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Datasets:
hiroki12486
/
so_arm101_wm_p2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so-arm101
world-model
p2
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
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float32
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25
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int64
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749
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[ 10.62480354309082, -20, 35, 0, 3.366389274597168, 50 ]
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2.666667
80
0
80
0
[ 10.62480354309082, -20, 35, 0, 3.7030282020568848, 50 ]
[ 10.285714149475098, -20, 37.626373291015625, 0.8351648449897766, 2.241758346557617, 49.445674896240234 ]
2.7
81
0
81
0
[ 10.62480354309082, -20, 35, 0, 4.039667129516602, 50 ]
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2.733333
82
0
82
0
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2.766667
83
0
83
0
[ 10.62480354309082, -20, 35, 0, 4.712944984436035, 50 ]
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
[ 10.62480354309082, -20, 35, 0, 6.059500694274902, 50 ]
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
[ 10.62480354309082, -20, 35, 0, 7.069417476654053, 50 ]
[ 10.285714149475098, -20, 37.626373291015625, 0.8351648449897766, 5.670329570770264, 49.445674896240234 ]
3.033333
91
0
91
0
[ 10.62480354309082, -20, 35, 0, 7.4060564041137695, 50 ]
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3.066667
92
0
92
0
[ 10.62480354309082, -20, 35, 0, 7.742695331573486, 50 ]
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3.1
93
0
93
0
[ 10.62480354309082, -20, 35, 0, 8.079334259033203, 50 ]
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ 10.62480354309082, -20, 35, 0, 9.089250564575195, 50 ]
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3.233333
97
0
97
0
[ 10.62480354309082, -20, 35, 0, 9.42588996887207, 50 ]
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3.266667
98
0
98
0
[ 10.62480354309082, -20, 35, 0, 9.762528419494629, 50 ]
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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": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 100,
    "total_frames": 75000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
                1
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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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