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Datasets:
fanfengping
/
so100_20250405

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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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
57.5
frame_index
int64
0
1.73k
episode_index
int64
0
4
index
int64
0
8.6k
task_index
int64
0
0
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[ -1.93359375, 129.287109375, 119.00390625, 0.87890625, -84.55078125, 3.9432175159454346 ]
2.4
72
0
72
0
[ -3.69140625, 124.365234375, 112.763671875, -2.724609375, -86.484375, -0.2083333432674408 ]
[ -2.373046875, 127.79296875, 118.037109375, 0, -84.990234375, 3.9432175159454346 ]
2.433333
73
0
73
0
[ -3.955078125, 123.3984375, 112.1484375, -3.076171875, -87.01171875, -0.2083333432674408 ]
[ -2.8125, 126.474609375, 117.0703125, -0.87890625, -84.990234375, 3.9432175159454346 ]
2.466667
74
0
74
0
[ -4.21875, 122.51953125, 111.181640625, -3.1640625, -87.099609375, -0.2083333432674408 ]
[ -3.1640625, 125.068359375, 116.19140625, -1.318359375, -85.693359375, 3.9432175159454346 ]
2.5
75
0
75
0
[ -4.39453125, 121.640625, 110.478515625, -3.1640625, -88.41796875, -0.2083333432674408 ]
[ -3.427734375, 123.92578125, 115.48828125, -1.7578125, -86.484375, 3.9432175159454346 ]
2.533333
76
0
76
0
[ -4.482421875, 121.11328125, 110.390625, -3.1640625, -90.703125, -0.2083333432674408 ]
[ -3.779296875, 122.87109375, 114.697265625, -1.93359375, -86.572265625, 3.9432175159454346 ]
2.566667
77
0
77
0
[ -4.658203125, 120.673828125, 110.21484375, -3.8671875, -91.318359375, -0.2083333432674408 ]
[ -3.955078125, 121.904296875, 113.994140625, -2.109375, -87.451171875, 3.9432175159454346 ]
2.6
78
0
78
0
[ -4.74609375, 120.322265625, 109.951171875, -3.69140625, -92.4609375, -0.2083333432674408 ]
[ -4.04296875, 121.2890625, 113.642578125, -2.109375, -89.208984375, 3.9432175159454346 ]
2.633333
79
0
79
0
[ -4.74609375, 119.8828125, 109.86328125, -3.251953125, -95.09765625, -0.2083333432674408 ]
[ -4.306640625, 120.673828125, 113.203125, -2.4609375, -90, 3.9432175159454346 ]
2.666667
80
0
80
0
[ -4.74609375, 119.70703125, 109.951171875, -3.251953125, -96.416015625, -0.2083333432674408 ]
[ -4.306640625, 120.146484375, 113.02734375, -2.548828125, -90.966796875, 3.9432175159454346 ]
2.7
81
0
81
0
[ -4.833984375, 119.53125, 109.951171875, -3.251953125, -96.85546875, -0.2083333432674408 ]
[ -4.306640625, 119.794921875, 112.8515625, -2.548828125, -92.900390625, 3.9432175159454346 ]
2.733333
82
0
82
0
[ -4.833984375, 119.35546875, 109.951171875, -2.98828125, -96.943359375, -0.2083333432674408 ]
[ -4.306640625, 119.70703125, 112.8515625, -2.548828125, -94.658203125, 3.9432175159454346 ]
2.766667
83
0
83
0
[ -4.833984375, 119.1796875, 109.6875, -2.197265625, -96.943359375, -0.2083333432674408 ]
[ -4.39453125, 119.443359375, 112.8515625, -2.548828125, -95.44921875, 3.9432175159454346 ]
2.8
84
0
84
0
[ -4.833984375, 118.740234375, 109.423828125, -2.021484375, -96.943359375, -0.2083333432674408 ]
[ -4.39453125, 119.35546875, 112.8515625, -2.548828125, -95.712890625, 3.9432175159454346 ]
2.833333
85
0
85
0
[ -4.833984375, 118.125, 109.072265625, -2.4609375, -96.591796875, -0.2083333432674408 ]
