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Datasets:
jsyoon80
/
act_so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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
28.2
frame_index
int64
0
847
episode_index
int64
0
1
index
int64
0
1.69k
task_index
int64
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[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 14.58984375, 0.3724394738674164 ]
2.566667
77
0
77
0
[ -0.439453125, 90, 79.541015625, 48.779296875, 28.388671875, 0.0917431190609932 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 17.578125, 0.3724394738674164 ]
2.6
78
0
78
0
[ -0.439453125, 90, 79.541015625, 48.69140625, 32.080078125, 0.0917431190609932 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 20.830078125, 0.3724394738674164 ]
2.633333
79
0
79
0
[ -0.439453125, 90, 79.541015625, 48.603515625, 35.5078125, 0.0917431190609932 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 24.345703125, 0.3724394738674164 ]
2.666667
80
0
80
0
[ -0.439453125, 90, 79.541015625, 48.603515625, 38.671875, 0.0917431190609932 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 27.861328125, 0.3724394738674164 ]
2.7
81
0
81
0
[ -0.439453125, 90, 79.541015625, 48.603515625, 41.30859375, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 31.2890625, 0.3724394738674164 ]
2.733333
82
0
82
0
[ -0.52734375, 90, 79.541015625, 48.603515625, 44.033203125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 34.98046875, 0.3724394738674164 ]
2.766667
83
0
83
0
[ -0.52734375, 90, 79.541015625, 48.603515625, 47.021484375, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 38.14453125, 0.3724394738674164 ]
2.8
84
0
84
0
[ -0.52734375, 90, 79.541015625, 48.69140625, 49.658203125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 41.220703125, 0.3724394738674164 ]
2.833333
85
0
85
0
[ -0.52734375, 90, 79.541015625, 48.603515625, 51.767578125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 43.9453125, 0.3724394738674164 ]
2.866667
86
0
86
0
[ -0.52734375, 90, 79.541015625, 48.603515625, 53.876953125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 46.669921875, 0.3724394738674164 ]
2.9
87
0
87
0
[ -0.52734375, 90, 79.541015625, 48.603515625, 55.72265625, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 49.21875, 0.3724394738674164 ]
2.933333
88
0
88
0
[ -0.52734375, 90, 79.541015625, 48.515625, 57.48046875, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 51.50390625, 0.3724394738674164 ]
2.966667
89
0
89
0
[ -0.52734375, 90, 79.541015625, 48.515625, 59.4140625, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 53.876953125, 0.3724394738674164 ]
3
90
0
90
0
[ -0.52734375, 90, 79.541015625, 48.515625, 61.34765625, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 55.810546875, 0.3724394738674164 ]
3.033333
91
0
91
0
[ -0.52734375, 90.087890625, 79.541015625, 48.515625, 63.193359375, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 57.65625, 0.3724394738674164 ]
3.066667
92
0
92
0
[ -0.52734375, 90.087890625, 79.541015625, 48.515625, 65.126953125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 59.677734375, 0.3724394738674164 ]
3.1
93
0
93
0
[ -0.52734375, 90.17578125, 79.541015625, 48.515625, 67.060546875, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 61.5234375, 0.3724394738674164 ]
3.133333
94
0
94
0
[ -0.52734375, 90.17578125, 79.453125, 48.515625, 69.08203125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 63.369140625, 0.3724394738674164 ]
3.166667
95
0
95
0
[ -0.52734375, 90.263671875, 79.453125, 48.515625, 71.19140625, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 65.302734375, 0.3724394738674164 ]
3.2
96
0
96
0
[ -0.52734375, 90.263671875, 79.453125, 48.515625, 73.564453125, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 67.32421875, 0.3724394738674164 ]
3.233333
97
0
97
0
[ -0.52734375, 90.263671875, 79.453125, 48.515625, 75.849609375, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 69.43359375, 0.3724394738674164 ]
3.266667
98
0
98
0
[ -0.439453125, 90.263671875, 79.453125, 48.515625, 78.134765625, 0 ]
[ -0.439453125, 89.12109375, 81.38671875, 49.21875, 71.54296875, 0.3724394738674164 ]
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": 2,
    "total_frames": 1694,
    "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",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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