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masato-ka
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so100_grasp_lego

Tasks:
Robotics
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Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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15
frame_index
int64
0
449
episode_index
int64
0
51
index
int64
0
23.4k
task_index
int64
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2.433333
73
0
73
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2.466667
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2.5
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2.533333
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2.566667
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2.6
78
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2.633333
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2.666667
80
0
80
0
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2.7
81
0
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0
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2.733333
82
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2.766667
83
0
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2.8
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
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2.9
87
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2.933333
88
0
88
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2.966667
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0
89
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3
90
0
90
0
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3.033333
91
0
91
0
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3.066667
92
0
92
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3.1
93
0
93
0
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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
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3.233333
97
0
97
0
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3.266667
98
0
98
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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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 4496,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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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"
            ],
            "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
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
1.29 MB
Size of the auto-converted Parquet files:
1.29 MB
Number of rows:
23,384

Models trained or fine-tuned on masato-ka/so100_grasp_lego