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Datasets:
fljjoin
/
so100_test1000

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
19
index
int64
0
17.9k
task_index
int64
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0
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[ -23.818359375, 142.91015625, 151.259765625, -2.28515625, 12.744140625, 23.496891021728516 ]
2.333333
70
0
70
0
[ -18.10546875, 140.80078125, 136.58203125, 2.373046875, 16.435546875, 22.04878044128418 ]
[ -23.466796875, 141.85546875, 148.7109375, -0.966796875, 13.095703125, 23.42778205871582 ]
2.366667
71
0
71
0
[ -16.34765625, 140.44921875, 135, 3.603515625, 17.666015625, 21.85365867614746 ]
[ -22.587890625, 141.15234375, 146.25, 0.263671875, 13.53515625, 23.42778205871582 ]
2.4
72
0
72
0
[ -14.765625, 139.833984375, 133.2421875, 4.921875, 18.28125, 21.85365867614746 ]
[ -21.181640625, 140.712890625, 144.404296875, 1.23046875, 14.58984375, 23.220455169677734 ]
2.433333
73
0
73
0
[ -13.447265625, 139.306640625, 131.66015625, 6.064453125, 18.6328125, 21.85365867614746 ]
[ -19.423828125, 140.361328125, 142.646484375, 2.373046875, 15.908203125, 22.736696243286133 ]
2.466667
74
0
74
0
[ -12.3046875, 138.955078125, 130.078125, 7.470703125, 18.6328125, 21.85365867614746 ]
[ -17.314453125, 139.74609375, 140.712890625, 3.603515625, 17.314453125, 22.460262298583984 ]
2.5
75
0
75
0
[ -11.689453125, 138.69140625, 128.671875, 8.7890625, 18.45703125, 21.95121955871582 ]
[ -15.556640625, 139.130859375, 138.779296875, 4.833984375, 17.841796875, 22.322046279907227 ]
2.533333
76
0
76
0
[ -11.513671875, 138.427734375, 127.08984375, 10.546875, 17.578125, 21.85365867614746 ]
[ -14.150390625, 138.69140625, 137.021484375, 6.064453125, 18.10546875, 22.25293731689453 ]
2.566667
77
0
77
0
[ -11.42578125, 138.251953125, 125.771484375, 12.12890625, 16.875, 21.7560977935791 ]
[ -13.18359375, 138.427734375, 135.439453125, 7.294921875, 18.10546875, 22.183828353881836 ]
2.6
78
0
78
0
[ -11.25, 138.1640625, 124.8046875, 13.18359375, 16.435546875, 21.560976028442383 ]
[ -12.568359375, 138.1640625, 133.857421875, 8.701171875, 17.75390625, 22.11471939086914 ]
2.633333
79
0
79
0
[ -10.986328125, 138.1640625, 124.1015625, 14.0625, 15.99609375, 21.463415145874023 ]
[ -12.12890625, 137.98828125, 132.36328125, 10.1953125, 17.314453125, 22.11471939086914 ]
2.666667
80
0
80
0
[ -10.546875, 138.076171875, 123.75, 14.501953125, 15.732421875, 21.365854263305664 ]
[ -11.865234375, 137.900390625, 131.044921875, 11.513671875, 16.962890625, 22.11471939086914 ]
2.7
81
0
81
0
[ -9.931640625, 137.900390625, 123.662109375, 14.501953125, 15.64453125, 21.365854263305664 ]
[ -11.77734375, 137.900390625, 129.90234375, 12.83203125, 16.5234375, 22.11471939086914 ]
2.733333
82
0
82
0
[ -9.228515625, 137.63671875, 123.837890625, 13.88671875, 15.556640625, 21.463415145874023 ]
[ -11.689453125, 137.900390625, 129.111328125, 13.7109375, 16.259765625, 22.11471939086914 ]
2.766667
83
0
83
0
[ -8.525390625, 137.28515625, 124.365234375, 13.095703125, 15.99609375, 21.658536911010742 ]
[ -11.162109375, 137.8125, 128.671875, 14.0625, 15.8203125, 21.976503372192383 ]
2.8
84
0
84
0
