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Datasets:
1g0rrr
/
sam_openpi_wire10

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
openpi
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
8
index
int64
0
2.69k
task_index
int64
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[ 7.55859375, 162.0703125, 153.6328125, 47.548828125, -2.373046875, 0.87890625, 99.27007293701172 ]
2.166667
65
0
65
0
[ 7.998046875, 158.115234375, 149.150390625, 45.87890625, -2.98828125, 0.615234375, 100.26881408691406 ]
[ 7.734375, 159.873046875, 152.05078125, 46.845703125, -2.548828125, 0.791015625, 99.27007293701172 ]
2.2
66
0
66
0
[ 8.26171875, 155.91796875, 148.0078125, 44.912109375, -3.427734375, 0.3515625, 100.26881408691406 ]
[ 7.91015625, 157.587890625, 150.64453125, 45.87890625, -2.724609375, 0.615234375, 99.27007293701172 ]
2.233333
67
0
67
0
[ 8.61328125, 153.80859375, 147.041015625, 43.857421875, -3.779296875, 0.087890625, 100.26881408691406 ]
[ 8.173828125, 155.390625, 149.326171875, 45, -2.98828125, 0.439453125, 99.27007293701172 ]
2.266667
68
0
68
0
[ 8.876953125, 151.787109375, 146.25, 42.890625, -4.130859375, -0.087890625, 100.26881408691406 ]
[ 8.4375, 153.28125, 148.095703125, 43.857421875, -3.251953125, 0.17578125, 99.27007293701172 ]
2.3
69
0
69
0
[ 9.404296875, 150.029296875, 145.546875, 42.099609375, -4.5703125, -0.3515625, 100.26881408691406 ]
[ 8.7890625, 151.259765625, 147.12890625, 42.890625, -3.955078125, -0.087890625, 99.27007293701172 ]
2.333333
70
0
70
0
[ 9.84375, 148.623046875, 145.107421875, 41.30859375, -4.921875, -0.52734375, 100.26881408691406 ]
[ 9.052734375, 149.501953125, 146.337890625, 42.1875, -4.130859375, -0.263671875, 99.27007293701172 ]
2.366667
71
0
71
0
[ 10.458984375, 147.568359375, 144.84375, 40.517578125, -5.44921875, -0.703125, 100.26881408691406 ]
[ 9.66796875, 148.271484375, 145.72265625, 41.396484375, -4.482421875, -0.52734375, 99.27007293701172 ]
2.4
72
0
72
0
[ 10.986328125, 146.77734375, 144.66796875, 39.814453125, -5.9765625, -0.791015625, 100.26881408691406 ]
[ 10.107421875, 147.216796875, 145.458984375, 40.60546875, -4.833984375, -0.703125, 99.27007293701172 ]
2.433333
73
0
73
0
[ 11.6015625, 146.337890625, 144.580078125, 39.287109375, -6.6796875, -0.966796875, 100.26881408691406 ]
[ 10.810546875, 146.6015625, 145.1953125, 39.814453125, -5.361328125, -0.791015625, 99.27007293701172 ]
2.466667
74
0
74
0
[ 12.041015625, 145.810546875, 144.4921875, 38.671875, -7.20703125, -1.0546875, 100.26881408691406 ]
[ 11.337890625, 146.162109375, 145.107421875, 39.375, -5.712890625, -0.966796875, 99.27007293701172 ]
2.5
75
0
75
0
[ 12.568359375, 145.283203125, 144.228515625, 38.232421875, -7.646484375, -1.0546875, 100.26881408691406 ]
[ 11.953125, 145.634765625, 145.107421875, 38.759765625, -6.416015625, -1.0546875, 99.27007293701172 ]
2.533333
76
0
76
0
[ 12.919921875, 144.755859375, 143.876953125, 37.96875, -8.0859375, -1.142578125, 100.26881408691406 ]
[ 12.3046875, 145.107421875, 144.84375, 38.3203125, -6.943359375, -1.0546875, 99.27007293701172 ]
2.566667
77
0
77
0
[ 13.18359375, 144.052734375, 143.4375, 37.880859375, -8.349609375, -1.23046875, 100.26881408691406 ]
[ 12.744140625, 144.580078125, 144.66796875, 38.14453125, -7.470703125, -1.142578125, 99.27007293701172 ]
2.6
78
0
78
0
[ 13.53515625, 143.173828125, 142.822265625, 37.96875, -8.525390625, -1.318359375, 100.26881408691406 ]
[ 13.095703125, 143.876953125, 144.140625, 38.056640625, -7.998046875, -1.23046875, 99.27007293701172 ]
2.633333
79
0
79
0
[ 13.7109375, 142.20703125, 142.20703125, 37.880859375, -8.7890625, -1.494140625, 100.26881408691406 ]
[ 13.359375, 142.822265625, 143.61328125, 38.056640625, -8.349609375, -1.318359375, 99.27007293701172 ]
2.666667
80
0
80
0
[ 13.88671875, 141.328125, 141.85546875, 37.705078125, -9.052734375, -1.58203125, 100.26881408691406 ]
[ 13.623046875, 141.943359375, 142.998046875, 38.056640625, -8.525390625, -1.494140625, 99.27007293701172 ]
2.7
81
0
81
0
[ 14.0625, 140.44921875, 141.591796875, 37.265625, -9.228515625, -1.58203125, 100.26881408691406 ]
[ 13.798828125, 141.064453125, 142.470703125, 37.880859375, -8.701171875, -1.58203125, 99.27007293701172 ]
2.733333
