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Datasets:
robot98101
/
so100_group50

Tasks:
Robotics
Modalities:
Tabular
Time-series
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< 1K
Tags:
LeRobot
so100
tutorial
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Dask
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action
list
observation.state
list
timestamp
float32
0
11.9
frame_index
int64
0
238
episode_index
int64
0
2
index
int64
0
716
task_index
int64
0
0
[ -12.744140625, 91.318359375, 111.357421875, 57.12890625, 68.291015625, 20.693641662597656 ]
[ -11.337890625, 91.7578125, 113.02734375, 57.83203125, 68.90625, 24.013721466064453 ]
0
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1
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0.1
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0
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0.15
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0.25
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0
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0.45
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0.55
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0.6
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0.65
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0.7
14
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0.75
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0.8
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16
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0.85
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0.9
18
0
18
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0.95
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1
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20
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1.05
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1.1
22
0
22
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1.15
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1.2
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1.25
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1.35
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27
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1.4
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1.45
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1.5
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1.55
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1.6
32
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1.65
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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50
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
58
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2.95
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3
60
0
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3.05
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3.1
62
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3.15
63
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3.2
64
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3.25
65
0
65
0
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3.3
66
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3.35
67
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3.4
68
0
68
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[ 2.373046875, 145.810546875, 150.205078125, 49.833984375, 84.7265625, 0.6861063241958618 ]
3.45
69
0
69
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[ 1.494140625, 148.0078125, 152.2265625, 50.09765625, 82.44140625, 0.6861063241958618 ]
3.5
70
0
70
0
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3.55
71
0
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0
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[ 0.439453125, 153.10546875, 156.357421875, 50.625, 79.27734375, 0.6861063241958618 ]
3.6
72
0
72
0
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[ -0.439453125, 155.390625, 158.115234375, 50.80078125, 77.607421875, 0.6861063241958618 ]
3.65
73
0
73
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[ -1.494140625, 158.642578125, 160.927734375, 50.888671875, 77.958984375, 0.6861063241958618 ]
3.7
74
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[ -2.373046875, 162.7734375, 164.53125, 50.80078125, 77.16796875, 0.6861063241958618 ]
3.75
75
0
75
0
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[ -3.515625, 167.6953125, 168.310546875, 50.712890625, 77.51953125, 0.6861063241958618 ]
3.8
76
0
76
0
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[ -3.779296875, 173.056640625, 171.5625, 50.9765625, 77.080078125, 0.6861063241958618 ]
3.85
77
0
77
0
[ -5.712890625, 190.634765625, 180.791015625, 53.26171875, 78.310546875, -0.11560693383216858 ]
[ -3.8671875, 178.76953125, 174.7265625, 51.15234375, 77.255859375, 0.6861063241958618 ]
3.9
78
0
78
0
[ -5.712890625, 192.83203125, 182.98828125, 53.349609375, 78.837890625, -0.11560693383216858 ]
[ -4.658203125, 183.69140625, 177.626953125, 52.03125, 77.6953125, 0.6861063241958618 ]
3.95
79
0
79
0
[ -5.44921875, 192.83203125, 184.04296875, 52.822265625, 79.1015625, -0.11560693383216858 ]
[ -4.74609375, 187.03125, 180, 52.55859375, 77.34375, 0.6861063241958618 ]
4
80
0
80
0
[ -4.921875, 192.83203125, 184.04296875, 52.646484375, 78.837890625, -0.11560693383216858 ]
[ -4.5703125, 189.84375, 182.373046875, 52.55859375, 77.87109375, 0.6861063241958618 ]
4.05
81
0
81
0
[ -4.921875, 192.83203125, 184.04296875, 52.55859375, 78.837890625, -0.11560693383216858 ]
[ -4.482421875, 190.458984375, 182.8125, 52.470703125, 78.57421875, 0.6861063241958618 ]
4.1
82
0
82
0
[ -5.09765625, 192.83203125, 184.04296875, 52.55859375, 79.189453125, -0.11560693383216858 ]
[ -4.39453125, 191.162109375, 182.8125, 52.470703125, 77.87109375, 0.6861063241958618 ]
4.15
83
0
83
0
[ -5.2734375, 192.83203125, 184.04296875, 52.646484375, 79.453125, -0.11560693383216858 ]
[ -4.39453125, 191.77734375, 182.98828125, 52.470703125, 77.87109375, 0.6861063241958618 ]
4.2
84
0
84
0
[ -5.44921875, 192.83203125, 184.130859375, 52.646484375, 79.541015625, 0 ]
[ -4.39453125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.25
85
0
85
0
[ -5.44921875, 192.83203125, 184.130859375, 52.646484375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 192.041015625, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.3
86
0
86
0
[ -5.44921875, 192.83203125, 184.130859375, 52.646484375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.35
87
0
87
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.4
88
0
88
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.45
89
0
89
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.5
90
0
90
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.55
91
0
91
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.6
92
0
92
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.65
93
0
93
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.7
94
0
94
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.75
95
0
95
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.8
96
0
96
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.85
97
0
97
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.9
98
0
98
0
[ -5.44921875, 192.83203125, 184.130859375, 52.55859375, 79.541015625, 0.23121386766433716 ]
[ -4.5703125, 191.953125, 183.076171875, 52.470703125, 78.486328125, 0.6861063241958618 ]
4.95
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": 717,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "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": [
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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",
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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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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