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paszea
/
so100_whale_grab

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
897
episode_index
int64
0
49
index
int64
0
44.9k
task_index
int64
0
0
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71
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[ 8.349609375, 189.404296875, 171.38671875, 66.26953125, -14.58984375, 0.21929824352264404 ]
[ 10.810546875, 188.96484375, 173.232421875, 66.09375, -13.7109375, 1.156812310218811 ]
2.4
72
0
72
0
[ 8.349609375, 189.404296875, 171.38671875, 66.26953125, -14.58984375, 0.21929824352264404 ]
[ 9.755859375, 188.96484375, 173.232421875, 66.09375, -13.88671875, 1.156812310218811 ]
2.433333
73
0
73
0
[ 8.349609375, 189.404296875, 171.38671875, 66.26953125, -14.58984375, 0.21929824352264404 ]
[ 9.052734375, 188.96484375, 173.232421875, 66.09375, -14.0625, 1.156812310218811 ]
2.466667
74
0
74
0
[ 8.349609375, 189.404296875, 171.38671875, 66.26953125, -14.58984375, 0.21929824352264404 ]
[ 8.876953125, 188.96484375, 173.232421875, 66.09375, -14.0625, 1.156812310218811 ]
2.5
75
0
75
0
[ 8.349609375, 189.404296875, 171.38671875, 66.26953125, -14.58984375, 0.4385964870452881 ]
[ 8.876953125, 188.96484375, 173.232421875, 66.09375, -14.0625, 1.156812310218811 ]
2.533333
76
0
76
0
[ 7.734375, 189.404296875, 171.38671875, 66.357421875, -15.29296875, 1.7543859481811523 ]
[ 8.876953125, 188.96484375, 173.232421875, 66.09375, -14.0625, 1.156812310218811 ]
2.566667
77
0
77
0
[ 6.85546875, 189.404296875, 171.5625, 66.005859375, -15.64453125, 1.4254385232925415 ]
[ 8.701171875, 188.96484375, 173.232421875, 66.09375, -14.0625, 1.156812310218811 ]
2.6
78
0
78
0
[ 5.009765625, 189.4921875, 172.265625, 63.193359375, -15.64453125, 0.21929824352264404 ]
[ 8.349609375, 188.96484375, 173.232421875, 66.09375, -14.326171875, 1.2853471040725708 ]
2.633333
79
0
79
0
[ 3.8671875, 189.4921875, 172.353515625, 62.666015625, -15.64453125, 0.21929824352264404 ]
[ 8.173828125, 188.96484375, 173.232421875, 66.09375, -14.58984375, 1.2853471040725708 ]
2.666667
80
0
80
0
[ 3.1640625, 189.4921875, 172.265625, 62.578125, -15.29296875, 0.21929824352264404 ]
[ 8.173828125, 188.96484375, 173.232421875, 66.09375, -14.765625, 1.2853471040725708 ]
2.7
81
0
81
0
[ 3.076171875, 189.4921875, 171.826171875, 62.578125, -15.29296875, 0.21929824352264404 ]
[ 7.646484375, 188.96484375, 173.408203125, 65.7421875, -14.94140625, 1.156812310218811 ]
2.733333
82
0
82
0
[ 3.076171875, 189.4921875, 171.38671875, 62.314453125, -15.64453125, 0.32894736528396606 ]
[ 6.328125, 188.96484375, 173.408203125, 65.0390625, -15.1171875, 1.0282776355743408 ]
2.766667
83
0
83
0
[ 3.33984375, 189.4921875, 170.5078125, 61.259765625, -15.64453125, 2.850877046585083 ]
[ 5.09765625, 188.96484375, 173.49609375, 64.248046875, -15.380859375, 1.0282776355743408 ]
2.8
84
0
84
0
[ 3.8671875, 189.4921875, 169.365234375, 60.029296875, -15.64453125, 9.539473533630371 ]
[ 4.306640625, 188.96484375, 173.49609375, 63.720703125, -15.46875, 1.156812310218811 ]
