 62.05078125, -19.423828125, 0.16393442451953888 ]
[ -14.0625, 110.91796875, 112.236328125, 62.841796875, -29.443359375, 20.265151977539062 ]
2.866667
86
0
86
0
[ -19.775390625, 115.048828125, 116.89453125, 61.34765625, -18.369140625, 0.16393442451953888 ]
[ -15.46875, 111.26953125, 113.642578125, 62.841796875, -25.48828125, 20.265151977539062 ]
2.9
87
0
87
0
[ -21.357421875, 115.224609375, 117.685546875, 61.259765625, -17.578125, 0.16393442451953888 ]
[ -17.2265625, 111.357421875, 115.576171875, 62.578125, -22.32421875, 20.265151977539062 ]
2.933333
88
0
88
0
[ -22.939453125, 114.873046875, 117.94921875, 61.259765625, -16.259765625, 0.16393442451953888 ]
[ -18.45703125, 111.533203125, 116.71875, 61.962890625, -19.86328125, 20.265151977539062 ]
2.966667
89
0
89
0
[ -24.873046875, 114.2578125, 118.388671875, 61.259765625, -15.380859375, 0.16393442451953888 ]
[ -19.16015625, 111.708984375, 117.333984375, 61.787109375, -18.45703125, 20.265151977539062 ]
3
90
0
90
0
[ -26.89453125, 113.5546875, 118.828125, 61.259765625, -14.94140625, 0.16393442451953888 ]
[ -20.126953125, 111.708984375, 117.7734375, 61.69921875, -17.2265625, 20.265151977539062 ]
3.033333
91
0
91
0
[ -28.828125, 112.763671875, 119.091796875, 61.259765625, -14.150390625, 0.16393442451953888 ]
[ -21.62109375, 111.708984375, 118.388671875, 61.611328125, -16.083984375, 20.265151977539062 ]
3.066667
92
0
92
0
[ -30.849609375, 111.796875, 119.1796875, 61.259765625, -13.095703125, 0.16393442451953888 ]
[ -23.642578125, 111.708984375, 118.828125, 61.611328125, -15.029296875, 20.265151977539062 ]
3.1
93
0
93
0
[ -33.046875, 110.654296875, 119.1796875, 61.259765625, -12.3046875, 0.16393442451953888 ]
[ -25.6640625, 111.357421875, 119.35546875, 61.5234375, -14.677734375, 20.265151977539062 ]
3.133333
94
0
94
0
[ -35.244140625, 108.984375, 119.091796875, 61.259765625, -11.953125, 0.16393442451953888 ]
[ -28.564453125, 110.390625, 119.794921875, 61.611328125, -13.447265625, 20.265151977539062 ]
3.166667
95
0
95
0
[ -37.6171875, 106.875, 119.091796875, 60.99609375, -11.77734375, 0.16393442451953888 ]
[ -30.41015625, 109.6875, 119.794921875, 61.611328125, -12.744140625, 20.265151977539062 ]
3.2
96
0
96
0
[ -40.25390625, 104.58984375, 119.091796875, 59.94140625, -11.513671875, 0.16393442451953888 ]
[ -32.431640625, 108.80859375, 119.70703125, 61.611328125, -11.953125, 20.265151977539062 ]
3.233333
97
0
97
0
[ -42.5390625, 102.48046875, 119.00390625, 58.18359375, -11.513671875, 0.16393442451953888 ]
[ -34.716796875, 106.962890625, 119.619140625, 60.8203125, -11.42578125, 20.265151977539062 ]
3.266667
98
0
98
0
[ -44.208984375, 100.810546875, 118.828125, 56.77734375, -11.77734375, 0.16393442451953888 ]
[ -37.265625, 104.677734375, 119.619140625, 59.853515625, -10.986328125, 20.265151977539062 ]
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": 1672,
    "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": [
                "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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