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Datasets:
AK51
/
so100_test6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
9.92
frame_index
int64
0
248
episode_index
int64
0
49
index
int64
0
12.4k
task_index
int64
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[ -23.5546875, 63.720703125, 72.59765625, 84.90234375, -52.998046875, 64.23751831054688 ]
2.96
74
0
74
0
[ -26.103515625, 59.23828125, 71.455078125, 81.03515625, -50.888671875, 56.43070602416992 ]
[ -24.345703125, 62.2265625, 72.59765625, 83.759765625, -52.3828125, 64.23751831054688 ]
3
75
0
75
0
[ -26.279296875, 56.953125, 70.224609375, 81.03515625, -50.625, 46.66001892089844 ]
[ -25.13671875, 60.64453125, 72.59765625, 82.6171875, -51.767578125, 64.23751831054688 ]
3.04
76
0
76
0
[ -26.279296875, 54.755859375, 68.02734375, 82.705078125, -50.537109375, 30.508474349975586 ]
[ -25.751953125, 58.974609375, 72.59765625, 81.826171875, -51.328125, 61.53845977783203 ]
3.08
77
0
77
0
[ -25.6640625, 53.96484375, 66.181640625, 84.0234375, -50.009765625, 12.562313079833984 ]
[ -26.015625, 57.041015625, 71.806640625, 81.5625, -51.15234375, 55.4655876159668 ]
3.12
78
0
78
0
[ -24.9609375, 54.228515625, 65.7421875, 84.55078125, -49.921875, 0.6979062557220459 ]
[ -26.015625, 55.546875, 69.9609375, 82.265625, -50.9765625, 46.828609466552734 ]
3.16
79
0
79
0
[ -23.994140625, 54.404296875, 63.544921875, 87.36328125, -50.44921875, 0.09970089793205261 ]
[ -26.19140625, 54.84375, 67.939453125, 83.056640625, -50.80078125, 35.762481689453125 ]
3.2
80
0
80
0
[ -23.02734375, 54.404296875, 60.380859375, 91.7578125, -51.064453125, 0.09970089793205261 ]
[ -26.19140625, 54.66796875, 67.236328125, 83.671875, -50.625, 24.561403274536133 ]
3.24
81
0
81
0
[ -22.060546875, 55.01953125, 57.3046875, 95.9765625, -51.6796875, 0.09970089793205261 ]
[ -25.6640625, 54.31640625, 65.654296875, 85.4296875, -50.625, 16.869096755981445 ]
3.28
82
0
82
0
[ -20.91796875, 56.689453125, 54.931640625, 99.31640625, -51.85546875, 0.09970089793205261 ]
[ -24.609375, 54.140625, 63.720703125, 88.505859375, -50.888671875, 12.955465316772461 ]
3.32
83
0
83
0
[ -19.775390625, 59.23828125, 53.525390625, 101.953125, -52.119140625, 0.09970089793205261 ]
[ -23.291015625, 54.052734375, 61.611328125, 92.197265625, -51.15234375, 11.875843048095703 ]
3.36
84
0
84
0
[ -18.544921875, 62.841796875, 53.7890625, 103.623046875, -52.3828125, 0.09970089793205261 ]
[ -21.97265625, 54.140625, 59.23828125, 95.625, -51.416015625, 11.336031913757324 ]
3.4
85
0
85
0
[ -17.138671875, 67.763671875, 56.07421875, 103.623046875, -52.3828125, 0.09970089793205261 ]
[ -20.7421875, 54.84375, 57.744140625, 98.61328125, -51.591796875, 11.201079368591309 ]
3.44
86
0
86
0
[ -15.64453125, 72.861328125, 59.326171875, 103.623046875, -53.349609375, 0 ]
[ -19.6875, 56.689453125, 57.48046875, 101.07421875, -51.85546875, 11.201079368591309 ]
3.48
87
0
87
0
[ -13.88671875, 77.51953125, 62.578125, 103.623046875, -54.404296875, 0 ]
[ -18.6328125, 59.501953125, 57.919921875, 101.865234375, -52.03125, 11.066126823425293 ]
3.52
88
0
88
0
[ -11.865234375, 81.9140625, 65.830078125, 103.623046875, -55.546875, 0 ]
[ -17.2265625, 63.720703125, 59.501953125, 102.216796875, -52.822265625, 10.931174278259277 ]
3.56
89
0
89
0
[ -9.140625, 85.60546875, 68.642578125, 103.623046875, -56.865234375, 0 ]
[ -15.64453125, 68.37890625, 61.787109375, 103.0078125, -53.61328125, 10.931174278259277 ]
3.6
90
0
90
0
[ -6.064453125, 88.41796875, 71.103515625, 103.623046875, -58.623046875, 0 ]
[ -13.623046875, 72.94921875, 64.51171875, 103.095703125, -54.31640625, 10.931174278259277 ]
3.64
91
0
91
0
[ -2.548828125, 89.912109375, 72.94921875, 103.623046875, -60.64453125, 0 ]
[ -11.42578125, 77.431640625, 67.236328125, 103.0078125, -55.546875, 10.931174278259277 ]
3.68
92
0
92
0
[ 1.142578125, 90, 73.4765625, 103.623046875, -62.2265625, 0 ]
[ -8.7890625, 81.38671875, 69.697265625, 103.359375, -57.12890625, 10.931174278259277 ]
3.72
93
0
93
0
[ 5.09765625, 89.296875, 73.30078125, 103.623046875, -64.072265625, 0 ]
[ -5.712890625, 84.111328125, 71.806640625, 103.7109375, -58.974609375, 10.931174278259277 ]
3.76
94
0
94
0
[ 8.7890625, 88.76953125, 73.125, 103.53515625, -66.26953125, 0 ]
[ -2.373046875, 85.341796875, 72.685546875, 103.7109375, -60.556640625, 10.931174278259277 ]
3.8
95
0
95
0
[ 12.48046875, 88.681640625, 73.212890625, 102.83203125, -68.5546875, 0 ]
[ 1.142578125, 85.4296875, 72.94921875, 103.7109375, -62.314453125, 10.931174278259277 ]
3.84
96
0
96
0
[ 15.99609375, 88.59375, 73.65234375, 101.513671875, -70.6640625, 0 ]
[ 4.74609375, 85.4296875, 73.125, 103.623046875, -64.3359375, 10.931174278259277 ]
3.88
97
0
97
0
[ 19.51171875, 88.06640625, 73.740234375, 100.107421875, -72.94921875, 0 ]
[ 8.525390625, 85.4296875, 73.4765625, 103.18359375, -66.4453125, 10.931174278259277 ]
3.92
98
0
98
0
[ 22.939453125, 87.01171875, 73.740234375, 97.91015625, -75.234375, 0 ]
[ 12.041015625, 85.4296875, 73.828125, 102.216796875, -68.5546875, 10.931174278259277 ]
3.96
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": 50,
    "total_frames": 12450,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "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",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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