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leodong
/
so100_test_2_22

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
22.2
frame_index
int64
0
665
episode_index
int64
0
2
index
int64
0
1.93k
task_index
int64
0
0
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72
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72
0
[ 15.46875, -5.80078125, 24.873046875, 145.986328125, 150.029296875, 1.4734773635864258 ]
[ 14.853515625, -5.09765625, 24.78515625, 150.1171875, 153.720703125, 0.503524661064148 ]
2.433333
73
0
73
0
[ 15.46875, -5.80078125, 24.873046875, 145.01953125, 148.53515625, 1.4734773635864258 ]
[ 14.853515625, -5.09765625, 24.78515625, 149.326171875, 152.490234375, 0.503524661064148 ]
2.466667
74
0
74
0
[ 15.46875, -5.80078125, 24.873046875, 144.052734375, 147.12890625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 148.447265625, 151.34765625, 0.503524661064148 ]
2.5
75
0
75
0
[ 15.46875, -5.888671875, 24.873046875, 143.173828125, 145.8984375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 147.744140625, 150.029296875, 0.503524661064148 ]
2.533333
76
0
76
0
[ 15.46875, -5.888671875, 24.873046875, 142.20703125, 144.755859375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 146.953125, 148.53515625, 0.503524661064148 ]
2.566667
77
0
77
0
[ 15.46875, -5.888671875, 24.873046875, 141.328125, 143.876953125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 146.162109375, 146.953125, 0.503524661064148 ]
2.6
78
0
78
0
[ 15.46875, -5.888671875, 24.873046875, 140.2734375, 142.998046875, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 145.283203125, 145.546875, 0.503524661064148 ]
2.633333
79
0
79
0
[ 15.46875, -5.888671875, 24.873046875, 139.21875, 142.20703125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 144.404296875, 144.140625, 0.503524661064148 ]
2.666667
80
0
80
0
[ 15.46875, -5.888671875, 24.873046875, 138.33984375, 141.328125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 143.4375, 142.998046875, 0.503524661064148 ]
2.7
81
0
81
0
[ 15.46875, -5.888671875, 24.873046875, 137.548828125, 140.44921875, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 142.55859375, 142.294921875, 0.503524661064148 ]
2.733333
82
0
82
0
[ 15.46875, -5.888671875, 24.873046875, 136.7578125, 139.482421875, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 141.50390625, 141.591796875, 0.503524661064148 ]
2.766667
83
0
83
0
[ 15.46875, -5.888671875, 24.873046875, 136.0546875, 138.33984375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 140.44921875, 140.80078125, 0.503524661064148 ]
2.8
84
0
84
0
[ 15.46875, -5.625, 24.873046875, 135.439453125, 137.197265625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 139.482421875, 139.833984375, 0.503524661064148 ]
2.833333
85
0
85
0
[ 15.64453125, -5.44921875, 24.873046875, 134.82421875, 135.87890625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 138.779296875, 138.8671875, 0.503524661064148 ]
2.866667
86
0
86
0
[ 15.64453125, -5.537109375, 24.9609375, 134.296875, 134.736328125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 137.98828125, 137.724609375, 0.503524661064148 ]
2.9
87
0
87
0
[ 15.64453125, -5.44921875, 25.3125, 133.9453125, 133.59375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 137.28515625, 136.494140625, 0.503524661064148 ]
2.933333
88
0
88
0
[ 15.64453125, -5.44921875, 25.48828125, 133.76953125, 132.71484375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.78515625, 136.669921875, 135.263671875, 0.503524661064148 ]
2.966667
89
0
89
0
[ 15.64453125, -5.361328125, 25.576171875, 133.76953125, 131.923828125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 136.142578125, 133.9453125, 0.503524661064148 ]
3
90
0
90
0
[ 15.64453125, -5.361328125, 25.6640625, 133.76953125, 131.30859375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.791015625, 132.802734375, 0.503524661064148 ]
3.033333
91
0
91
0
[ 15.64453125, -5.2734375, 25.6640625, 133.857421875, 130.869140625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.52734375, 131.748046875, 0.503524661064148 ]
3.066667
92
0
92
0
[ 15.64453125, -5.2734375, 25.6640625, 133.9453125, 130.517578125, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 131.1328125, 0.503524661064148 ]
3.1
93
0
93
0
[ 15.732421875, -5.2734375, 25.6640625, 134.208984375, 130.25390625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 130.517578125, 0.503524661064148 ]
3.133333
94
0
94
0
[ 15.732421875, -5.2734375, 25.6640625, 134.208984375, 129.990234375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 130.078125, 0.503524661064148 ]
3.166667
95
0
95
0
[ 15.8203125, -5.2734375, 25.6640625, 134.296875, 129.7265625, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 129.814453125, 0.503524661064148 ]
3.2
96
0
96
0
[ 15.8203125, -5.2734375, 25.6640625, 134.384765625, 129.375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 129.375, 0.503524661064148 ]
3.233333
97
0
97
0
[ 15.8203125, -5.2734375, 25.6640625, 134.47265625, 128.935546875, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 129.0234375, 0.503524661064148 ]
3.266667
98
0
98
0
[ 15.8203125, -5.2734375, 25.751953125, 134.560546875, 128.49609375, 1.5717092752456665 ]
[ 14.853515625, -5.09765625, 24.873046875, 135.439453125, 128.759765625, 0.503524661064148 ]
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": 3,
    "total_frames": 1927,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": "h264",
                "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": "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": [
                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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License:
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