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Datasets:
samanthalhy
/
so100_herding_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
22.6
frame_index
int64
0
678
episode_index
int64
0
365
index
int64
0
133k
task_index
int64
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[ 0.703125, 99.84375, 101.513671875, 84.111328125, -85.341796875, 2.4608500003814697 ]
2.4
72
0
72
0
[ 0.17578125, 100.1953125, 99.755859375, 83.759765625, -84.90234375, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -85.341796875, 2.4608500003814697 ]
2.433333
73
0
73
0
[ 0.17578125, 100.458984375, 100.1953125, 83.759765625, -84.814453125, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -85.341796875, 2.4608500003814697 ]
2.466667
74
0
74
0
[ 0.17578125, 100.72265625, 100.37109375, 83.759765625, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -85.25390625, 2.4608500003814697 ]
2.5
75
0
75
0
[ 0.17578125, 100.986328125, 100.458984375, 83.759765625, -84.638671875, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -85.166015625, 2.4608500003814697 ]
2.533333
76
0
76
0
[ 0.17578125, 101.25, 100.458984375, 83.759765625, -84.55078125, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.990234375, 2.4608500003814697 ]
2.566667
77
0
77
0
[ 0.17578125, 101.42578125, 100.458984375, 83.759765625, -84.462890625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.990234375, 2.4608500003814697 ]
2.6
78
0
78
0
[ 0.263671875, 101.513671875, 100.458984375, 84.0234375, -84.462890625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.990234375, 2.4608500003814697 ]
2.633333
79
0
79
0
[ 0.439453125, 101.6015625, 100.458984375, 84.19921875, -84.462890625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.990234375, 2.4608500003814697 ]
2.666667
80
0
80
0
[ 0.52734375, 101.77734375, 100.458984375, 84.287109375, -84.638671875, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.814453125, 2.4608500003814697 ]
2.7
81
0
81
0
[ 0.615234375, 101.865234375, 100.546875, 84.375, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.733333
82
0
82
0
[ 0.703125, 101.953125, 100.546875, 84.375, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.766667
83
0
83
0
[ 0.703125, 102.041015625, 100.72265625, 84.462890625, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.8
84
0
84
0
[ 0.703125, 102.392578125, 101.162109375, 84.462890625, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 99.84375, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.833333
85
0
85
0
[ 0.791015625, 102.744140625, 101.77734375, 84.462890625, -84.7265625, -0.22446690499782562 ]
[ 0.703125, 100.01953125, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.866667
86
0
86
0
[ 0.87890625, 103.095703125, 102.216796875, 84.462890625, -84.638671875, -0.22446690499782562 ]
[ 0.703125, 100.283203125, 101.513671875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.9
87
0
87
0
[ 0.87890625, 103.359375, 102.392578125, 84.462890625, -84.7265625, -0.11223345249891281 ]
[ 0.703125, 100.72265625, 101.77734375, 84.0234375, -84.7265625, 2.4608500003814697 ]
2.933333
88
0
88
0
[ 0.87890625, 103.623046875, 102.392578125, 84.462890625, -84.814453125, 0.22446690499782562 ]
[ 0.703125, 101.07421875, 102.3046875, 84.111328125, -84.7265625, 2.4608500003814697 ]
2.966667
89
0
89
0
[ 0.87890625, 103.7109375, 102.392578125, 84.462890625, -84.814453125, 0.5611671805381775 ]
[ 0.703125, 101.337890625, 102.568359375, 84.19921875, -84.7265625, 2.4608500003814697 ]
3
90
0
90
0
[ 0.966796875, 103.7109375, 102.392578125, 84.462890625, -84.814453125, 1.0101009607315063 ]
[ 0.703125, 101.6015625, 102.568359375, 84.19921875, -84.7265625, 2.4608500003814697 ]
3.033333
91
0
91
0
[ 0.966796875, 103.7109375, 102.568359375, 84.462890625, -84.90234375, 1.2345678806304932 ]
[ 0.703125, 101.77734375, 102.568359375, 84.19921875, -84.7265625, 2.4608500003814697 ]
3.066667
92
0
92
0
[ 1.0546875, 103.798828125, 102.919921875, 84.462890625, -84.990234375, 1.3468012809753418 ]
[ 0.703125, 101.953125, 102.568359375, 84.287109375, -84.7265625, 2.4608500003814697 ]
3.1
93
0
93
0
[ 1.0546875, 103.974609375, 103.271484375, 84.462890625, -85.166015625, 1.45903480052948 ]
[ 0.703125, 102.041015625, 102.744140625, 84.287109375, -84.7265625, 2.4608500003814697 ]
3.133333
94
0
94
0
[ 1.142578125, 104.150390625, 103.447265625, 84.462890625, -85.25390625, 1.6835017204284668 ]
[ 0.703125, 102.041015625, 103.095703125, 84.287109375, -84.7265625, 2.4608500003814697 ]
3.166667
95
0
95
0
[ 1.23046875, 104.326171875, 103.7109375, 84.462890625, -85.4296875, 1.795735239982605 ]
[ 0.703125, 102.041015625, 103.447265625, 84.287109375, -84.7265625, 2.4608500003814697 ]
3.2
96
0
96
0
[ 1.23046875, 104.501953125, 103.88671875, 84.462890625, -85.60546875, 1.907968521118164 ]
[ 0.703125, 102.041015625, 103.623046875, 84.287109375, -84.814453125, 2.4608500003814697 ]
3.233333
97
0
97
0
[ 1.318359375, 104.765625, 104.23828125, 84.462890625, -85.869140625, 1.907968521118164 ]
[ 0.703125, 102.3046875, 103.798828125, 84.287109375, -84.814453125, 2.4608500003814697 ]
3.266667
98
0
98
0
[ 1.494140625, 105.1171875, 104.765625, 84.462890625, -86.044921875, 2.0202019214630127 ]
[ 0.703125, 102.568359375, 104.0625, 84.287109375, -85.078125, 2.4608500003814697 ]
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": 3,
    "total_frames": 1109,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
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                "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
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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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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Size of the auto-converted Parquet files:
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Number of rows:
133,362