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Datasets:
bdharva
/
so100_long_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
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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
14.8k
task_index
int64
0
0
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[ 88.41796875, 192.3046875, 180.703125, 50.9765625, 3.251953125, -0.17667844891548157 ]
2.433333
73
0
73
0
[ 88.154296875, 194.23828125, 179.912109375, 50.185546875, 7.119140625, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 50.9765625, 3.251953125, -0.17667844891548157 ]
2.466667
74
0
74
0
[ 88.2421875, 194.23828125, 179.82421875, 49.306640625, 8.525390625, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 50.9765625, 3.603515625, -0.17667844891548157 ]
2.5
75
0
75
0
[ 88.41796875, 194.23828125, 179.560546875, 48.603515625, 10.01953125, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 50.888671875, 4.74609375, -0.17667844891548157 ]
2.533333
76
0
76
0
[ 88.41796875, 193.974609375, 178.59375, 48.603515625, 11.6015625, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 50.2734375, 6.064453125, -0.17667844891548157 ]
2.566667
77
0
77
0
[ 88.41796875, 193.359375, 177.71484375, 48.603515625, 12.3046875, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 49.833984375, 7.294921875, -0.17667844891548157 ]
2.6
78
0
78
0
[ 88.41796875, 192.3046875, 176.572265625, 48.603515625, 11.689453125, 0.09372071176767349 ]
[ 88.41796875, 192.3046875, 180.703125, 49.482421875, 8.701171875, -0.17667844891548157 ]
2.633333
79
0
79
0
[ 88.59375, 190.8984375, 175.166015625, 48.603515625, 11.07421875, 0.09372071176767349 ]
[ 88.41796875, 192.216796875, 180.52734375, 49.306640625, 9.84375, -0.17667844891548157 ]
2.666667
80
0
80
0
[ 88.76953125, 189.31640625, 174.0234375, 48.603515625, 9.755859375, 0.09372071176767349 ]
[ 88.41796875, 191.865234375, 180.17578125, 49.21875, 10.107421875, -0.17667844891548157 ]
2.7
81
0
81
0
[ 88.857421875, 187.470703125, 172.96875, 48.603515625, 7.998046875, 0.09372071176767349 ]
[ 88.41796875, 191.337890625, 179.47265625, 49.130859375, 10.107421875, -0.17667844891548157 ]
2.733333
82
0
82
0
[ 88.9453125, 185.2734375, 171.5625, 48.955078125, 5.44921875, 0.09372071176767349 ]
[ 88.41796875, 190.37109375, 178.505859375, 49.130859375, 9.931640625, -0.17667844891548157 ]
2.766667
83
0
83
0
[ 89.47265625, 182.63671875, 169.716796875, 49.5703125, 2.109375, 0.09372071176767349 ]
[ 88.41796875, 188.96484375, 177.1875, 49.130859375, 8.7890625, -0.17667844891548157 ]
2.8
84
0
84
0
[ 90.17578125, 179.736328125, 167.87109375, 50.009765625, -1.93359375, 0.09372071176767349 ]
[ 88.41796875, 187.20703125, 176.044921875, 49.130859375, 7.3828125, -0.17667844891548157 ]
2.833333
85
0
85
0
[ 90.615234375, 177.1875, 166.025390625, 50.888671875, -6.50390625, 0.09372071176767349 ]
[ 88.505859375, 184.5703125, 174.462890625, 49.482421875, 5.712890625, -0.17667844891548157 ]
2.866667
86
0
86
0
[ 91.0546875, 174.7265625, 164.267578125, 52.20703125, -11.77734375, 0.09372071176767349 ]
[ 88.59375, 182.021484375, 172.96875, 49.74609375, 3.603515625, -0.17667844891548157 ]
2.9
87
0
87
0
[ 91.40625, 172.177734375, 162.861328125, 53.525390625, -18.544921875, 0.09372071176767349 ]
[ 89.12109375, 179.384765625, 171.298828125, 50.2734375, 0.703125, -0.17667844891548157 ]
2.933333
88
0
88
0
[ 91.7578125, 169.8046875, 161.806640625, 54.31640625, -26.103515625, 0.09372071176767349 ]
[ 89.384765625, 177.36328125, 169.892578125, 51.064453125, -2.109375, -0.17667844891548157 ]
2.966667
89
0
89
0
[ 92.373046875, 167.431640625, 160.751953125, 55.107421875, -35.15625, 0.09372071176767349 ]
[ 89.47265625, 174.990234375, 168.046875, 52.119140625, -5.888671875, -0.17667844891548157 ]
3
90
0
90
0
[ 93.1640625, 165.41015625, 159.08203125, 57.392578125, -42.36328125, 0.09372071176767349 ]
[ 89.6484375, 172.880859375, 166.728515625, 53.0859375, -10.546875, -0.17667844891548157 ]
3.033333
91
0
91
0
[ 93.69140625, 163.564453125, 157.587890625, 59.58984375, -47.4609375, 0.09372071176767349 ]
[ 90.17578125, 170.5078125, 165.41015625, 54.052734375, -15.732421875, -0.17667844891548157 ]
3.066667
92
0
92
0
[ 94.130859375, 161.54296875, 156.4453125, 61.259765625, -51.767578125, 0.09372071176767349 ]
[ 90.615234375, 167.783203125, 164.091796875, 55.546875, -21.4453125, -0.17667844891548157 ]
3.1
93
0
93
0
[ 94.833984375, 159.2578125, 154.599609375, 64.072265625, -55.8984375, 0.09372071176767349 ]
[ 91.142578125, 165.76171875, 162.7734375, 56.865234375, -27.59765625, -0.17667844891548157 ]
3.133333
94
0
94
0
[ 95.2734375, 156.97265625, 152.666015625, 66.97265625, -59.853515625, 0.09372071176767349 ]
[ 91.669921875, 163.828125, 161.3671875, 58.7109375, -33.662109375, -0.17667844891548157 ]
3.166667
95
0
95
0
[ 95.537109375, 154.423828125, 150.99609375, 68.466796875, -63.017578125, 0.09372071176767349 ]
[ 92.109375, 161.3671875, 159.521484375, 60.908203125, -39.375, -0.17667844891548157 ]
3.2
96
0
96
0
[ 96.240234375, 151.875, 149.150390625, 69.169921875, -66.181640625, 0.09372071176767349 ]
[ 92.548828125, 158.90625, 157.67578125, 62.9296875, -45.263671875, -0.17667844891548157 ]
3.233333
97
0
97
0
[ 97.470703125, 149.501953125, 146.953125, 70.048828125, -69.169921875, 0.18744142353534698 ]
[ 92.98828125, 156.62109375, 156.181640625, 64.599609375, -49.921875, -0.17667844891548157 ]
3.266667
98
0
98
0
[ 98.61328125, 146.953125, 144.84375, 70.927734375, -72.333984375, 0.8434863686561584 ]
[ 93.69140625, 154.16015625, 154.423828125, 66.26953125, -54.4921875, -0.17667844891548157 ]
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": 50,
    "total_frames": 14780,
    "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.low": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.high": {
            "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": "av1",
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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