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Datasets:
fanfengping
/
so100_202504020_20_01

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
observation.images.laptop
imagewidth (px)
640
640
observation.images.phone
imagewidth (px)
640
640
timestamp
float32
0
14.3
frame_index
int64
0
429
episode_index
int64
0
16
index
int64
0
7.27k
task_index
int64
0
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[ -5.09765625, 186.943359375, 179.736328125, 45.791015625, 93.69140625, 0.2540220022201538 ]
2.5
75
0
75
0
[ -4.74609375, 189.052734375, 181.58203125, 46.142578125, 93.8671875, 0 ]
[ -5.09765625, 186.943359375, 179.736328125, 45.791015625, 93.69140625, 0.2540220022201538 ]
2.533333
76
0
76
0
[ -4.39453125, 188.7890625, 180.966796875, 46.23046875, 93.603515625, 0 ]
[ -5.09765625, 186.943359375, 179.736328125, 45.791015625, 93.69140625, 0.2540220022201538 ]
2.566667
77
0
77
0
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[ -5.09765625, 186.943359375, 179.736328125, 45.87890625, 93.69140625, 0.2540220022201538 ]
2.6
78
0
78
0
[ -3.515625, 186.591796875, 178.06640625, 46.40625, 93.076171875, 0 ]
[ -4.921875, 186.943359375, 179.736328125, 46.0546875, 93.69140625, 0.2540220022201538 ]
2.633333
79
0
79
0
[ -3.1640625, 184.833984375, 175.869140625, 46.494140625, 92.4609375, 0 ]
[ -4.482421875, 186.85546875, 179.47265625, 46.142578125, 93.69140625, 0.2540220022201538 ]
2.666667
80
0
80
0
[ -2.900390625, 182.373046875, 172.705078125, 46.669921875, 91.93359375, 0 ]
[ -4.130859375, 186.416015625, 179.296875, 46.23046875, 93.427734375, 0.2540220022201538 ]
2.7
81
0
81
0
[ -2.8125, 180, 169.365234375, 47.021484375, 91.58203125, 0 ]
[ -3.515625, 185.537109375, 178.330078125, 46.318359375, 92.8125, 0.2540220022201538 ]
2.733333
82
0
82
0
[ -2.724609375, 177.451171875, 165.76171875, 47.548828125, 91.0546875, 0 ]
[ -2.98828125, 183.779296875, 176.748046875, 46.58203125, 92.548828125, 0.2540220022201538 ]
2.766667
83
0
83
0
[ -2.724609375, 174.814453125, 162.333984375, 47.98828125, 90.791015625, 0 ]
[ -2.98828125, 181.93359375, 174.375, 46.93359375, 92.021484375, 0.2540220022201538 ]
2.8
84
0
84
0
[ -2.724609375, 173.232421875, 159.43359375, 48.1640625, 90.52734375, 0.6295907497406006 ]
[ -3.251953125, 179.82421875, 171.650390625, 47.373046875, 91.58203125, 0.2540220022201538 ]
2.833333
85
0
85
0
[ -2.900390625, 171.73828125, 156.884765625, 48.603515625, 90.52734375, 1.154249668121338 ]
[ -3.33984375, 177.626953125, 168.662109375, 47.63671875, 91.23046875, 0.2540220022201538 ]
2.866667
86
0
86
0
[ -2.900390625, 169.013671875, 153.984375, 48.8671875, 90.3515625, 1.5739768743515015 ]
[ -2.98828125, 175.517578125, 165.5859375, 47.98828125, 90.966796875, 0.2540220022201538 ]
2.9
87
0
87
0
[ -2.724609375, 166.552734375, 151.259765625, 49.306640625, 89.912109375, 2.2035677433013916 ]
[ -2.8125, 173.84765625, 162.861328125, 48.251953125, 90.87890625, 0.42337003350257874 ]
2.933333
88
0
88
0
[ -2.548828125, 165.05859375, 149.4140625, 49.5703125, 89.560546875, 3.252885580062866 ]
[ -2.8125, 172.001953125, 159.873046875, 48.69140625, 90.615234375, 1.0160880088806152 ]
2.966667
89
0
89
0
[ -2.548828125, 164.35546875, 148.0078125, 49.833984375, 89.47265625, 4.30220365524292 ]
[ -2.98828125, 169.716796875, 157.060546875, 48.955078125, 90.263671875, 1.5241321325302124 ]
3
90
0
90
0
[ -2.63671875, 162.421875, 145.986328125, 50.625, 89.384765625, 4.5120673179626465 ]
[ -2.98828125, 167.255859375, 154.599609375, 49.306640625, 90, 2.3708722591400146 ]
3.033333
91
0
91
0
[ -2.63671875, 160.048828125, 143.876953125, 51.591796875, 89.033203125, 5.246589660644531 ]
[ -2.900390625, 166.11328125, 152.666015625, 49.658203125, 89.82421875, 3.302286148071289 ]
3.066667
92
0
92
0
[ -2.724609375, 157.67578125, 141.943359375, 52.646484375, 88.681640625, 5.876180648803711 ]
[ -2.63671875, 164.970703125, 150.732421875, 50.185546875, 89.6484375, 3.8103301525115967 ]
3.1
93
0
93
0
[ -2.548828125, 154.6875, 139.74609375, 53.701171875, 87.978515625, 7.135362148284912 ]
[ -2.548828125, 162.7734375, 148.359375, 50.9765625, 89.384765625, 4.487722396850586 ]
3.133333
94
0
94
0
[ -2.28515625, 151.787109375, 137.373046875, 55.107421875, 87.451171875, 7.66002082824707 ]
[ -2.548828125, 160.048828125, 146.162109375, 51.85546875, 89.033203125, 5.080440044403076 ]
3.166667
95
0
95
0
[ -2.28515625, 149.23828125, 135.263671875, 56.513671875, 87.36328125, 8.60440731048584 ]
[ -2.548828125, 157.32421875, 144.228515625, 52.822265625, 88.505859375, 6.011854648590088 ]
3.2
96
0
96
0
[ -2.28515625, 147.216796875, 133.505859375, 57.919921875, 87.275390625, 9.653724670410156 ]
[ -2.548828125, 154.16015625, 141.591796875, 54.404296875, 87.978515625, 6.943268299102783 ]
3.233333
97
0
97
0
[ -2.28515625, 145.986328125, 132.451171875, 58.88671875, 87.275390625, 10.178383827209473 ]
[ -2.548828125, 151.787109375, 139.482421875, 55.458984375, 87.802734375, 7.705334663391113 ]
3.266667
98
0
98
0
[ -2.28515625, 144.4921875, 131.220703125, 60.1171875, 87.1875, 10.598111152648926 ]
[ -2.63671875, 149.765625, 137.8125, 56.6015625, 87.626953125, 8.636749267578125 ]
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": 20,
    "total_frames": 8543,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "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": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "observation.images.phone": {
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                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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