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Datasets:
Dangvi
/
so100_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
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24
index
int64
0
11.2k
task_index
int64
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[ 18.80859375, 124.27734375, 102.568359375, 89.47265625, -83.84765625, 2.907801389694214 ]
2.4
72
0
72
0
[ 25.927734375, 116.806640625, 89.47265625, 98.61328125, -100.546875, 4.0685224533081055 ]
[ 20.478515625, 121.640625, 99.052734375, 92.373046875, -87.71484375, 3.1205673217773438 ]
2.433333
73
0
73
0
[ 27.861328125, 116.103515625, 89.296875, 98.96484375, -104.501953125, 4.175589084625244 ]
[ 22.1484375, 119.53125, 96.328125, 94.833984375, -91.318359375, 3.3333332538604736 ]
2.466667
74
0
74
0
[ 29.794921875, 115.224609375, 89.296875, 98.7890625, -107.2265625, 4.175589084625244 ]
[ 23.90625, 118.125, 94.482421875, 96.591796875, -94.921875, 3.5460991859436035 ]
2.5
75
0
75
0
[ 31.552734375, 114.08203125, 89.296875, 98.61328125, -110.0390625, 4.282655239105225 ]
[ 25.751953125, 117.0703125, 93.515625, 97.470703125, -98.61328125, 3.68794322013855 ]
2.533333
76
0
76
0
[ 33.22265625, 112.763671875, 89.296875, 98.173828125, -113.115234375, 4.389721393585205 ]
[ 27.59765625, 115.927734375, 92.8125, 97.91015625, -102.12890625, 3.68794322013855 ]
2.566667
77
0
77
0
[ 34.62890625, 111.533203125, 89.296875, 97.119140625, -115.224609375, 4.496788024902344 ]
[ 29.35546875, 114.78515625, 92.373046875, 97.998046875, -105.380859375, 3.68794322013855 ]
2.6
78
0
78
0
[ 36.03515625, 110.390625, 89.12109375, 96.50390625, -118.212890625, 4.710920810699463 ]
[ 31.11328125, 113.5546875, 92.109375, 97.998046875, -108.45703125, 3.9007091522216797 ]
2.633333
79
0
79
0
[ 37.44140625, 109.423828125, 89.12109375, 95.537109375, -120.76171875, 4.710920810699463 ]
[ 32.6953125, 112.32421875, 91.845703125, 97.734375, -111.181640625, 4.042553424835205 ]
2.666667
80
0
80
0
[ 38.408203125, 108.369140625, 89.12109375, 94.5703125, -122.783203125, 4.817986965179443 ]
[ 34.189453125, 111.005859375, 91.669921875, 97.294921875, -113.994140625, 4.184397220611572 ]
2.7
81
0
81
0
[ 39.462890625, 107.2265625, 89.033203125, 93.69140625, -124.716796875, 4.925053596496582 ]
[ 35.68359375, 109.86328125, 91.669921875, 96.6796875, -116.806640625, 4.255319118499756 ]
2.733333
82
0
82
0
[ 40.4296875, 106.171875, 89.033203125, 92.8125, -126.826171875, 5.0321197509765625 ]
[ 36.9140625, 108.80859375, 91.669921875, 95.888671875, -119.35546875, 4.255319118499756 ]
2.766667
83
0
83
0
[ 41.396484375, 104.94140625, 88.681640625, 91.93359375, -128.671875, 5.139186382293701 ]
[ 38.056640625, 107.666015625, 91.669921875, 95.09765625, -121.728515625, 4.397162914276123 ]
2.8
84
0
84
0
[ 42.1875, 103.447265625, 88.06640625, 91.318359375, -130.078125, 5.246252536773682 ]
[ 38.935546875, 106.611328125, 91.669921875, 94.306640625, -123.837890625, 4.539007186889648 ]
2.833333
85
0
85
0
[ 43.154296875, 102.216796875, 87.5390625, 90.615234375, -131.923828125, 5.35331916809082 ]
[ 39.90234375, 105.29296875, 91.40625, 93.427734375, -125.947265625, 4.751772880554199 ]
2.866667
86
0
86
0
[ 43.9453125, 101.162109375, 87.451171875, 89.560546875, -133.330078125, 5.460385322570801 ]
[ 40.693359375, 103.88671875, 90.791015625, 92.724609375, -127.705078125, 4.822695255279541 ]