[ -8.0859375, 137.197265625, 125.33203125, 11.953125, 16.962890625, 21.85365867614746 ]
[ -10.458984375, 137.548828125, 128.3203125, 14.0625, 15.380859375, 21.838285446166992 ]
2.833333
85
0
85
0
[ -7.998046875, 137.548828125, 126.9140625, 10.458984375, 17.40234375, 21.95121955871582 ]
[ -9.755859375, 137.109375, 128.232421875, 13.88671875, 15.8203125, 21.838285446166992 ]
2.866667
86
0
86
0
[ -8.4375, 138.251953125, 129.462890625, 8.0859375, 17.2265625, 21.95121955871582 ]
[ -8.876953125, 137.021484375, 128.3203125, 13.359375, 16.611328125, 21.838285446166992 ]
2.9
87
0
87
0
[ -9.140625, 139.39453125, 132.36328125, 5.44921875, 16.875, 21.463415145874023 ]
[ -8.349609375, 136.93359375, 128.49609375, 12.568359375, 17.138671875, 21.838285446166992 ]
2.933333
88
0
88
0
[ -9.66796875, 140.80078125, 135.17578125, 3.427734375, 16.875, 21.073171615600586 ]
[ -8.173828125, 137.021484375, 129.462890625, 11.25, 17.138671875, 21.838285446166992 ]
2.966667
89
0
89
0
[ -10.01953125, 142.119140625, 137.8125, 1.7578125, 17.314453125, 20.682926177978516 ]
[ -8.4375, 137.4609375, 131.1328125, 9.4921875, 17.138671875, 21.838285446166992 ]
3
90
0
90
0
[ -10.107421875, 143.4375, 139.74609375, 0.87890625, 17.666015625, 20.390243530273438 ]
[ -8.96484375, 138.251953125, 133.330078125, 7.55859375, 17.138671875, 21.561851501464844 ]
3.033333
91
0
91
0
[ -9.931640625, 144.580078125, 140.9765625, 0.791015625, 18.28125, 20.19512176513672 ]
[ -9.84375, 139.130859375, 135.791015625, 5.712890625, 17.2265625, 21.216310501098633 ]
3.066667
92
0
92
0
[ -9.580078125, 145.458984375, 141.416015625, 1.494140625, 18.896484375, 20.19512176513672 ]
[ -10.1953125, 140.09765625, 138.251953125, 4.306640625, 17.2265625, 20.87076759338379 ]
3.1
93
0
93
0
[ -9.404296875, 146.162109375, 141.240234375, 2.900390625, 19.3359375, 20.09756088256836 ]
[ -10.283203125, 141.064453125, 140.2734375, 3.427734375, 16.962890625, 20.663440704345703 ]
3.133333
94
0
94
0
[ -9.404296875, 146.689453125, 140.537109375, 4.74609375, 19.16015625, 20.09756088256836 ]
[ -10.1953125, 141.943359375, 141.591796875, 3.251953125, 17.75390625, 20.525224685668945 ]
3.166667
95
0
95
0
[ -9.755859375, 147.12890625, 139.658203125, 6.591796875, 18.544921875, 20.09756088256836 ]
[ -9.755859375, 142.734375, 142.119140625, 3.515625, 18.896484375, 20.387006759643555 ]
3.2
96
0
96
0
[ -10.1953125, 147.568359375, 138.69140625, 8.4375, 18.10546875, 20 ]
[ -9.31640625, 143.4375, 142.119140625, 4.306640625, 18.896484375, 20.387006759643555 ]
3.233333
97
0
97
0
[ -10.458984375, 148.095703125, 137.900390625, 10.1953125, 18.017578125, 19.90243911743164 ]
[ -9.228515625, 144.228515625, 142.119140625, 5.44921875, 18.6328125, 20.387006759643555 ]
3.266667
98
0
98
0
[ -10.72265625, 148.7109375, 137.197265625, 11.77734375, 18.017578125, 19.90243911743164 ]
[ -9.580078125, 145.01953125, 142.03125, 6.85546875, 18.369140625, 20.387006759643555 ]
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": 2,
    "total_frames": 1776,
    "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",
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            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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