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Datasets:
aimihat
/
so100_tape

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
29
index
int64
0
13.4k
task_index
int64
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[ 1.93359375, 136.23046875, 120.234375, 68.291015625, -1.318359375, 19.514310836791992 ]
2.366667
71
0
71
0
[ 2.373046875, 128.232421875, 106.083984375, 70.751953125, -0.966796875, 22.14765167236328 ]
[ 1.845703125, 134.296875, 117.158203125, 68.818359375, -1.318359375, 20.38161277770996 ]
2.4
72
0
72
0
[ 2.548828125, 126.73828125, 104.501953125, 71.19140625, -0.87890625, 23.29817771911621 ]
[ 1.845703125, 132.099609375, 114.2578125, 69.521484375, -1.318359375, 20.988725662231445 ]
2.433333
73
0
73
0
[ 2.548828125, 125.859375, 103.798828125, 71.279296875, -0.966796875, 23.68168830871582 ]
[ 1.845703125, 130.166015625, 111.708984375, 70.13671875, -1.318359375, 21.42237663269043 ]
2.466667
74
0
74
0
[ 2.548828125, 124.8046875, 103.53515625, 71.3671875, -1.23046875, 24.065196990966797 ]
[ 2.021484375, 128.3203125, 109.51171875, 70.576171875, -1.318359375, 22.20294952392578 ]
2.5
75
0
75
0
[ 2.724609375, 123.57421875, 103.53515625, 71.3671875, -1.23046875, 24.92809295654297 ]
[ 2.197265625, 127.08984375, 108.017578125, 70.83984375, -1.23046875, 22.723329544067383 ]
2.533333
76
0
76
0
[ 3.1640625, 122.080078125, 103.53515625, 71.3671875, -1.23046875, 25.503355026245117 ]
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2.566667
77
0
77
0
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[ 2.63671875, 125.068359375, 106.5234375, 71.19140625, -1.23046875, 23.8508243560791 ]
2.6
78
0
78
0
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[ 2.8125, 123.3984375, 105.99609375, 71.19140625, -1.23046875, 24.631397247314453 ]
2.633333
79
0
79
0
[ 5.537109375, 117.0703125, 102.83203125, 71.3671875, 0.791015625, 36.912750244140625 ]
[ 2.98828125, 121.81640625, 105.8203125, 71.279296875, -1.23046875, 25.498699188232422 ]
2.666667
80
0
80
0
[ 6.240234375, 115.83984375, 101.6015625, 71.89453125, 1.142578125, 41.802494049072266 ]
[ 3.251953125, 120.76171875, 105.8203125, 71.279296875, -1.23046875, 25.932350158691406 ]
2.7
81
0
81
0
[ 6.767578125, 114.873046875, 99.931640625, 72.685546875, 1.142578125, 44.678810119628906 ]
[ 4.04296875, 119.443359375, 105.556640625, 71.279296875, -0.439453125, 27.32003402709961 ]
2.733333
82
0
82
0
[ 7.20703125, 114.08203125, 98.525390625, 72.94921875, 0.87890625, 46.78811264038086 ]
[ 5.009765625, 117.509765625, 104.501953125, 71.71875, 0.17578125, 30.0086727142334 ]
2.766667
83
0
83
0
[ 7.646484375, 113.02734375, 97.119140625, 72.94921875, 0.791015625, 46.78811264038086 ]
[ 5.80078125, 115.927734375, 103.095703125, 72.24609375, 0.3515625, 34.17172622680664 ]
2.8
84
0
84
0
[ 7.998046875, 111.97265625, 96.064453125, 72.94921875, 0.791015625, 46.78811264038086 ]
[ 6.6796875, 114.521484375, 101.865234375, 72.509765625, 0.3515625, 38.68170166015625 ]
2.833333
85
0
85
0
[ 8.26171875, 111.005859375, 95.185546875, 72.94921875, 0.703125, 46.78811264038086 ]
[ 7.20703125, 113.37890625, 100.634765625, 72.685546875, 0.3515625, 41.80398941040039 ]
2.866667
86
0
86
0
[ 8.4375, 109.86328125, 94.658203125, 72.94921875, 0.703125, 46.78811264038086 ]
