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Datasets:
mathieutk
/
so100_gobe

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
11.4
frame_index
int64
0
341
episode_index
int64
0
48
index
int64
0
9.51k
task_index
int64
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[ 3.33984375, 72.421875, 57.041015625, 88.681640625, -16.962890625, 32.77467346191406 ]
[ 3.427734375, 86.66015625, 77.607421875, 81.38671875, -16.34765625, 32.25331497192383 ]
2.5
75
0
75
0
[ 3.1640625, 68.994140625, 52.998046875, 90.3515625, -17.05078125, 32.77467346191406 ]
[ 3.515625, 82.6171875, 73.212890625, 83.49609375, -16.435546875, 32.32695007324219 ]
2.533333
76
0
76
0
[ 2.98828125, 66.09375, 49.482421875, 91.58203125, -17.05078125, 32.77467346191406 ]
[ 3.603515625, 78.3984375, 68.466796875, 85.60546875, -16.5234375, 32.32695007324219 ]
2.566667
77
0
77
0
[ 2.8125, 63.369140625, 46.7578125, 92.373046875, -17.05078125, 32.77467346191406 ]
[ 3.69140625, 74.091796875, 63.896484375, 87.5390625, -16.611328125, 32.32695007324219 ]
2.6
78
0
78
0
[ 2.4609375, 61.259765625, 45.52734375, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 3.603515625, 70.400390625, 59.501953125, 89.12109375, -16.69921875, 32.32695007324219 ]
2.633333
79
0
79
0
[ 2.109375, 59.150390625, 44.384765625, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 3.33984375, 66.97265625, 55.634765625, 90.263671875, -16.69921875, 32.47422790527344 ]
2.666667
80
0
80
0
[ 1.93359375, 56.77734375, 42.71484375, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 2.900390625, 63.896484375, 52.55859375, 90.791015625, -16.69921875, 32.47422790527344 ]
2.7
81
0
81
0
[ 1.845703125, 54.755859375, 40.869140625, 92.4609375, -16.962890625, 32.77467346191406 ]
[ 2.4609375, 61.259765625, 50.2734375, 91.142578125, -16.69921875, 32.47422790527344 ]
2.733333
82
0
82
0
[ 1.7578125, 53.173828125, 39.19921875, 92.4609375, -16.875, 32.77467346191406 ]
[ 1.93359375, 58.7109375, 48.251953125, 91.845703125, -16.69921875, 32.47422790527344 ]
2.766667
83
0
83
0
[ 1.494140625, 51.591796875, 37.880859375, 92.4609375, -16.875, 32.77467346191406 ]
[ 1.845703125, 56.25, 46.318359375, 92.109375, -16.69921875, 32.47422790527344 ]
2.8
84
0
84
0
[ 0.966796875, 50.185546875, 36.826171875, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 1.7578125, 54.228515625, 44.560546875, 91.845703125, -16.69921875, 32.47422790527344 ]
2.833333
85
0
85
0
[ 0.439453125, 48.779296875, 36.03515625, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 1.845703125, 52.20703125, 42.890625, 91.845703125, -16.69921875, 32.47422790527344 ]
2.866667
86
0
86
0
[ 0, 47.109375, 34.8046875, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 1.845703125, 50.537109375, 41.484375, 92.021484375, -16.69921875, 32.47422790527344 ]
2.9
87
0
87
0
[ -0.263671875, 45.263671875, 33.134765625, 92.4609375, -17.05078125, 32.77467346191406 ]
[ 1.40625, 48.955078125, 40.341796875, 92.197265625, -16.69921875, 32.47422790527344 ]
2.933333
88
0
88
0
[ -0.3515625, 43.59375, 31.201171875, 92.548828125, -17.05078125, 32.77467346191406 ]
[ 0.87890625, 47.373046875, 39.111328125, 92.28515625, -16.69921875, 32.47422790527344 ]
2.966667
89
0
89
0
[ -0.52734375, 42.099609375, 29.443359375, 92.548828125, -17.05078125, 32.77467346191406 ]
[ 0.087890625, 45.703125, 37.705078125, 92.4609375, -16.69921875, 32.47422790527344 ]
3
90
0
90
0
[ -0.87890625, 40.693359375, 27.861328125, 92.548828125, -17.05078125, 32.77467346191406 ]
[ -0.17578125, 43.9453125, 36.123046875, 92.548828125, -16.69921875, 32.47422790527344 ]
3.033333
91
0
91
0
[ -1.494140625, 39.111328125, 26.3671875, 92.63671875, -17.05078125, 32.77467346191406 ]
[ -0.439453125, 42.275390625, 34.365234375, 92.548828125, -16.69921875, 32.47422790527344 ]
3.066667
92
0
92
0
[ -2.021484375, 37.79296875, 25.13671875, 92.724609375, -17.05078125, 32.77467346191406 ]
[ -0.615234375, 40.693359375, 32.6953125, 92.548828125, -16.69921875, 32.47422790527344 ]
3.1
93
0
93
0
[ -2.63671875, 36.38671875, 23.994140625, 92.724609375, -17.05078125, 32.77467346191406 ]
[ -0.615234375, 39.287109375, 31.11328125, 92.548828125, -16.69921875, 32.47422790527344 ]
3.133333
94
0
94
0
[ -3.076171875, 34.892578125, 22.5, 92.724609375, -17.05078125, 32.77467346191406 ]
[ -0.966796875, 37.79296875, 29.619140625, 92.548828125, -16.69921875, 32.47422790527344 ]
3.166667
95
0
95
0
[ -3.33984375, 33.310546875, 20.91796875, 92.724609375, -17.05078125, 32.77467346191406 ]
[ -1.494140625, 36.38671875, 28.388671875, 92.548828125, -16.69921875, 32.47422790527344 ]
3.2
96
0
96
0
[ -3.515625, 31.9921875, 19.51171875, 92.724609375, -17.05078125, 32.68156433105469 ]
[ -2.28515625, 34.892578125, 27.158203125, 92.548828125, -16.69921875, 32.47422790527344 ]
3.233333
97
0
97
0
[ -3.69140625, 30.5859375, 18.193359375, 92.724609375, -17.2265625, 32.58845520019531 ]
[ -3.076171875, 33.3984375, 25.576171875, 92.548828125, -16.69921875, 32.47422790527344 ]
3.266667
98
0
98
0
[ -3.8671875, 29.443359375, 17.05078125, 92.8125, -17.2265625, 29.608938217163086 ]
[ -3.33984375, 31.81640625, 24.08203125, 92.548828125, -16.69921875, 32.47422790527344 ]
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": 49,
    "total_frames": 9515,
    "total_tasks": 1,
    "total_videos": 98,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:49"
    },
    "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": [
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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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