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Datasets:
siqiLi
/
so100_test

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
0
13.4
frame_index
int64
0
401
episode_index
int64
0
49
index
int64
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19.8k
task_index
int64
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[ -5.712890625, 115.400390625, 163.125, -49.130859375, -83.14453125, 76.62875366210938 ]
[ -4.482421875, 119.619140625, 164.091796875, -42.71484375, -81.5625, 72.70195007324219 ]
2.4
72
0
72
0
[ -5.888671875, 114.08203125, 162.94921875, -50.2734375, -83.671875, 76.9389877319336 ]
[ -4.658203125, 118.125, 164.091796875, -44.12109375, -82.001953125, 73.74652099609375 ]
2.433333
73
0
73
0
[ -5.9765625, 112.939453125, 162.94921875, -51.50390625, -83.935546875, 76.9389877319336 ]
[ -4.658203125, 116.19140625, 164.00390625, -46.0546875, -82.353515625, 74.65180969238281 ]
2.466667
74
0
74
0
[ -5.9765625, 111.884765625, 162.94921875, -52.646484375, -84.287109375, 76.9389877319336 ]
[ -4.658203125, 114.78515625, 164.00390625, -47.373046875, -82.529296875, 75.06963348388672 ]
2.5
75
0
75
0
[ -5.9765625, 110.478515625, 162.94921875, -53.701171875, -84.462890625, 76.9389877319336 ]
[ -4.482421875, 112.763671875, 163.828125, -49.04296875, -83.232421875, 75.41783142089844 ]
2.533333
76
0
76
0
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[ -4.482421875, 111.181640625, 163.916015625, -50.2734375, -83.49609375, 75.55709838867188 ]
2.566667
77
0
77
0
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[ -4.5703125, 109.951171875, 163.916015625, -51.416015625, -83.671875, 75.69638061523438 ]
2.6
78
0
78
0
[ -6.15234375, 106.171875, 161.103515625, -56.07421875, -85.25390625, 77.04240417480469 ]
[ -5.185546875, 108.80859375, 163.828125, -52.55859375, -83.671875, 75.69638061523438 ]
2.633333
79
0
79
0
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[ -5.80078125, 107.05078125, 163.740234375, -53.61328125, -84.287109375, 76.25347900390625 ]
2.666667
80
0
80
0
[ -6.15234375, 104.4140625, 159.521484375, -56.162109375, -85.60546875, 76.73216247558594 ]
[ -5.80078125, 106.083984375, 163.30078125, -54.140625, -84.55078125, 76.39276123046875 ]
2.7
81
0
81
0
[ -6.064453125, 103.53515625, 158.994140625, -56.162109375, -85.869140625, 76.9389877319336 ]
[ -5.625, 105.029296875, 162.421875, -54.580078125, -84.638671875, 76.18384552001953 ]
2.733333
82
0
82
0
[ -6.064453125, 102.83203125, 158.466796875, -56.337890625, -86.044921875, 76.9389877319336 ]
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2.766667
83
0
83
0
[ -6.064453125, 101.77734375, 157.939453125, -56.77734375, -86.1328125, 76.62875366210938 ]
[ -5.361328125, 102.919921875, 160.751953125, -54.755859375, -85.25390625, 76.18384552001953 ]
2.8
84
0
84
0
[ -6.15234375, 101.162109375, 157.763671875, -57.216796875, -86.396484375, 76.11168670654297 ]
[ -5.361328125, 102.041015625, 160.3125, -54.84375, -85.4296875, 76.18384552001953 ]
2.833333
85
0
85
0
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[ -5.44921875, 101.162109375, 159.609375, -55.107421875, -85.4296875, 76.18384552001953 ]
2.866667
86
0
86
0
[ -6.328125, 100.01953125, 157.32421875, -57.744140625, -86.66015625, 73.31954193115234 ]
[ -5.44921875, 100.986328125, 159.43359375, -55.546875, -85.517578125, 76.18384552001953 ]
2.9
87
0
87
0
[ -6.416015625, 99.66796875, 157.32421875, -57.919921875, -86.66015625, 71.56153106689453 ]
[ -5.361328125, 100.283203125, 159.169921875, -55.810546875, -85.517578125, 75.7660140991211 ]
2.933333
88
0
88
0
[ -6.416015625, 99.4921875, 157.32421875, -58.271484375, -86.66015625, 70.3205795288086 ]
[ -5.361328125, 99.84375, 159.08203125, -55.810546875, -85.517578125, 74.58216857910156 ]
2.966667
89
0
89
0
[ -6.416015625, 99.404296875, 157.587890625, -58.7109375, -86.572265625, 69.28645324707031 ]
[ -5.361328125, 99.140625, 158.994140625, -55.986328125, -85.517578125, 72.98049926757812 ]
3
90
0
90
0
[ -6.416015625, 99.31640625, 157.8515625, -59.23828125, -86.484375, 67.63185119628906 ]
[ -5.361328125, 98.876953125, 158.994140625, -56.42578125, -85.517578125, 71.58773803710938 ]
3.033333
91
0
91
0
[ -6.50390625, 99.228515625, 158.203125, -59.853515625, -86.396484375, 65.14994812011719 ]
[ -5.361328125, 98.7890625, 158.994140625, -56.689453125, -85.517578125, 70.40390014648438 ]
3.066667
92
0
92
0
[ -6.6796875, 99.140625, 158.5546875, -60.29296875, -86.396484375, 62.77145767211914 ]
[ -5.361328125, 98.7890625, 158.994140625, -57.3046875, -85.517578125, 69.08078002929688 ]
3.1
93
0
93
0
[ -6.943359375, 99.052734375, 158.818359375, -60.8203125, -86.484375, 60.80662155151367 ]
[ -5.361328125, 98.7890625, 158.994140625, -57.744140625, -85.517578125, 67.2005615234375 ]
3.133333
94
0
94
0
[ -7.294921875, 99.052734375, 158.994140625, -61.083984375, -86.220703125, 58.63495635986328 ]
[ -5.361328125, 98.7890625, 158.994140625, -58.271484375, -85.517578125, 65.04177856445312 ]
3.166667
95
0
95
0
[ -7.55859375, 99.052734375, 158.994140625, -61.259765625, -86.220703125, 56.67011260986328 ]
[ -5.361328125, 98.7890625, 158.994140625, -58.7109375, -85.517578125, 62.81336975097656 ]
3.2
96
0
96
0
[ -7.822265625, 99.052734375, 159.169921875, -61.5234375, -86.1328125, 55.01551055908203 ]
[ -5.80078125, 98.7890625, 158.994140625, -59.326171875, -85.517578125, 60.654598236083984 ]
3.233333
97
0
97
0
[ -8.173828125, 99.052734375, 159.345703125, -62.05078125, -86.044921875, 53.5677375793457 ]
[ -6.240234375, 98.7890625, 158.994140625, -59.677734375, -85.517578125, 58.565460205078125 ]
3.266667
98
0
98
0
[ -8.525390625, 99.052734375, 159.873046875, -62.841796875, -86.044921875, 52.63702392578125 ]
[ -6.767578125, 98.7890625, 159.2578125, -59.853515625, -85.517578125, 57.033424377441406 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 19779,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.phone": {
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "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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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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