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Datasets:
ganker5
/
so100_color_0328

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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action
sequence
observation.state
sequence
timestamp
float32
0
19.5
frame_index
int64
0
585
episode_index
int64
0
49
index
int64
0
17.4k
task_index
int64
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0
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[ 8.701171875, 64.51171875, 42.626953125, 99.140625, -14.0625, 16.500383377075195 ]
2.4
72
0
72
0
[ 9.052734375, 89.82421875, 48.076171875, 99.580078125, -17.666015625, 17.241378784179688 ]
[ 8.701171875, 68.203125, 43.76953125, 99.228515625, -14.94140625, 16.500383377075195 ]
2.433333
73
0
73
0
[ 9.052734375, 94.04296875, 50.2734375, 99.580078125, -18.544921875, 17.241378784179688 ]
[ 8.701171875, 72.421875, 45.087890625, 99.228515625, -15.205078125, 16.500383377075195 ]
2.466667
74
0
74
0
[ 9.052734375, 98.0859375, 52.734375, 99.580078125, -19.423828125, 17.241378784179688 ]
[ 8.701171875, 77.255859375, 46.669921875, 99.228515625, -16.083984375, 16.500383377075195 ]
2.5
75
0
75
0
[ 9.052734375, 102.12890625, 55.37109375, 99.580078125, -20.390625, 17.241378784179688 ]
[ 8.701171875, 82.265625, 48.33984375, 99.228515625, -16.875, 16.500383377075195 ]
2.533333
76
0
76
0
[ 9.052734375, 106.435546875, 58.095703125, 99.580078125, -21.533203125, 17.241378784179688 ]
[ 8.701171875, 87.451171875, 50.185546875, 99.228515625, -17.75390625, 16.500383377075195 ]
2.566667
77
0
77
0
[ 9.052734375, 110.7421875, 60.99609375, 99.580078125, -22.8515625, 17.241378784179688 ]
[ 8.701171875, 92.109375, 52.294921875, 99.228515625, -18.720703125, 16.500383377075195 ]
2.6
78
0
78
0
[ 9.052734375, 115.048828125, 63.896484375, 99.580078125, -24.2578125, 17.241378784179688 ]
[ 8.701171875, 96.591796875, 54.84375, 99.228515625, -19.6875, 16.500383377075195 ]
2.633333
79
0
79
0
[ 9.052734375, 119.267578125, 66.708984375, 99.4921875, -25.83984375, 17.241378784179688 ]
[ 8.701171875, 100.8984375, 57.216796875, 99.228515625, -20.7421875, 16.500383377075195 ]
2.666667
80
0
80
0
[ 9.052734375, 123.57421875, 69.521484375, 99.4921875, -27.421875, 17.241378784179688 ]
[ 8.701171875, 105.1171875, 59.677734375, 99.228515625, -21.97265625, 16.500383377075195 ]
2.7
81
0
81
0
[ 9.052734375, 127.79296875, 72.421875, 99.4921875, -29.00390625, 17.241378784179688 ]
[ 8.701171875, 109.599609375, 62.490234375, 99.31640625, -23.37890625, 16.500383377075195 ]
2.733333
82
0
82
0
[ 9.052734375, 131.923828125, 75.234375, 99.4921875, -30.673828125, 17.241378784179688 ]
[ 8.701171875, 114.08203125, 65.302734375, 99.31640625, -24.697265625, 16.500383377075195 ]
2.766667
83
0
83
0
[ 9.052734375, 136.0546875, 77.87109375, 99.4921875, -32.34375, 17.241378784179688 ]
[ 8.701171875, 118.4765625, 68.291015625, 99.31640625, -26.630859375, 16.500383377075195 ]
2.8
84
0
84
0
[ 9.228515625, 140.09765625, 80.5078125, 99.4921875, -34.1015625, 17.241378784179688 ]
[ 8.701171875, 122.6953125, 71.103515625, 99.31640625, -28.125, 16.500383377075195 ]
2.833333
85
0
85
0
[ 9.4921875, 143.7890625, 83.14453125, 99.4921875, -35.947265625, 17.241378784179688 ]
[ 8.701171875, 127.08984375, 73.828125, 99.31640625, -29.443359375, 16.500383377075195 ]
2.866667
86
0
86
0
[ 9.66796875, 147.392578125, 85.869140625, 99.404296875, -37.880859375, 17.241378784179688 ]
[ 8.701171875, 131.484375, 76.552734375, 99.31640625, -31.552734375, 16.500383377075195 ]
2.9
87
0
87
0
[ 9.66796875, 150.64453125, 88.681640625, 99.31640625, -39.7265625, 17.241378784179688 ]
[ 8.701171875, 135.703125, 79.27734375, 99.31640625, -33.046875, 16.500383377075195 ]
2.933333
88
0
88
0
[ 9.66796875, 153.544921875, 91.58203125, 99.31640625, -41.396484375, 17.241378784179688 ]
[ 8.701171875, 139.921875, 81.9140625, 99.31640625, -34.453125, 16.500383377075195 ]
2.966667
89
0
89
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.330078125, 98.61328125, -58.88671875, 16.500383377075195 ]
0
0
1
90
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.330078125, 98.61328125, -58.88671875, 16.500383377075195 ]
0.033333
1
1
91
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.53515625, 16.500383377075195 ]
0.066667
2
1
92
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.1
3
1
93
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.133333
4
1
94
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.166667
5
1
95
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.2
6
1
96
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.233333
7
1
97
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.266667
8
1
98
0
[ 9.228515625, 191.162109375, 132.451171875, 98.525390625, -58.359375, 17.241378784179688 ]
[ 8.701171875, 190.8984375, 133.2421875, 98.61328125, -58.359375, 16.500383377075195 ]
0.3
9
1
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": 2090,
    "total_tasks": 1,
    "total_videos": 10,
    "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": "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.laptop": {
            "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": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                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": "h264",
                "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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