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K1CH
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so100_test12

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Robotics
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LeRobot
so100
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
0
1
index
int64
0
1.19k
task_index
int64
0
0
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[ 5.888671875, 190.01953125, 169.892578125, 50.44921875, -6.240234375, 20.233196258544922 ]
2.4
72
0
72
0
[ 3.076171875, 190.1953125, 166.552734375, 54.4921875, -9.84375, 21.08157730102539 ]
[ 4.5703125, 190.107421875, 168.837890625, 51.240234375, -7.119140625, 20.507543563842773 ]
2.433333
73
0
73
0
[ 3.69140625, 190.1953125, 166.11328125, 56.162109375, -9.84375, 20.989917755126953 ]
[ 3.251953125, 190.546875, 168.486328125, 52.119140625, -7.91015625, 20.644718170166016 ]
2.466667
74
0
74
0
[ 4.74609375, 190.283203125, 165.234375, 57.65625, -9.84375, 20.623281478881836 ]
[ 3.251953125, 190.458984375, 168.486328125, 53.0859375, -8.26171875, 20.644718170166016 ]
2.5
75
0
75
0
[ 6.064453125, 190.37109375, 163.828125, 58.7109375, -9.404296875, 20.43996238708496 ]
[ 3.69140625, 190.283203125, 168.310546875, 54.404296875, -8.4375, 20.301782608032227 ]
2.533333
76
0
76
0
[ 7.119140625, 190.37109375, 162.158203125, 59.23828125, -8.7890625, 20.348304748535156 ]
[ 4.04296875, 189.755859375, 167.783203125, 55.72265625, -8.61328125, 20.233196258544922 ]
2.566667
77
0
77
0
[ 7.91015625, 190.458984375, 160.048828125, 59.4140625, -8.26171875, 20.25664520263672 ]
[ 4.306640625, 189.580078125, 166.728515625, 56.77734375, -8.61328125, 20.164608001708984 ]
2.6
78
0
78
0
[ 8.349609375, 190.37109375, 157.763671875, 59.501953125, -7.998046875, 20.25664520263672 ]
[ 5.625, 189.580078125, 165.41015625, 57.83203125, -8.349609375, 20.164608001708984 ]
2.633333
79
0
79
0
[ 8.349609375, 190.107421875, 155.478515625, 59.501953125, -7.998046875, 20.25664520263672 ]
[ 6.591796875, 189.84375, 164.267578125, 58.359375, -8.173828125, 20.164608001708984 ]
2.666667
80
0
80
0
[ 8.26171875, 190.01953125, 153.28125, 59.501953125, -7.998046875, 20.25664520263672 ]
[ 6.943359375, 189.4921875, 162.158203125, 58.623046875, -7.646484375, 20.164608001708984 ]
2.7
81
0
81
0
[ 8.349609375, 190.01953125, 151.171875, 59.501953125, -7.998046875, 20.25664520263672 ]
[ 6.85546875, 189.580078125, 159.873046875, 58.7109375, -7.470703125, 20.164608001708984 ]
2.733333
82
0
82
0
[ 8.4375, 190.01953125, 149.4140625, 59.4140625, -7.998046875, 20.25664520263672 ]
[ 7.20703125, 189.931640625, 157.8515625, 58.88671875, -7.470703125, 20.164608001708984 ]
2.766667
83
0
83
0
[ 8.525390625, 190.01953125, 148.359375, 59.0625, -7.998046875, 20.25664520263672 ]
[ 7.646484375, 190.107421875, 155.830078125, 58.88671875, -7.470703125, 20.164608001708984 ]
2.8
84
0
84
0
[ 8.525390625, 190.01953125, 148.095703125, 58.623046875, -7.998046875, 20.348304748535156 ]
[ 7.91015625, 190.107421875, 153.80859375, 58.88671875, -7.470703125, 20.164608001708984 ]
2.833333
85
0
85
0