82
0
82
0
[ 14.150390625, 139.5703125, 141.50390625, 36.650390625, -9.4921875, -1.58203125, 100.26881408691406 ]
[ 14.0625, 140.2734375, 142.20703125, 37.353515625, -8.96484375, -1.58203125, 99.27007293701172 ]
2.766667
83
0
83
0
[ 14.326171875, 138.603515625, 141.50390625, 36.03515625, -9.755859375, -1.669921875, 100.26881408691406 ]
[ 14.150390625, 139.21875, 141.943359375, 36.73828125, -9.31640625, -1.58203125, 99.27007293701172 ]
2.8
84
0
84
0
[ 14.677734375, 137.373046875, 141.416015625, 35.244140625, -10.1953125, -1.669921875, 100.26881408691406 ]
[ 14.326171875, 138.33984375, 141.943359375, 36.123046875, -9.4921875, -1.669921875, 99.27007293701172 ]
2.833333
85
0
85
0
[ 14.853515625, 136.142578125, 141.240234375, 34.62890625, -10.458984375, -1.7578125, 100.26881408691406 ]
[ 14.501953125, 136.93359375, 141.85546875, 35.33203125, -9.66796875, -1.669921875, 99.27007293701172 ]
2.866667
86
0
86
0
[ 15.1171875, 134.912109375, 140.888671875, 34.189453125, -10.72265625, -1.93359375, 100.26881408691406 ]
[ 14.853515625, 135.87890625, 141.767578125, 34.716796875, -10.1953125, -1.7578125, 99.27007293701172 ]
2.9
87
0
87
0
[ 15.380859375, 133.59375, 140.44921875, 33.837890625, -10.8984375, -2.021484375, 100.26881408691406 ]
[ 15.029296875, 134.560546875, 141.50390625, 34.27734375, -10.37109375, -1.93359375, 99.27007293701172 ]
2.933333
88
0
88
0
[ 15.556640625, 132.36328125, 139.921875, 33.662109375, -10.986328125, -2.28515625, 100.26881408691406 ]
[ 15.29296875, 133.2421875, 141.15234375, 34.013671875, -10.72265625, -2.021484375, 99.27007293701172 ]
2.966667
89
0
89
0
[ 15.732421875, 131.220703125, 139.39453125, 33.486328125, -11.07421875, -2.4609375, 100.26881408691406 ]
[ 15.556640625, 132.01171875, 140.625, 33.837890625, -10.72265625, -2.28515625, 99.27007293701172 ]
3
90
0
90
0
[ 15.99609375, 130.078125, 138.955078125, 33.134765625, -11.25, -2.548828125, 100.26881408691406 ]
[ 15.732421875, 130.869140625, 140.185546875, 33.662109375, -10.8984375, -2.373046875, 99.27007293701172 ]
3.033333
91
0
91
0
[ 16.34765625, 129.19921875, 138.603515625, 32.783203125, -11.513671875, -2.724609375, 100.26881408691406 ]
[ 15.908203125, 129.814453125, 139.5703125, 33.22265625, -10.8984375, -2.548828125, 99.27007293701172 ]
3.066667
92
0
92
0
[ 16.787109375, 128.3203125, 138.427734375, 32.431640625, -12.041015625, -2.98828125, 100.26881408691406 ]
[ 16.259765625, 128.935546875, 139.21875, 32.87109375, -11.25, -2.724609375, 99.27007293701172 ]
3.1
93
0
93
0
[ 17.314453125, 127.6171875, 138.33984375, 31.9921875, -12.65625, -3.076171875, 100.26881408691406 ]
[ 16.611328125, 128.056640625, 138.955078125, 32.51953125, -11.513671875, -2.98828125, 99.27007293701172 ]
3.133333
94
0
94
0
[ 17.841796875, 127.08984375, 138.33984375, 31.376953125, -13.18359375, -3.1640625, 100.26881408691406 ]
[ 17.138671875, 127.353515625, 138.8671875, 32.080078125, -12.3046875, -3.076171875, 99.27007293701172 ]
3.166667
95
0
95
0
[ 18.28125, 126.650390625, 138.427734375, 30.9375, -13.53515625, -3.1640625, 100.26881408691406 ]
[ 17.578125, 126.826171875, 138.8671875, 31.46484375, -12.65625, -3.1640625, 99.27007293701172 ]
3.2
96
0
96
0
[ 18.6328125, 126.123046875, 138.427734375, 30.498046875, -13.88671875, -3.251953125, 100.26881408691406 ]
[ 18.10546875, 126.474609375, 138.8671875, 31.025390625, -13.0078125, -3.1640625, 99.27007293701172 ]
3.233333
97
0
97
0
[ 18.984375, 125.68359375, 138.515625, 30.05859375, -14.150390625, -3.33984375, 100.26881408691406 ]
[ 18.544921875, 125.947265625, 138.8671875, 30.5859375, -13.359375, -3.251953125, 99.27007293701172 ]
3.266667
98
0
98
0
[ 19.3359375, 125.244140625, 138.515625, 29.53125, -14.58984375, -3.33984375, 100.26881408691406 ]
[ 18.896484375, 125.419921875, 138.8671875, 30.234375, -13.7109375, -3.33984375, 99.27007293701172 ]
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": 10,
    "total_frames": 2990,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "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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            "names": null
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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