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Datasets:
robot98101
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
list
observation.state
list
timestamp
float32
0
14.9
frame_index
int64
0
298
episode_index
int64
0
8
index
int64
0
2.69k
task_index
int64
0
0
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[ -0.3515625, 191.6015625, 183.1640625, 57.919921875, 80.244140625, 0.6861063241958618 ]
0
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0.05
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1
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0.1
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2
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0.15
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0.25
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0.3
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0.35
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0.4
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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
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0
14
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0.75
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15
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0.8
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16
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0.85
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17
0
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0.9
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18
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0.95
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19
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1
20
0
20
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1.05
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21
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1.1
22
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22
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1.15
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23
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1.2
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24
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1.25
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1.3
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26
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1.35
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27
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1.4
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28
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1.45
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29
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1.5
30
0
30
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1.55
31
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31
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1.6
32
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32
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1.65
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33
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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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47
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2.4
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2.45
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2.5
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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
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2.95
59
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3
60
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3.05
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3.1
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3.15
63
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3.2
64
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3.25
65
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3.3
66
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66
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[ -13.447265625, 93.515625, 107.490234375, 66.357421875, 84.638671875, 18.267581939697266 ]
3.35
67
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3.4
68
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3.45
69
0
69
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[ -11.689453125, 89.384765625, 107.138671875, 65.654296875, 84.287109375, 22.81303596496582 ]
3.5
70
0
70
0
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3.55
71
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3.6
72
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3.65
73
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73
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[ -11.6015625, 86.220703125, 106.69921875, 63.193359375, 83.49609375, 23.413379669189453 ]
3.7
74
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74
0
