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Datasets:
LemonadeDai
/
so100_coca

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
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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
49
index
int64
0
14.9k
task_index
int64
0
0
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[ 92.28515625, 122.34375, 148.7109375, 22.412109375, -8.173828125, 38.20803451538086 ]
[ 92.63671875, 130.25390625, 155.478515625, 25.048828125, -8.525390625, 38.71866226196289 ]
2.4
72
0
72
0
[ 91.93359375, 120.41015625, 147.216796875, 22.060546875, -8.26171875, 37.487125396728516 ]
[ 92.4609375, 127.6171875, 153.984375, 24.345703125, -8.525390625, 38.71866226196289 ]
2.433333
73
0
73
0
[ 91.58203125, 118.564453125, 145.810546875, 21.708984375, -8.26171875, 36.04531478881836 ]
[ 92.4609375, 124.98046875, 152.40234375, 23.73046875, -8.525390625, 38.57938766479492 ]
2.466667
74
0
74
0
[ 91.40625, 116.89453125, 144.4921875, 21.26953125, -8.26171875, 34.39752960205078 ]
[ 92.4609375, 122.6953125, 150.99609375, 23.203125, -8.525390625, 37.95264434814453 ]
2.5
75
0
75
0
[ 91.23046875, 115.3125, 143.26171875, 20.830078125, -8.349609375, 32.64675521850586 ]
[ 92.197265625, 120.673828125, 149.501953125, 22.8515625, -8.525390625, 37.18663024902344 ]
2.533333
76
0
76
0
[ 91.23046875, 113.73046875, 142.119140625, 20.21484375, -8.525390625, 29.76313018798828 ]
[ 91.669921875, 118.65234375, 148.18359375, 22.32421875, -8.525390625, 35.86351013183594 ]
2.566667
77
0
77
0
[ 91.23046875, 111.97265625, 140.80078125, 19.951171875, -8.7890625, 26.879505157470703 ]
[ 91.40625, 116.806640625, 146.77734375, 21.884765625, -8.525390625, 34.40111541748047 ]
2.6
78
0
78
0
[ 91.23046875, 110.302734375, 139.39453125, 19.86328125, -9.052734375, 24.716787338256836 ]
[ 91.318359375, 115.224609375, 145.634765625, 21.357421875, -8.525390625, 32.52089309692383 ]
2.633333
79
0
79
0
[ 91.40625, 108.80859375, 138.076171875, 19.6875, -9.140625, 21.00926971435547 ]
[ 91.58203125, 113.37890625, 144.31640625, 21.005859375, -8.525390625, 30.222841262817383 ]
2.666667
80
0
80
0
[ 91.494140625, 107.490234375, 136.93359375, 19.599609375, -9.404296875, 18.64057731628418 ]
[ 91.669921875, 111.533203125, 142.822265625, 20.7421875, -8.61328125, 27.78551483154297 ]
2.7
81
0
81
0
[ 91.669921875, 106.435546875, 135.87890625, 19.51171875, -9.580078125, 15.96292495727539 ]
[ 91.669921875, 109.951171875, 141.591796875, 20.56640625, -8.7890625, 25.208913803100586 ]
2.733333
82
0
82
0
[ 91.7578125, 105.556640625, 135, 19.423828125, -10.01953125, 13.079299926757812 ]
[ 91.58203125, 108.544921875, 140.2734375, 20.478515625, -9.052734375, 22.4930362701416 ]
2.766667
83
0
83
0
[ 91.7578125, 104.677734375, 134.033203125, 19.423828125, -10.8984375, 11.431513786315918 ]
[ 91.58203125, 107.314453125, 139.130859375, 20.302734375, -9.31640625, 19.91643524169922 ]
2.8
84
0
84
0
[ 91.7578125, 103.974609375, 133.154296875, 19.423828125, -12.041015625, 9.371781349182129 ]
[ 91.58203125, 106.171875, 138.1640625, 20.21484375, -9.580078125, 17.27019500732422 ]
2.833333
85
0
85
0
[ 91.494140625, 103.798828125, 132.71484375, 19.423828125, -13.447265625, 7.415036201477051 ]
[ 91.669921875, 105.205078125, 137.197265625, 20.126953125, -10.283203125, 14.76323127746582 ]
2.866667
86
0
86
0