[ 7.55859375, 112.32421875, 99.404296875, 72.685546875, 0.3515625, 43.53859329223633 ]
2.9
87
0
87
0
[ 8.525390625, 108.544921875, 94.39453125, 73.037109375, 0.703125, 46.59635543823242 ]
[ 7.646484375, 111.357421875, 98.26171875, 72.685546875, 0.3515625, 44.5793571472168 ]
2.933333
88
0
88
0
[ 8.525390625, 107.138671875, 94.21875, 73.4765625, 0.703125, 46.59635543823242 ]
[ 7.646484375, 110.21484375, 97.470703125, 72.685546875, 0.3515625, 45.18647003173828 ]
2.966667
89
0
89
0
[ 8.4375, 105.908203125, 94.130859375, 74.00390625, 0.703125, 46.78811264038086 ]
[ 7.91015625, 108.984375, 97.03125, 72.7734375, 0.3515625, 45.533390045166016 ]
3
90
0
90
0
[ 8.26171875, 104.853515625, 94.130859375, 74.267578125, 0.791015625, 46.78811264038086 ]
[ 8.0859375, 107.666015625, 96.6796875, 73.212890625, 0.3515625, 45.880313873291016 ]
3.033333
91
0
91
0
[ 8.173828125, 103.798828125, 94.130859375, 74.267578125, 0.966796875, 46.78811264038086 ]
[ 8.349609375, 106.259765625, 96.416015625, 73.564453125, 0.3515625, 46.1405029296875 ]
3.066667
92
0
92
0
[ 8.0859375, 102.83203125, 94.04296875, 74.091796875, 1.142578125, 46.50048065185547 ]
[ 8.4375, 105.205078125, 96.328125, 73.916015625, 0.3515625, 46.31396484375 ]
3.1
93
0
93
0
[ 7.998046875, 101.689453125, 93.779296875, 74.091796875, 1.142578125, 46.50048065185547 ]
[ 8.4375, 104.765625, 96.328125, 73.916015625, 0.3515625, 46.31396484375 ]
3.133333
94
0
94
0
[ 7.91015625, 100.634765625, 93.427734375, 74.091796875, 1.142578125, 46.50048065185547 ]
[ 8.4375, 103.623046875, 96.15234375, 73.916015625, 0.52734375, 46.31396484375 ]
3.166667
95
0
95
0
[ 7.646484375, 99.66796875, 93.1640625, 74.1796875, 1.142578125, 46.40460205078125 ]
[ 8.349609375, 102.3046875, 95.712890625, 73.916015625, 0.703125, 46.31396484375 ]
3.2
96
0
96
0
[ 7.3828125, 98.7890625, 93.1640625, 74.1796875, 1.142578125, 46.40460205078125 ]
[ 8.26171875, 101.07421875, 95.44921875, 73.916015625, 0.703125, 46.31396484375 ]
3.233333
97
0
97
0
[ 6.943359375, 98.0859375, 93.427734375, 74.1796875, 0.87890625, 46.50048065185547 ]
[ 8.26171875, 99.755859375, 95.44921875, 73.916015625, 0.703125, 46.31396484375 ]
3.266667
98
0
98
0
[ 6.328125, 97.470703125, 93.515625, 74.1796875, 0.703125, 46.50048065185547 ]
[ 7.998046875, 98.701171875, 95.361328125, 73.916015625, 0.703125, 46.31396484375 ]
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": 30,
    "total_frames": 13440,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": {
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            "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
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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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            "names": [
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        "observation.images.phone": {
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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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        }
    }
}

Citation

BibTeX:

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License:
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