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Datasets:
AkibaGeek
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
9.9
frame_index
int64
0
297
episode_index
int64
0
29
index
int64
0
8.94k
task_index
int64
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[ -3.076171875, 135, 126.5625, 65.302734375, 0.263671875, 0.28860029578208923 ]
2.433333
73
0
73
0
[ -3.1640625, 121.025390625, 116.630859375, 68.818359375, -0.263671875, 4.110898494720459 ]
[ -3.1640625, 131.572265625, 124.27734375, 66.09375, 0.263671875, 0.28860029578208923 ]
2.466667
74
0
74
0
[ -2.98828125, 118.65234375, 115.927734375, 69.43359375, 0.087890625, 9.655831336975098 ]
[ -3.1640625, 128.232421875, 122.255859375, 67.060546875, 0.087890625, 0.36075034737586975 ]
2.5
75
0
75
0
[ -2.98828125, 116.54296875, 115.400390625, 69.697265625, 0.087890625, 13.193116188049316 ]
[ -3.1640625, 125.068359375, 120.5859375, 67.8515625, 0.087890625, 1.2265511751174927 ]
2.533333
76
0
76
0
[ -2.900390625, 114.697265625, 115.13671875, 69.697265625, 0, 17.017208099365234 ]
[ -3.1640625, 122.080078125, 119.35546875, 68.5546875, 0.087890625, 3.823953866958618 ]
2.566667
77
0
77
0
[ -3.076171875, 112.8515625, 115.048828125, 69.697265625, -0.3515625, 22.56214141845703 ]
[ -3.1640625, 119.53125, 118.4765625, 68.90625, 0.087890625, 6.9264068603515625 ]
2.6
78
0
78
0
[ -3.515625, 111.005859375, 114.9609375, 69.78515625, -0.966796875, 26.290630340576172 ]
[ -3.1640625, 117.24609375, 117.861328125, 69.169921875, 0.087890625, 10.389610290527344 ]
2.633333
79
0
79
0
[ -3.779296875, 109.248046875, 114.873046875, 69.78515625, -1.494140625, 28.489482879638672 ]
[ -3.1640625, 114.9609375, 117.421875, 69.345703125, -0.087890625, 14.430014610290527 ]
2.666667
80
0
80
0
[ -4.04296875, 107.2265625, 114.43359375, 69.78515625, -2.021484375, 30.975143432617188 ]
[ -3.076171875, 113.02734375, 117.158203125, 69.43359375, -0.439453125, 18.253969192504883 ]
2.7
81
0
81
0
[ -4.21875, 105.205078125, 113.818359375, 69.78515625, -2.548828125, 32.50477981567383 ]
[ -3.427734375, 111.09375, 116.89453125, 69.521484375, -0.703125, 22.00577163696289 ]
2.733333
82
0
82
0
[ -4.39453125, 103.0078125, 113.02734375, 69.78515625, -3.1640625, 32.982791900634766 ]
[ -3.779296875, 109.072265625, 116.455078125, 69.521484375, -1.40625, 25.324674606323242 ]
2.766667
83
0
83
0
[ -4.482421875, 100.634765625, 112.1484375, 69.9609375, -3.779296875, 33.26959991455078 ]
[ -4.21875, 107.05078125, 116.015625, 69.521484375, -2.021484375, 28.13852882385254 ]
2.8
84
0
84
0
[ -4.74609375, 98.349609375, 111.181640625, 70.048828125, -4.306640625, 33.26959991455078 ]
[ -4.39453125, 105.029296875, 115.3125, 69.521484375, -2.548828125, 30.014429092407227 ]
2.833333
85
0
85
0
[ -5.009765625, 95.9765625, 110.302734375, 70.048828125, -4.658203125, 33.17399597167969 ]
[ -4.482421875, 102.83203125, 114.521484375, 69.697265625, -3.076171875, 31.096681594848633 ]
2.866667
86
0
86
0
[ -5.2734375, 93.603515625, 109.248046875, 70.048828125, -4.921875, 32.982791900634766 ]
[ -4.39453125, 100.458984375, 113.642578125, 69.78515625, -3.603515625, 31.746030807495117 ]
2.9
87
0
87
0
[ -5.44921875, 91.23046875, 108.28125, 70.048828125, -5.009765625, 32.50477981567383 ]
[ -4.39453125, 98.26171875, 112.763671875, 69.78515625, -4.04296875, 32.106781005859375 ]
2.933333
88
0
88
0
[ -5.44921875, 89.208984375, 107.314453125, 70.048828125, -5.185546875, 32.21797180175781 ]
[ -4.74609375, 95.80078125, 111.884765625, 69.873046875, -4.04296875, 32.25108337402344 ]
2.966667
89
0
89
0
[ -5.537109375, 87.36328125, 106.611328125, 70.048828125, -5.2734375, 32.02676773071289 ]
[ -5.2734375, 93.251953125, 110.830078125, 69.873046875, -4.921875, 32.25108337402344 ]
3
90
0
90
0
[ -5.625, 85.78125, 105.8203125, 70.048828125, -5.44921875, 31.644359588623047 ]
[ -5.537109375, 91.23046875, 109.951171875, 69.873046875, -4.921875, 32.25108337402344 ]
3.033333
91
0
91
0
[ -5.888671875, 84.19921875, 104.94140625, 70.048828125, -5.44921875, 31.07074546813965 ]
[ -5.537109375, 89.033203125, 109.072265625, 69.873046875, -4.921875, 32.25108337402344 ]
3.066667
92
0
92
0
[ -6.064453125, 82.79296875, 104.150390625, 70.048828125, -5.537109375, 30.49713134765625 ]
[ -5.44921875, 87.1875, 108.28125, 69.873046875, -5.009765625, 32.25108337402344 ]
3.1
93
0
93
0
[ -6.328125, 81.5625, 103.271484375, 70.048828125, -5.625, 30.210325241088867 ]
[ -5.2734375, 85.25390625, 107.314453125, 69.873046875, -5.185546875, 31.962482452392578 ]
3.133333
94
0
94
0
[ -6.50390625, 80.419921875, 102.48046875, 70.048828125, -5.712890625, 29.82791519165039 ]
[ -5.537109375, 83.935546875, 106.5234375, 69.873046875, -5.009765625, 31.45743179321289 ]
3.166667
95
0
95
0
[ -6.6796875, 79.27734375, 101.6015625, 70.048828125, -5.712890625, 29.15869903564453 ]
[ -5.9765625, 82.265625, 105.64453125, 69.873046875, -5.2734375, 30.952381134033203 ]
3.2
96
0
96
0
[ -6.6796875, 78.134765625, 100.810546875, 70.048828125, -5.80078125, 28.29827880859375 ]
[ -6.591796875, 81.123046875, 104.853515625, 69.873046875, -5.44921875, 30.591630935668945 ]
3.233333
97
0
97
0
[ -6.6796875, 76.81640625, 99.931640625, 70.048828125, -5.888671875, 27.151052474975586 ]
[ -6.591796875, 79.892578125, 103.974609375, 69.873046875, -5.9765625, 30.014429092407227 ]
3.266667
98
0
98
0
[ -6.767578125, 75.76171875, 99.31640625, 70.048828125, -6.15234375, 25.717018127441406 ]
[ -6.591796875, 78.662109375, 103.18359375, 69.873046875, -5.9765625, 29.29292869567871 ]
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": 5,
    "total_frames": 1490,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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
            ],
            "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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                640,
                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "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
        },
        "episode_index": {
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        "index": {
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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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Number of rows:
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