[ 91.142578125, 104.765625, 132.71484375, 19.423828125, -14.765625, 5.870236873626709 ]
[ 91.7578125, 104.326171875, 136.142578125, 20.0390625, -11.07421875, 12.534818649291992 ]
2.9
87
0
87
0
[ 90.615234375, 107.05078125, 133.681640625, 19.423828125, -16.083984375, 4.73738431930542 ]
[ 91.7578125, 104.0625, 135.615234375, 20.0390625, -12.12890625, 10.376044273376465 ]
2.933333
88
0
88
0
[ 89.82421875, 110.21484375, 135.087890625, 19.423828125, -17.40234375, 3.9134912490844727 ]
[ 91.494140625, 104.0625, 135.3515625, 20.0390625, -13.447265625, 8.774373054504395 ]
2.966667
89
0
89
0
[ 88.681640625, 113.818359375, 136.7578125, 19.423828125, -18.896484375, 3.0895984172821045 ]
[ 91.0546875, 104.677734375, 135.439453125, 20.0390625, -14.58984375, 8.077994346618652 ]
3
90
0
90
0
[ 87.1875, 117.421875, 138.603515625, 19.423828125, -20.126953125, 2.36869215965271 ]
[ 90.439453125, 106.259765625, 136.0546875, 20.0390625, -15.908203125, 7.799442768096924 ]
3.033333
91
0
91
0
[ 85.517578125, 120.673828125, 140.09765625, 19.51171875, -21.533203125, 1.5447992086410522 ]
[ 89.6484375, 108.28125, 136.93359375, 20.0390625, -17.05078125, 7.660167217254639 ]
3.066667
92
0
92
0
[ 83.935546875, 123.3984375, 141.240234375, 19.599609375, -22.763671875, 0.9268795251846313 ]
[ 88.505859375, 111.09375, 138.1640625, 20.0390625, -18.45703125, 7.451253414154053 ]
3.1
93
0
93
0
[ 82.353515625, 125.859375, 142.119140625, 19.599609375, -23.818359375, 0.5149330496788025 ]
[ 87.01171875, 114.2578125, 139.658203125, 20.0390625, -19.775390625, 7.242339611053467 ]
3.133333
94
0
94
0
[ 81.03515625, 127.79296875, 142.294921875, 19.6875, -24.521484375, 0.10298661142587662 ]
[ 85.4296875, 117.421875, 140.80078125, 20.0390625, -21.09375, 7.033426284790039 ]
3.166667
95
0
95
0
[ 79.892578125, 129.287109375, 142.20703125, 19.775390625, -25.224609375, 0 ]
[ 83.84765625, 120.146484375, 141.85546875, 20.0390625, -22.236328125, 7.033426284790039 ]
3.2
96
0
96
0
[ 78.75, 130.4296875, 141.767578125, 19.86328125, -26.015625, 0 ]
[ 82.44140625, 122.783203125, 142.20703125, 20.0390625, -23.203125, 7.033426284790039 ]
3.233333
97
0
97
0
[ 77.783203125, 131.044921875, 141.064453125, 19.86328125, -26.630859375, 0 ]
[ 81.298828125, 124.892578125, 142.20703125, 20.0390625, -24.08203125, 7.033426284790039 ]
3.266667
98
0
98
0
[ 76.728515625, 131.220703125, 140.2734375, 19.6875, -27.24609375, 0.10298661142587662 ]
[ 80.33203125, 126.5625, 142.20703125, 20.0390625, -24.873046875, 7.033426284790039 ]
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": 50,
    "total_frames": 14900,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
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            "info": {
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        "observation.images.top": {
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            "shape": [
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            "names": [
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            "info": {
                "video.fps": 30.0,
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                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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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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