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Datasets:
Fergusonf
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
25.2
frame_index
int64
0
756
episode_index
int64
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19
index
int64
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8.89k
task_index
int64
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[ 2.63671875, 191.77734375, 180.3515625, -112.939453125, -174.638671875, 1.4563106298446655 ]
2.366667
71
0
71
0
[ 3.251953125, 191.865234375, 180.439453125, -114.78515625, -175.078125, 1.847389578819275 ]
[ 2.63671875, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.4563106298446655 ]
2.4
72
0
72
0
[ 3.251953125, 191.6015625, 180.439453125, -114.78515625, -175.078125, 1.9277108907699585 ]
[ 2.724609375, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.4563106298446655 ]
2.433333
73
0
73
0
[ 3.251953125, 191.162109375, 180.439453125, -114.697265625, -175.078125, 1.9277108907699585 ]
[ 2.8125, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.5950069427490234 ]
2.466667
74
0
74
0
[ 3.251953125, 190.986328125, 180.3515625, -114.697265625, -175.078125, 1.9277108907699585 ]
[ 2.98828125, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.5
75
0
75
0
[ 3.251953125, 190.986328125, 179.736328125, -114.697265625, -175.078125, 2.0080320835113525 ]
[ 2.98828125, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.533333
76
0
76
0
[ 3.251953125, 190.986328125, 178.59375, -114.43359375, -175.078125, 2.0080320835113525 ]
[ 2.98828125, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.566667
77
0
77
0
[ 3.33984375, 190.986328125, 176.748046875, -113.994140625, -175.078125, 2.088353395462036 ]
[ 2.98828125, 191.77734375, 180.3515625, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.6
78
0
78
0
[ 3.33984375, 190.8984375, 174.55078125, -113.203125, -175.078125, 2.088353395462036 ]
[ 2.98828125, 191.77734375, 180, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.633333
79
0
79
0
[ 3.33984375, 190.810546875, 171.9140625, -112.1484375, -175.078125, 2.088353395462036 ]
[ 2.98828125, 191.689453125, 179.033203125, -112.939453125, -174.7265625, 1.7337031364440918 ]
2.666667
80
0
80
0
[ 3.33984375, 190.810546875, 169.013671875, -110.830078125, -175.078125, 2.088353395462036 ]
[ 2.98828125, 191.689453125, 177.5390625, -112.8515625, -174.7265625, 1.7337031364440918 ]
2.7
81
0
81
0
[ 3.33984375, 190.37109375, 165.76171875, -109.248046875, -175.078125, 2.1686747074127197 ]
[ 2.98828125, 191.689453125, 175.60546875, -112.67578125, -174.7265625, 1.7337031364440918 ]
2.733333
82
0
82
0
[ 3.251953125, 189.4921875, 162.0703125, -107.841796875, -175.078125, 2.1686747074127197 ]
[ 2.98828125, 191.689453125, 173.3203125, -112.236328125, -174.7265625, 1.7337031364440918 ]
2.766667
83
0
83
0
[ 3.1640625, 187.998046875, 157.32421875, -106.5234375, -175.078125, 2.1686747074127197 ]
[ 3.076171875, 191.513671875, 170.068359375, -110.654296875, -174.7265625, 1.7337031364440918 ]
2.8
84
0
84
0
[ 3.1640625, 186.15234375, 152.578125, -105.8203125, -175.078125, 2.1686747074127197 ]
[ 3.076171875, 190.986328125, 167.431640625, -109.6875, -174.7265625, 1.8030513525009155 ]
2.833333
85
0
85
0
[ 3.1640625, 183.955078125, 147.48046875, -105.556640625, -175.166015625, 2.1686747074127197 ]
[ 3.076171875, 190.1953125, 164.267578125, -108.6328125, -174.7265625, 1.8030513525009155 ]
2.866667
86
0
86
0
[ 3.1640625, 181.40625, 141.943359375, -105.556640625, -175.166015625, 2.1686747074127197 ]
[ 3.076171875, 188.701171875, 160.48828125, -107.578125, -174.7265625, 1.8030513525009155 ]
2.9
87
0
87
0
[ 3.1640625, 178.59375, 135.703125, -105.908203125, -175.25390625, 2.1686747074127197 ]
[ 3.076171875, 187.119140625, 156.26953125, -107.05078125, -174.7265625, 1.8030513525009155 ]
2.933333
88
0
88
0
[ 3.1640625, 175.60546875, 129.19921875, -106.34765625, -175.25390625, 2.1686747074127197 ]
[ 3.076171875, 185.185546875, 151.69921875, -106.875, -174.7265625, 1.8030513525009155 ]
2.966667
89
0
89
0
[ 2.98828125, 172.6171875, 122.51953125, -106.435546875, -175.25390625, 2.1686747074127197 ]
[ 3.1640625, 182.98828125, 146.77734375, -106.875, -174.7265625, 1.8030513525009155 ]
3
90
0
90
0
[ 2.900390625, 169.716796875, 115.576171875, -106.435546875, -175.25390625, 2.1686747074127197 ]
[ 3.1640625, 180.439453125, 141.328125, -106.875, -174.7265625, 1.8030513525009155 ]
3.033333
91
0
91
0
[ 2.8125, 166.9921875, 108.45703125, -106.5234375, -175.25390625, 2.1686747074127197 ]
[ 3.1640625, 177.802734375, 135.703125, -106.875, -174.7265625, 1.8030513525009155 ]
3.066667
92
0
92
0
[ 2.8125, 164.35546875, 101.337890625, -106.5234375, -175.341796875, 2.1686747074127197 ]
[ 3.251953125, 175.078125, 129.638671875, -106.875, -174.7265625, 1.8030513525009155 ]
3.1
93
0
93
0
[ 2.8125, 161.806640625, 94.04296875, -106.5234375, -175.341796875, 2.1686747074127197 ]
[ 3.251953125, 172.265625, 123.310546875, -106.875, -174.7265625, 1.8030513525009155 ]
3.133333
94
0
94
0
[ 2.98828125, 159.43359375, 86.923828125, -106.611328125, -175.4296875, 2.1686747074127197 ]
[ 3.1640625, 169.62890625, 116.54296875, -106.875, -174.7265625, 1.8030513525009155 ]
3.166667
95
0
95
0
[ 2.98828125, 157.236328125, 79.716796875, -106.611328125, -175.517578125, 2.088353395462036 ]
[ 3.076171875, 166.904296875, 109.599609375, -106.875, -174.90234375, 1.8030513525009155 ]
3.2
96
0
96
0
[ 2.98828125, 155.21484375, 72.94921875, -106.611328125, -176.044921875, 2.088353395462036 ]
[ 3.076171875, 164.443359375, 102.65625, -106.875, -175.078125, 1.8030513525009155 ]
3.233333
97
0
97
0
[ 2.8125, 153.544921875, 66.357421875, -106.611328125, -176.8359375, 2.088353395462036 ]
[ 3.076171875, 162.0703125, 95.625, -106.875, -175.166015625, 1.8030513525009155 ]
3.266667
98
0
98
0
[ 2.548828125, 152.138671875, 59.853515625, -106.611328125, -177.802734375, 2.088353395462036 ]
[ 3.076171875, 159.78515625, 88.505859375, -106.875, -175.517578125, 1.8030513525009155 ]
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": 2,
    "total_frames": 885,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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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,
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            ],
            "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",
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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