[ -11.953125, 86.1328125, 105.1171875, 61.259765625, 82.529296875, 23.352602005004883 ]
[ -11.6015625, 85.4296875, 106.787109375, 62.40234375, 83.14453125, 23.413379669189453 ]
3.75
75
0
75
0
[ -11.953125, 85.78125, 105.1171875, 60.46875, 82.44140625, 22.658960342407227 ]
[ -11.42578125, 85.4296875, 106.787109375, 61.787109375, 82.529296875, 23.413379669189453 ]
3.8
76
0
76
0
[ -11.953125, 85.4296875, 105.1171875, 59.677734375, 82.08984375, 21.96531867980957 ]
[ -11.6015625, 85.25390625, 106.787109375, 61.259765625, 82.44140625, 23.413379669189453 ]
3.85
77
0
77
0
[ -12.041015625, 85.166015625, 105.1171875, 59.0625, 81.73828125, 19.8843936920166 ]
[ -11.6015625, 84.55078125, 106.787109375, 60.380859375, 82.44140625, 22.898799896240234 ]
3.9
78
0
78
0
[ -12.216796875, 84.814453125, 105.1171875, 58.53515625, 81.474609375, 15.144508361816406 ]
[ -11.337890625, 84.375, 106.787109375, 59.765625, 82.001953125, 21.69811248779297 ]
3.95
79
0
79
0
[ -12.392578125, 84.462890625, 105.1171875, 58.095703125, 81.03515625, 8.323698997497559 ]
[ -11.689453125, 84.287109375, 106.787109375, 59.23828125, 81.474609375, 19.811321258544922 ]
4
80
0
80
0
[ -12.48046875, 84.111328125, 105.1171875, 57.744140625, 80.68359375, 0.6936416029930115 ]
[ -12.041015625, 83.408203125, 106.787109375, 58.359375, 81.38671875, 16.72384262084961 ]
4.05
81
0
81
0
[ -12.48046875, 83.759765625, 105.1171875, 57.48046875, 80.15625, 0 ]
[ -11.953125, 83.3203125, 106.787109375, 58.359375, 81.03515625, 11.835334777832031 ]
4.1
82
0
82
0
[ -12.48046875, 83.759765625, 105.1171875, 57.3046875, 79.716796875, 0 ]
[ -11.689453125, 83.14453125, 106.69921875, 57.3046875, 80.68359375, 8.747856140136719 ]
4.15
83
0
83
0
[ -12.392578125, 84.111328125, 105.1171875, 57.3046875, 79.541015625, 0 ]
[ -11.77734375, 82.705078125, 106.611328125, 57.216796875, 80.15625, 8.576329231262207 ]
4.2
84
0
84
0
[ -12.392578125, 84.990234375, 105.1171875, 57.3046875, 79.453125, 0 ]
[ -11.689453125, 82.705078125, 106.611328125, 57.216796875, 79.541015625, 8.576329231262207 ]
4.25
85
0
85
0
[ -12.392578125, 86.572265625, 105.1171875, 57.83203125, 79.453125, 0 ]
[ -11.689453125, 82.705078125, 106.611328125, 57.3046875, 79.453125, 8.576329231262207 ]
4.3
86
0
86
0
[ -12.568359375, 89.12109375, 105.1171875, 58.798828125, 79.716796875, 0 ]
[ -11.689453125, 82.79296875, 106.611328125, 57.3046875, 79.453125, 8.576329231262207 ]
4.35
87
0
87
0
[ -12.919921875, 92.548828125, 105.029296875, 60.1171875, 80.15625, 0 ]
[ -11.689453125, 83.759765625, 106.69921875, 57.65625, 79.453125, 8.576329231262207 ]
4.4
88
0
88
0
[ -13.623046875, 95.9765625, 104.326171875, 62.2265625, 80.5078125, 0 ]
[ -11.77734375, 85.4296875, 106.875, 58.095703125, 79.27734375, 8.576329231262207 ]
4.45
89
0
89
0
[ -14.765625, 99.31640625, 103.271484375, 64.599609375, 80.859375, 0 ]
[ -11.77734375, 88.06640625, 106.69921875, 59.4140625, 79.716796875, 8.576329231262207 ]
4.5
90
0
90
0
[ -16.171875, 102.3046875, 101.6015625, 67.1484375, 81.123046875, 0 ]
[ -12.3046875, 90.87890625, 106.171875, 61.5234375, 79.541015625, 8.576329231262207 ]
4.55
91
0
91
0
[ -17.841796875, 104.23828125, 98.96484375, 70.224609375, 81.123046875, 0 ]
[ -13.18359375, 94.21875, 105.46875, 63.369140625, 80.068359375, 8.576329231262207 ]
4.6
92
0
92
0
[ -19.599609375, 105.46875, 96.591796875, 72.59765625, 80.771484375, 0 ]
[ -14.853515625, 97.55859375, 103.7109375, 66.005859375, 80.15625, 8.576329231262207 ]
4.65
93
0
93
0
[ -21.62109375, 106.787109375, 95.185546875, 73.4765625, 80.5078125, 0 ]
[ -16.259765625, 99.931640625, 101.25, 69.169921875, 80.419921875, 8.576329231262207 ]
4.7
94
0
94
0
[ -23.642578125, 107.40234375, 93.69140625, 73.916015625, 80.33203125, 0 ]
[ -18.017578125, 101.77734375, 99.228515625, 70.927734375, 80.244140625, 8.576329231262207 ]
4.75
95
0
95
0
[ -25.751953125, 107.2265625, 91.93359375, 74.1796875, 80.33203125, 0 ]
[ -19.599609375, 103.0078125, 97.998046875, 71.89453125, 80.244140625, 8.576329231262207 ]
4.8
96
0
96
0
[ -27.861328125, 106.083984375, 89.560546875, 74.1796875, 80.595703125, 0 ]
[ -21.708984375, 103.7109375, 96.064453125, 72.509765625, 80.244140625, 8.576329231262207 ]
4.85
97
0
97
0
[ -29.53125, 103.88671875, 86.30859375, 74.70703125, 80.771484375, -0.11560693383216858 ]
[ -23.642578125, 103.974609375, 94.130859375, 73.30078125, 80.244140625, 8.576329231262207 ]
4.9
98
0
98
0
[ -30.849609375, 100.72265625, 82.265625, 75.76171875, 80.771484375, -0.11560693383216858 ]
[ -25.751953125, 103.88671875, 92.021484375, 73.564453125, 80.244140625, 8.576329231262207 ]
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": 9,
    "total_frames": 2691,
    "total_tasks": 1,
    "total_videos": 18,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:9"
    },
    "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",
                "channels"
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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": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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