2.833333
85
0
85
0
[ 4.658203125, 189.140625, 167.783203125, 58.18359375, -15.29296875, 14.912280082702637 ]
[ 3.8671875, 188.96484375, 173.3203125, 63.017578125, -15.46875, 2.6992287635803223 ]
2.866667
86
0
86
0
[ 4.833984375, 187.3828125, 165.498046875, 56.162109375, -15.205078125, 17.872806549072266 ]
[ 3.8671875, 188.96484375, 172.79296875, 62.138671875, -15.46875, 5.526992321014404 ]
2.9
87
0
87
0
[ 4.833984375, 185.09765625, 162.94921875, 54.228515625, -15.029296875, 19.51754379272461 ]
[ 4.04296875, 188.876953125, 171.9140625, 60.99609375, -15.46875, 9.511568069458008 ]
2.933333
88
0
88
0
[ 4.921875, 182.63671875, 160.13671875, 52.3828125, -14.150390625, 21.052631378173828 ]
[ 4.482421875, 188.7890625, 170.68359375, 59.58984375, -15.46875, 12.59640121459961 ]
2.966667
89
0
89
0
[ 5.009765625, 179.6484375, 157.32421875, 50.537109375, -13.271484375, 22.916667938232422 ]
[ 4.833984375, 187.734375, 169.365234375, 58.623046875, -15.46875, 14.78149127960205 ]
3
90
0
90
0
[ 5.009765625, 175.78125, 154.072265625, 48.8671875, -12.919921875, 24.122806549072266 ]
[ 4.921875, 185.888671875, 167.080078125, 57.48046875, -15.205078125, 17.095115661621094 ]
3.033333
91
0
91
0
[ 5.09765625, 171.9140625, 150.8203125, 47.548828125, -12.65625, 25.657896041870117 ]
[ 4.921875, 184.306640625, 165.146484375, 55.8984375, -14.853515625, 18.89459991455078 ]
3.066667
92
0
92
0
[ 5.44921875, 167.87109375, 147.392578125, 46.845703125, -12.216796875, 27.741230010986328 ]
[ 4.921875, 180.791015625, 162.24609375, 54.140625, -14.326171875, 20.822622299194336 ]
3.1
93
0
93
0
[ 5.9765625, 164.091796875, 144.580078125, 46.23046875, -12.12890625, 30.701753616333008 ]
[ 5.009765625, 178.857421875, 159.9609375, 52.55859375, -13.798828125, 22.23650360107422 ]
3.133333
94
0
94
0
[ 6.6796875, 160.576171875, 141.767578125, 46.142578125, -12.12890625, 33.55263137817383 ]
[ 5.009765625, 174.638671875, 156.708984375, 51.15234375, -13.359375, 24.421592712402344 ]
3.166667
95
0
95
0
[ 7.3828125, 157.587890625, 139.306640625, 46.40625, -12.216796875, 36.842105865478516 ]
[ 5.009765625, 172.001953125, 153.896484375, 49.921875, -13.0078125, 26.349613189697266 ]
3.2
96
0
96
0
[ 7.91015625, 154.86328125, 137.373046875, 46.58203125, -12.568359375, 40.89912033081055 ]
[ 5.009765625, 167.431640625, 150.556640625, 48.955078125, -12.83203125, 29.4344482421875 ]
3.233333
97
0
97
0
[ 8.61328125, 152.666015625, 135.615234375, 46.58203125, -12.65625, 44.07894515991211 ]
[ 5.712890625, 163.916015625, 147.12890625, 48.427734375, -12.744140625, 32.904884338378906 ]
3.266667
98
0
98
0
[ 9.4921875, 150.64453125, 134.208984375, 46.58203125, -12.65625, 45.28508758544922 ]
[ 6.50390625, 160.3125, 144.755859375, 48.076171875, -12.744140625, 35.73264694213867 ]
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": 50,
    "total_frames": 44899,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                "height",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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