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Datasets:
Cidoyi
/
so100_6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
7.83
frame_index
int64
0
235
episode_index
int64
0
0
index
int64
0
235
task_index
int64
0
0
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[ -24.169921875, 132.71484375, 156.09375, -21.708984375, 182.8125, 97.16494750976562 ]
2.433333
73
0
73
0
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[ -24.08203125, 132.01171875, 156.09375, -21.708984375, 182.900390625, 97.16494750976562 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -23.02734375, 128.056640625, 156.09375, -23.115234375, 182.021484375, 96.99312591552734 ]
2.666667
80
0
80
0
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[ -22.32421875, 127.79296875, 156.09375, -23.994140625, 181.494140625, 96.99312591552734 ]
2.7
81
0
81
0
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[ -22.587890625, 127.529296875, 156.09375, -25.83984375, 181.23046875, 96.99312591552734 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -23.115234375, 126.826171875, 156.09375, -28.828125, 181.0546875, 96.99312591552734 ]
2.8
84
0
84
0
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[ -23.466796875, 126.5625, 156.09375, -31.11328125, 180.87890625, 96.99312591552734 ]
2.833333
85
0
85
0
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[ -24.697265625, 126.474609375, 156.09375, -34.62890625, 180.791015625, 96.99312591552734 ]
2.866667
86
0
86
0
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[ -25.224609375, 126.474609375, 156.09375, -37.08984375, 180.17578125, 96.99312591552734 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -26.54296875, 126.474609375, 156.09375, -41.1328125, 179.384765625, 96.99312591552734 ]
3
90
0
90
0
[ -27.7734375, 127.705078125, 154.072265625, -43.681640625, 179.296875, 97.24771118164062 ]
[ -26.982421875, 126.474609375, 156.09375, -41.748046875, 179.384765625, 96.99312591552734 ]
3.033333
91
0
91
0
[ -28.30078125, 127.265625, 153.984375, -43.681640625, 179.384765625, 97.24771118164062 ]
[ -27.0703125, 126.474609375, 156.09375, -42.099609375, 179.384765625, 96.99312591552734 ]
3.066667
92
0
92
0
[ -28.65234375, 127.08984375, 153.896484375, -43.681640625, 179.384765625, 97.24771118164062 ]
[ -27.24609375, 126.474609375, 156.09375, -42.275390625, 179.384765625, 96.99312591552734 ]
3.1
93
0
93
0
[ -28.828125, 126.9140625, 153.896484375, -43.41796875, 179.384765625, 97.24771118164062 ]
[ -27.509765625, 126.474609375, 156.09375, -42.36328125, 179.384765625, 96.99312591552734 ]
3.133333
94
0
94
0
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[ -28.037109375, 126.474609375, 156.09375, -42.36328125, 179.384765625, 96.99312591552734 ]
3.166667
95
0
95
0
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[ -28.65234375, 126.474609375, 156.09375, -42.36328125, 179.384765625, 96.99312591552734 ]
3.2
96
0
96
0
[ -28.916015625, 126.474609375, 153.896484375, -43.06640625, 179.47265625, 97.24771118164062 ]
[ -28.828125, 126.474609375, 156.09375, -42.36328125, 179.384765625, 96.99312591552734 ]
3.233333
97
0
97
0
[ -28.828125, 126.298828125, 153.80859375, -42.890625, 179.560546875, 97.24771118164062 ]
[ -28.740234375, 126.298828125, 156.09375, -42.36328125, 179.384765625, 96.99312591552734 ]
3.266667
98
0
98
0
[ -28.740234375, 126.2109375, 153.80859375, -42.71484375, 179.560546875, 97.24771118164062 ]
[ -28.4765625, 126.123046875, 156.09375, -42.36328125, 179.384765625, 97.07904052734375 ]
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": 1,
    "total_frames": 236,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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