[ 8.525390625, 190.01953125, 148.88671875, 58.18359375, -8.173828125, 20.53162384033203 ]
[ 7.91015625, 190.107421875, 152.138671875, 58.88671875, -7.470703125, 20.164608001708984 ]
2.866667
86
0
86
0
[ 8.173828125, 190.01953125, 150.205078125, 57.919921875, -8.26171875, 20.714941024780273 ]
[ 7.55859375, 190.1953125, 151.5234375, 58.7109375, -7.470703125, 20.164608001708984 ]
2.9
87
0
87
0
[ 7.734375, 190.01953125, 151.875, 57.919921875, -8.4375, 20.80660057067871 ]
[ 7.55859375, 190.1953125, 150.99609375, 58.623046875, -7.734375, 20.164608001708984 ]
2.933333
88
0
88
0
[ 7.294921875, 190.01953125, 153.80859375, 57.919921875, -8.876953125, 20.80660057067871 ]
[ 7.55859375, 190.1953125, 151.171875, 58.18359375, -7.822265625, 20.164608001708984 ]
2.966667
89
0
89
0
[ 6.85546875, 190.01953125, 155.91796875, 57.919921875, -9.140625, 20.898258209228516 ]
[ 7.470703125, 190.1953125, 151.787109375, 58.0078125, -7.822265625, 20.164608001708984 ]
3
90
0
90
0
[ 6.328125, 190.01953125, 158.203125, 58.095703125, -9.228515625, 20.989917755126953 ]
[ 7.3828125, 190.1953125, 152.578125, 58.0078125, -7.822265625, 20.164608001708984 ]
3.033333
91
0
91
0
[ 5.888671875, 190.01953125, 160.3125, 58.623046875, -9.66796875, 21.08157730102539 ]
[ 6.85546875, 190.283203125, 154.248046875, 58.0078125, -8.349609375, 20.164608001708984 ]
3.066667
92
0
92
0
[ 5.361328125, 190.01953125, 162.24609375, 59.58984375, -10.283203125, 21.448213577270508 ]
[ 6.240234375, 190.1953125, 156.357421875, 58.18359375, -8.525390625, 20.164608001708984 ]
3.1
93
0
93
0
[ 4.74609375, 189.84375, 163.564453125, 61.171875, -11.162109375, 21.63153076171875 ]
[ 5.625, 190.107421875, 158.37890625, 58.18359375, -8.701171875, 20.507543563842773 ]
3.133333
94
0
94
0
[ 4.21875, 189.66796875, 164.35546875, 63.017578125, -11.953125, 21.723190307617188 ]
[ 5.09765625, 190.107421875, 160.400390625, 58.7109375, -9.404296875, 20.644718170166016 ]
3.166667
95
0
95
0
[ 4.21875, 189.66796875, 164.970703125, 64.248046875, -12.48046875, 21.814847946166992 ]
[ 4.74609375, 189.66796875, 162.158203125, 60.029296875, -10.1953125, 20.644718170166016 ]
3.2
96
0
96
0
[ 4.921875, 189.66796875, 165.498046875, 64.423828125, -12.568359375, 21.814847946166992 ]
[ 4.39453125, 189.140625, 163.388671875, 61.435546875, -10.546875, 20.644718170166016 ]
3.233333
97
0
97
0
[ 5.888671875, 189.66796875, 166.201171875, 63.45703125, -12.568359375, 21.814847946166992 ]
[ 4.21875, 188.96484375, 164.00390625, 62.666015625, -11.162109375, 20.644718170166016 ]
3.266667
98
0
98
0
[ 6.767578125, 189.66796875, 167.16796875, 61.69921875, -12.919921875, 21.998167037963867 ]
[ 4.21875, 189.228515625, 164.970703125, 62.9296875, -11.337890625, 20.644718170166016 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1190,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
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            "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
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 640,
                "video.width": 480,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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