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Datasets:
weiye11
/
so100_410_zwy

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
1
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action
sequence
observation.state
sequence
timestamp
float32
0
15.1
frame_index
int64
0
454
episode_index
int64
0
100
index
int64
0
36k
task_index
int64
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71
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[ 1.58203125, 135.17578125, 135.439453125, 49.21875, -12.568359375, -0.10152284801006317 ]
[ 0.791015625, 142.20703125, 140.888671875, 49.5703125, -12.744140625, 0.7473841905593872 ]
2.4
72
0
72
0
[ 1.669921875, 133.330078125, 133.9453125, 49.39453125, -12.568359375, -0.10152284801006317 ]
[ 0.791015625, 139.658203125, 139.5703125, 49.5703125, -12.744140625, 0.7473841905593872 ]
2.433333
73
0
73
0
[ 1.669921875, 131.220703125, 132.275390625, 49.658203125, -12.3046875, -0.10152284801006317 ]
[ 0.791015625, 137.373046875, 138.33984375, 49.5703125, -12.744140625, 0.7473841905593872 ]
2.466667
74
0
74
0
[ 1.845703125, 129.111328125, 130.25390625, 50.2734375, -11.953125, -0.10152284801006317 ]
[ 0.87890625, 135.087890625, 136.93359375, 49.5703125, -12.744140625, 0.7473841905593872 ]
2.5
75
0
75
0
[ 2.021484375, 127.08984375, 128.408203125, 50.625, -11.513671875, -0.10152284801006317 ]
[ 1.142578125, 132.802734375, 135.439453125, 49.658203125, -12.744140625, 0.7473841905593872 ]
2.533333
76
0
76
0
[ 2.28515625, 125.068359375, 126.474609375, 51.240234375, -10.810546875, -0.10152284801006317 ]
[ 1.318359375, 130.60546875, 133.681640625, 50.09765625, -12.392578125, 0.7473841905593872 ]
2.566667
77
0
77
0
[ 2.548828125, 123.046875, 124.62890625, 51.416015625, -10.283203125, -0.10152284801006317 ]
[ 1.58203125, 128.49609375, 131.8359375, 50.44921875, -12.041015625, 0.7473841905593872 ]
2.6
78
0
78
0
[ 2.63671875, 121.2890625, 123.046875, 51.50390625, -10.01953125, -0.10152284801006317 ]
[ 1.7578125, 126.38671875, 129.990234375, 50.888671875, -11.42578125, 0.7473841905593872 ]
2.633333
79
0
79
0
[ 2.724609375, 119.970703125, 121.81640625, 51.50390625, -9.755859375, -0.10152284801006317 ]
[ 1.93359375, 124.189453125, 128.14453125, 51.240234375, -10.986328125, 0.7473841905593872 ]
2.666667
80
0
80
0
[ 2.8125, 118.65234375, 120.673828125, 51.50390625, -9.404296875, 0.10152284801006317 ]
[ 2.197265625, 122.16796875, 126.474609375, 51.416015625, -10.546875, 0.7473841905593872 ]
2.7
81
0
81
0
[ 2.8125, 116.982421875, 119.267578125, 51.591796875, -9.404296875, 0.913705587387085 ]
[ 2.28515625, 120.322265625, 124.892578125, 51.416015625, -10.1953125, 0.7473841905593872 ]
2.733333
82
0
82
0
[ 2.63671875, 115.3125, 117.94921875, 51.6796875, -9.4921875, 2.030456781387329 ]
[ 2.373046875, 118.828125, 123.662109375, 51.416015625, -9.931640625, 0.7473841905593872 ]
2.766667
83
0
83
0
[ 2.63671875, 113.90625, 116.806640625, 51.6796875, -9.404296875, 2.030456781387329 ]
[ 2.4609375, 117.24609375, 122.34375, 51.416015625, -9.755859375, 0.7473841905593872 ]
2.8
84
0
84
0
[ 2.63671875, 112.412109375, 115.400390625, 51.943359375, -9.228515625, 2.3350253105163574 ]
[ 2.4609375, 115.6640625, 120.9375, 51.416015625, -9.755859375, 1.121076226234436 ]
2.833333
85
0
85
0
[ 2.63671875, 110.91796875, 113.994140625, 52.20703125, -9.31640625, 3.1472079753875732 ]
[ 2.4609375, 114.169921875, 119.619140625, 51.591796875, -9.755859375, 1.420029878616333 ]
2.866667
86
0
86
0
