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Datasets:
dulics
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -2.548828125, 189.31640625, 152.314453125, 53.701171875, 8.876953125, 0.668647825717926 ]
2.566667
77
0
77
0
[ -2.4609375, 189.66796875, 154.951171875, 57.65625, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 153.28125, 54.66796875, 8.876953125, 0.668647825717926 ]
2.6
78
0
78
0
[ -2.4609375, 189.66796875, 155.56640625, 57.744140625, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 154.16015625, 55.546875, 8.876953125, 0.668647825717926 ]
2.633333
79
0
79
0
[ -2.4609375, 189.66796875, 156.09375, 57.83203125, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 154.951171875, 56.42578125, 8.876953125, 0.668647825717926 ]
2.666667
80
0
80
0
[ -2.548828125, 189.66796875, 156.357421875, 58.095703125, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 155.654296875, 56.953125, 8.876953125, 0.668647825717926 ]
2.7
81
0
81
0
[ -2.900390625, 189.66796875, 156.4453125, 58.18359375, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 156.26953125, 57.392578125, 8.876953125, 0.668647825717926 ]
2.733333
82
0
82
0
[ -3.33984375, 189.66796875, 156.4453125, 58.271484375, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 156.708984375, 57.744140625, 8.876953125, 0.668647825717926 ]
2.766667
83
0
83
0
[ -4.130859375, 189.66796875, 156.26953125, 58.53515625, 8.96484375, 0 ]
[ -2.548828125, 189.31640625, 156.708984375, 58.0078125, 8.876953125, 0.668647825717926 ]
2.8
84
0
84
0
[ -5.185546875, 189.66796875, 155.91796875, 58.623046875, 8.876953125, 0 ]
[ -2.548828125, 189.31640625, 156.796875, 58.18359375, 8.876953125, 0.668647825717926 ]
2.833333
85
0
85
0
[ -6.6796875, 189.66796875, 155.478515625, 58.7109375, 8.876953125, 0 ]
[ -2.900390625, 189.31640625, 156.796875, 58.359375, 8.876953125, 0.668647825717926 ]
2.866667
86
0
86
0
[ -8.349609375, 189.66796875, 155.0390625, 58.798828125, 8.7890625, 0 ]
[ -3.603515625, 189.31640625, 156.796875, 58.53515625, 8.876953125, 0.668647825717926 ]
2.9
87
0
87
0
[ -10.37109375, 189.66796875, 154.6875, 58.798828125, 8.525390625, 0 ]
[ -4.5703125, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
2.933333
88
0
88
0
[ -12.48046875, 189.66796875, 154.423828125, 58.798828125, 8.349609375, 0 ]
[ -5.80078125, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
2.966667
89
0
89
0
[ -14.677734375, 189.66796875, 154.3359375, 58.798828125, 8.26171875, 0 ]
[ -7.20703125, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3
90
0
90
0
[ -16.787109375, 189.66796875, 154.3359375, 58.53515625, 8.26171875, 0 ]
[ -8.876953125, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.033333
91
0
91
0
[ -18.984375, 189.66796875, 154.3359375, 58.359375, 8.26171875, 0 ]
[ -10.810546875, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.066667
92
0
92
0
[ -21.09375, 189.66796875, 154.423828125, 58.18359375, 8.26171875, 0 ]
[ -12.744140625, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.1
93
0
93
0
[ -23.37890625, 189.66796875, 154.6875, 57.744140625, 8.173828125, 0 ]
[ -14.94140625, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.133333
94
0
94
0
[ -25.400390625, 189.755859375, 154.86328125, 57.392578125, 8.173828125, 0 ]
[ -16.875, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.166667
95
0
95
0
[ -27.421875, 189.84375, 155.126953125, 56.953125, 8.173828125, 0 ]
[ -18.984375, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.2
96
0
96
0
[ -29.35546875, 189.931640625, 155.390625, 56.07421875, 8.173828125, 0 ]
[ -21.181640625, 189.31640625, 156.796875, 58.623046875, 8.876953125, 0.668647825717926 ]
3.233333
97
0
97
0
[ -31.201171875, 190.283203125, 155.7421875, 55.546875, 8.173828125, 0 ]
[ -23.203125, 189.404296875, 156.796875, 58.53515625, 8.876953125, 0.668647825717926 ]
3.266667
98
0
98
0
[ -33.046875, 190.810546875, 156.09375, 55.37109375, 8.26171875, 0 ]
[ -25.3125, 189.404296875, 156.796875, 58.0078125, 8.876953125, 0.668647825717926 ]
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": 2,
    "total_frames": 1792,
    "total_tasks": 1,
    "total_videos": 4,
    "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": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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