[ -4.482421875, 119.091796875, 112.67578125, -2.373046875, -96.328125, 3.9432175159454346 ]
2.866667
86
0
86
0
[ -5.009765625, 117.24609375, 108.544921875, -3.076171875, -96.591796875, -0.2083333432674408 ]
[ -4.482421875, 118.65234375, 112.412109375, -2.28515625, -96.416015625, 3.9432175159454346 ]
2.9
87
0
87
0
[ -5.2734375, 116.279296875, 108.017578125, -4.482421875, -96.591796875, -0.2083333432674408 ]
[ -4.482421875, 118.037109375, 112.060546875, -2.28515625, -96.416015625, 3.9432175159454346 ]
2.933333
88
0
88
0
[ -5.537109375, 115.224609375, 107.490234375, -6.064453125, -96.591796875, -0.2083333432674408 ]
[ -4.482421875, 117.24609375, 111.62109375, -2.28515625, -96.416015625, 3.9432175159454346 ]
2.966667
89
0
89
0
[ -5.712890625, 114.169921875, 106.962890625, -7.470703125, -96.85546875, -0.2083333432674408 ]
[ -4.74609375, 116.279296875, 111.09375, -3.076171875, -96.416015625, 3.9432175159454346 ]
3
90
0
90
0
[ -5.9765625, 112.763671875, 106.435546875, -9.404296875, -96.85546875, -0.2083333432674408 ]
[ -4.921875, 115.3125, 110.654296875, -4.306640625, -96.416015625, 3.9432175159454346 ]
3.033333
91
0
91
0
[ -6.15234375, 111.4453125, 105.46875, -10.37109375, -96.767578125, -0.2083333432674408 ]
[ -5.2734375, 114.345703125, 110.126953125, -5.537109375, -96.416015625, 3.9432175159454346 ]
3.066667
92
0
92
0
[ -6.416015625, 110.0390625, 104.326171875, -10.8984375, -96.50390625, -0.2083333432674408 ]
[ -5.537109375, 113.203125, 109.599609375, -6.943359375, -96.416015625, 3.9432175159454346 ]
3.1
93
0
93
0
[ -6.6796875, 108.369140625, 102.65625, -11.42578125, -96.064453125, -0.2083333432674408 ]
[ -5.712890625, 111.884765625, 108.720703125, -8.173828125, -96.50390625, 3.9432175159454346 ]
3.133333
94
0
94
0
[ -6.85546875, 106.69921875, 101.07421875, -11.77734375, -95.888671875, -0.2083333432674408 ]
[ -5.9765625, 110.56640625, 107.75390625, -9.052734375, -96.591796875, 3.9432175159454346 ]
3.166667
95
0
95
0
[ -7.119140625, 105.205078125, 99.755859375, -12.041015625, -95.888671875, -0.2083333432674408 ]
[ -6.15234375, 108.984375, 106.611328125, -9.755859375, -96.416015625, 3.9432175159454346 ]
3.2
96
0
96
0
[ -7.294921875, 103.88671875, 98.701171875, -12.744140625, -95.712890625, -0.2083333432674408 ]
[ -6.416015625, 107.314453125, 105.1171875, -10.283203125, -96.064453125, 3.9432175159454346 ]
3.233333
97
0
97
0
[ -7.470703125, 102.392578125, 97.91015625, -13.53515625, -95.712890625, -0.2083333432674408 ]
[ -6.6796875, 105.64453125, 103.7109375, -10.72265625, -96.240234375, 3.9432175159454346 ]
3.266667
98
0
98
0
[ -7.646484375, 100.986328125, 97.20703125, -14.4140625, -95.712890625, -0.2083333432674408 ]
[ -6.767578125, 104.23828125, 102.568359375, -11.337890625, -96.064453125, 3.9432175159454346 ]
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": 5,
    "total_frames": 8603,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "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": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "observation.images.phone": {
            "dtype": "image",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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