[ 2.724609375, 109.423828125, 112.5, 52.470703125, -9.31640625, 3.959390878677368 ]
[ 2.4609375, 112.67578125, 118.30078125, 51.85546875, -9.580078125, 1.7189836502075195 ]
2.9
87
0
87
0
[ 2.900390625, 107.75390625, 110.478515625, 53.173828125, -8.96484375, 4.467004776000977 ]
[ 2.4609375, 111.181640625, 116.982421875, 52.119140625, -9.580078125, 2.242152452468872 ]
2.933333
88
0
88
0
[ 2.900390625, 105.908203125, 108.193359375, 54.052734375, -8.7890625, 5.2791876792907715 ]
[ 2.4609375, 109.6875, 115.48828125, 52.470703125, -9.580078125, 2.7653212547302246 ]
2.966667
89
0
89
0
[ 2.98828125, 104.326171875, 106.083984375, 54.931640625, -8.349609375, 5.380710601806641 ]
[ 2.4609375, 108.10546875, 113.73046875, 53.0859375, -9.580078125, 2.989536762237549 ]
3
90
0
90
0
[ 2.98828125, 102.83203125, 103.88671875, 55.986328125, -7.734375, 5.2791876792907715 ]
[ 2.4609375, 106.5234375, 111.708984375, 53.7890625, -9.31640625, 3.7369205951690674 ]
3.033333
91
0
91
0
[ 2.98828125, 101.337890625, 101.6015625, 57.041015625, -7.119140625, 5.888324737548828 ]
[ 2.4609375, 104.765625, 109.51171875, 54.580078125, -8.876953125, 4.3348283767700195 ]
3.066667
92
0
92
0
[ 2.98828125, 99.404296875, 98.701171875, 58.53515625, -6.50390625, 5.888324737548828 ]
[ 2.4609375, 103.0078125, 107.40234375, 55.546875, -8.349609375, 4.783258438110352 ]
3.1
93
0
93
0
[ 2.98828125, 97.822265625, 96.240234375, 59.765625, -5.888671875, 5.685279369354248 ]
[ 2.4609375, 101.42578125, 105.1171875, 56.6015625, -7.734375, 5.1569504737854 ]
3.133333
94
0
94
0
[ 2.98828125, 96.416015625, 93.955078125, 60.556640625, -5.2734375, 5.786801815032959 ]
[ 2.4609375, 99.755859375, 102.65625, 57.919921875, -7.119140625, 5.381165981292725 ]
3.166667
95
0
95
0
[ 2.98828125, 95.2734375, 91.845703125, 61.5234375, -4.658203125, 6.091370582580566 ]
[ 2.4609375, 98.0859375, 100.1953125, 59.0625, -6.591796875, 5.455904483795166 ]
3.2
96
0
96
0
[ 2.98828125, 93.8671875, 89.384765625, 62.578125, -4.04296875, 6.395938873291016 ]
[ 2.4609375, 96.50390625, 97.822265625, 60.1171875, -5.888671875, 5.455904483795166 ]
3.233333
97
0
97
0
[ 3.076171875, 92.109375, 86.748046875, 63.80859375, -3.515625, 6.091370582580566 ]
[ 2.4609375, 95.009765625, 95.44921875, 61.083984375, -5.2734375, 5.455904483795166 ]
3.266667
98
0
98
0
[ 3.1640625, 90.703125, 84.7265625, 64.423828125, -3.076171875, 5.888324737548828 ]
[ 2.4609375, 93.515625, 93.1640625, 62.138671875, -4.74609375, 5.680119514465332 ]
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": 101,
    "total_frames": 36046,
    "total_tasks": 1,
    "total_videos": 202,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:101"
    },
    "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": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "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
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        },
        "observation.images.wrist_left": {
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            "shape": [
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                640,
                3
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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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        "task_index": {
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            "names": null
        }
    }
}

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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