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Datasets:
Ruth011
/
smolvla_test1__so100_pick_place_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pick_place
block_to_container
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
1
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action
list
observation.state
list
timestamp
float32
0
19.9
frame_index
int64
0
398
episode_index
int64
0
59
index
int64
0
23.9k
task_index
int64
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0
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[ -11.513671875, 81.474609375, 77.87109375, 82.6171875, 98.525390625, 18.276580810546875 ]
3.6
72
0
72
0
[ -11.6015625, 82.265625, 74.619140625, 82.08984375, 101.953125, 38.02333450317383 ]
[ -11.513671875, 81.474609375, 77.87109375, 82.6171875, 99.052734375, 23.558027267456055 ]
3.65
73
0
73
0
[ -11.77734375, 82.08984375, 74.619140625, 82.08984375, 103.623046875, 41.45504379272461 ]
[ -11.513671875, 81.474609375, 77.87109375, 82.6171875, 100.107421875, 28.978458404541016 ]
3.7
74
0
74
0
[ -11.77734375, 81.650390625, 74.619140625, 82.08984375, 105.380859375, 43.788604736328125 ]
[ -11.513671875, 81.474609375, 77.87109375, 82.6171875, 101.42578125, 33.77345657348633 ]
3.75
75
0
75
0
[ -11.77734375, 81.474609375, 74.619140625, 82.001953125, 106.34765625, 44.543582916259766 ]
[ -11.513671875, 81.123046875, 77.87109375, 82.6171875, 102.919921875, 38.012508392333984 ]
3.8
76
0
76
0
[ -11.865234375, 81.474609375, 74.619140625, 81.826171875, 106.875, 43.994510650634766 ]
[ -11.513671875, 80.5078125, 77.87109375, 82.6171875, 104.4140625, 41.139678955078125 ]
3.85
77
0
77
0
[ -11.865234375, 80.859375, 74.53125, 81.826171875, 106.875, 42.964996337890625 ]
[ -11.513671875, 80.15625, 77.87109375, 82.6171875, 105.8203125, 42.87699890136719 ]
3.9
78
0
78
0
[ -11.865234375, 79.8046875, 74.53125, 81.826171875, 106.875, 41.59231185913086 ]
[ -11.513671875, 80.068359375, 77.87109375, 82.6171875, 106.259765625, 43.15496826171875 ]
3.95
79
0
79
0
[ -11.953125, 79.1015625, 74.53125, 81.826171875, 107.05078125, 40.219627380371094 ]
[ -11.513671875, 79.453125, 77.87109375, 82.6171875, 106.34765625, 42.66851806640625 ]
4
80
0
80
0
[ -11.953125, 79.013671875, 74.443359375, 81.2109375, 107.05078125, 38.91558074951172 ]
[ -11.513671875, 78.134765625, 77.6953125, 82.6171875, 106.611328125, 41.695621490478516 ]
4.05
81
0
81
0
[ -11.953125, 78.92578125, 73.65234375, 79.27734375, 107.138671875, 37.88606643676758 ]
[ -11.513671875, 77.607421875, 77.607421875, 82.353515625, 106.787109375, 40.65323257446289 ]
4.1
82
0
82
0
[ -12.041015625, 79.1015625, 72.7734375, 77.080078125, 107.40234375, 37.61153030395508 ]
[ -11.513671875, 77.431640625, 77.51953125, 81.5625, 106.787109375, 39.47185516357422 ]
4.15
83
0
83
0
[ -12.041015625, 78.662109375, 72.158203125, 75.849609375, 107.490234375, 37.47426223754883 ]
[ -11.513671875, 77.34375, 76.904296875, 79.98046875, 106.962890625, 38.429466247558594 ]
4.2
84
0
84
0
[ -12.744140625, 77.958984375, 71.455078125, 74.619140625, 107.578125, 37.47426223754883 ]
[ -11.513671875, 77.34375, 76.025390625, 78.134765625, 106.875, 37.943016052246094 ]
4.25
85
0
85
0
[ -14.0625, 77.255859375, 70.927734375, 73.916015625, 107.578125, 37.47426223754883 ]
[ -11.689453125, 77.080078125, 75.234375, 76.728515625, 106.875, 37.66504669189453 ]
4.3
86
0
86
0
[ -15.556640625, 76.552734375, 70.400390625, 73.740234375, 107.666015625, 37.47426223754883 ]
[ -12.216796875, 76.376953125, 74.443359375, 75.498046875, 107.138671875, 37.66504669189453 ]
4.35
87
0
87
0
[ -17.05078125, 75.673828125, 69.873046875, 73.740234375, 107.75390625, 37.47426223754883 ]
[ -13.359375, 75.498046875, 73.916015625, 74.70703125, 107.138671875, 37.66504669189453 ]
4.4
88
0
88
0
[ -18.544921875, 74.794921875, 69.43359375, 73.740234375, 107.75390625, 37.47426223754883 ]
[ -14.765625, 74.619140625, 73.4765625, 74.35546875, 107.138671875, 37.66504669189453 ]
4.45
89
0
89
0
[ -20.0390625, 74.091796875, 68.90625, 73.740234375, 107.75390625, 37.47426223754883 ]
[ -16.171875, 73.65234375, 72.94921875, 74.1796875, 107.138671875, 37.66504669189453 ]
4.5
90
0
90
0
[ -20.91796875, 73.125, 68.5546875, 73.740234375, 107.841796875, 37.47426223754883 ]
[ -17.666015625, 72.94921875, 72.59765625, 74.091796875, 107.138671875, 37.66504669189453 ]
4.55
91
0
91
0
[ -21.4453125, 72.0703125, 68.37890625, 73.740234375, 107.841796875, 37.47426223754883 ]
[ -19.16015625, 72.0703125, 71.982421875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.6
92
0
92
0
[ -21.708984375, 71.455078125, 68.73046875, 73.740234375, 107.841796875, 37.33699417114258 ]
[ -20.654296875, 71.015625, 71.630859375, 74.091796875, 107.138671875, 37.66504669189453 ]
4.65
93
0
93
0
[ -21.62109375, 71.015625, 68.73046875, 73.740234375, 107.841796875, 37.19972610473633 ]
[ -21.533203125, 70.13671875, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.7
94
0
94
0
[ -21.62109375, 70.927734375, 68.73046875, 73.740234375, 107.841796875, 37.47426223754883 ]
[ -21.62109375, 69.521484375, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.75
95
0
95
0
[ -21.62109375, 71.015625, 68.73046875, 73.828125, 107.841796875, 37.47426223754883 ]
[ -21.26953125, 69.2578125, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.8
96
0
96
0
[ -21.62109375, 71.3671875, 68.466796875, 73.828125, 107.75390625, 37.47426223754883 ]
[ -20.91796875, 69.2578125, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.85
97
0
97
0
[ -21.533203125, 71.806640625, 68.291015625, 73.828125, 107.75390625, 37.47426223754883 ]
[ -21.09375, 69.2578125, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.9
98
0
98
0
[ -21.4453125, 72.861328125, 68.291015625, 73.828125, 107.75390625, 37.54289627075195 ]
[ -21.533203125, 69.2578125, 71.54296875, 74.091796875, 107.138671875, 37.66504669189453 ]
4.95
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": 398,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "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": [
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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": [
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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

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