2.9
87
0
87
0
[ 44.736328125, 100.107421875, 87.275390625, 88.857421875, -135, 5.5674519538879395 ]
[ 41.572265625, 102.65625, 90.3515625, 91.93359375, -129.375, 4.964539051055908 ]
2.933333
88
0
88
0
[ 45.439453125, 99.052734375, 87.275390625, 88.06640625, -136.23046875, 6.102783679962158 ]
[ 42.5390625, 101.513671875, 90.087890625, 91.0546875, -131.220703125, 5.106382846832275 ]
2.966667
89
0
89
0
[ 46.23046875, 98.173828125, 87.275390625, 87.275390625, -137.8125, 7.4946465492248535 ]
[ 43.505859375, 100.458984375, 89.912109375, 90.17578125, -132.802734375, 5.106382846832275 ]
3
90
0
90
0
[ 47.197265625, 97.3828125, 87.275390625, 86.396484375, -139.74609375, 9.850107192993164 ]
[ 44.384765625, 99.228515625, 89.82421875, 89.384765625, -134.296875, 5.531914710998535 ]
3.033333
91
0
91
0
[ 48.1640625, 96.85546875, 87.275390625, 85.4296875, -141.591796875, 11.24197006225586 ]
[ 45.263671875, 98.26171875, 89.82421875, 88.505859375, -135.703125, 6.312056541442871 ]
3.066667
92
0
92
0
[ 48.955078125, 96.328125, 87.275390625, 84.638671875, -143.349609375, 12.419700622558594 ]
[ 46.142578125, 97.3828125, 89.82421875, 87.71484375, -137.63671875, 7.730496406555176 ]
3.1
93
0
93
0
[ 49.39453125, 95.712890625, 87.275390625, 83.759765625, -144.052734375, 14.561027526855469 ]
[ 46.93359375, 96.6796875, 89.82421875, 86.8359375, -139.39453125, 9.361701965332031 ]
3.133333
94
0
94
0
[ 49.658203125, 95.009765625, 87.275390625, 82.880859375, -144.31640625, 14.882226943969727 ]
[ 47.724609375, 96.15234375, 89.82421875, 85.95703125, -141.15234375, 10.709219932556152 ]
3.166667
95
0
95
0
[ 50.009765625, 94.482421875, 87.36328125, 81.9140625, -145.1953125, 14.989293098449707 ]
[ 48.69140625, 95.625, 89.736328125, 85.078125, -142.294921875, 12.269503593444824 ]
3.2
96
0
96
0
[ 50.2734375, 94.21875, 88.06640625, 80.5078125, -145.546875, 15.096360206604004 ]
[ 49.482421875, 94.921875, 89.736328125, 84.19921875, -142.998046875, 13.333333015441895 ]
3.233333
97
0
97
0
[ 50.537109375, 94.04296875, 88.857421875, 79.1015625, -146.07421875, 15.203426361083984 ]
[ 49.74609375, 94.21875, 89.736328125, 83.232421875, -143.96484375, 13.90070915222168 ]
3.266667
98
0
98
0
[ 50.80078125, 93.779296875, 89.560546875, 77.607421875, -146.77734375, 15.417558670043945 ]
[ 49.921875, 93.955078125, 89.82421875, 82.177734375, -144.580078125, 14.255319595336914 ]
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": 25,
    "total_frames": 11178,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": [
                "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.wristcam": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.webcam": {
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            "names": [
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                "channels"
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            "info": {
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        },
        "timestamp": {
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            "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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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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