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Datasets:
samanthalhy
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
20.8
frame_index
int64
0
624
episode_index
int64
0
33
index
int64
0
12.3k
task_index
int64
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2.3
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0
69
0
[ -3.8671875, 162.333984375, 153.896484375, 61.875, -72.333984375, -0.5197504758834839 ]
[ -3.603515625, 164.443359375, 157.67578125, 62.138671875, -72.861328125, -0.15349194407463074 ]
2.333333
70
0
70
0
[ -3.955078125, 161.54296875, 153.28125, 61.875, -72.0703125, -0.5197504758834839 ]
[ -3.515625, 163.916015625, 157.412109375, 62.138671875, -72.685546875, -0.15349194407463074 ]
2.366667
71
0
71
0
[ -4.130859375, 160.400390625, 152.40234375, 61.875, -71.71875, -0.5197504758834839 ]
[ -3.427734375, 162.509765625, 156.357421875, 62.138671875, -72.421875, -0.15349194407463074 ]
2.4
72
0
72
0
[ -4.21875, 159.43359375, 151.611328125, 61.875, -71.455078125, -0.5197504758834839 ]
[ -3.515625, 162.158203125, 156.005859375, 62.138671875, -72.158203125, -0.15349194407463074 ]
2.433333
73
0
73
0
[ -4.306640625, 158.73046875, 150.99609375, 61.875, -71.19140625, -0.5197504758834839 ]
[ -3.8671875, 161.015625, 155.126953125, 62.138671875, -71.982421875, -0.15349194407463074 ]
2.466667
74
0
74
0
[ -4.482421875, 157.763671875, 150.29296875, 61.962890625, -70.927734375, -0.5197504758834839 ]
[ -4.21875, 160.224609375, 154.51171875, 62.138671875, -71.71875, -0.15349194407463074 ]
2.5
75
0
75
0
[ -4.658203125, 156.97265625, 149.677734375, 61.962890625, -70.751953125, -0.5197504758834839 ]
[ -4.306640625, 159.609375, 153.896484375, 62.138671875, -71.455078125, -0.15349194407463074 ]
2.533333
76
0
76
0
[ -4.74609375, 156.26953125, 149.0625, 61.962890625, -70.576171875, -0.5197504758834839 ]
[ -4.21875, 158.466796875, 153.017578125, 62.138671875, -71.19140625, -0.15349194407463074 ]
2.566667
77
0
77
0
[ -4.921875, 155.21484375, 148.271484375, 61.962890625, -70.3125, -0.41580042243003845 ]
[ -4.130859375, 157.587890625, 152.40234375, 62.138671875, -71.015625, -0.15349194407463074 ]
2.6
78
0
78
0
[ -5.009765625, 154.423828125, 147.744140625, 61.962890625, -70.13671875, -0.31185030937194824 ]
[ -4.21875, 156.97265625, 151.875, 62.138671875, -70.83984375, -0.15349194407463074 ]
2.633333
79
0
79
0
[ -5.185546875, 153.720703125, 147.3046875, 61.962890625, -69.873046875, 0.10395010560750961 ]
[ -4.658203125, 156.09375, 151.171875, 62.138671875, -70.576171875, -0.15349194407463074 ]
2.666667
80
0
80
0
[ -5.2734375, 153.10546875, 146.953125, 61.962890625, -69.78515625, 0.5197504758834839 ]
[ -5.009765625, 155.302734375, 150.64453125, 62.138671875, -70.400390625, -0.15349194407463074 ]
2.7
81
0
81
0
[ -5.361328125, 152.490234375, 146.689453125, 61.962890625, -69.609375, 0.7276507019996643 ]
[ -5.009765625, 154.51171875, 150.1171875, 62.138671875, -70.13671875, -0.15349194407463074 ]
2.733333
82
0
82
0
[ -5.537109375, 151.875, 146.42578125, 61.962890625, -69.609375, 0.8316008448600769 ]
[ -4.921875, 153.896484375, 149.765625, 62.138671875, -70.13671875, -0.15349194407463074 ]
2.766667
83
0
83
0
[ -5.625, 151.34765625, 146.25, 61.962890625, -69.521484375, 0.9355509877204895 ]
[ -4.833984375, 153.193359375, 149.4140625, 62.138671875, -70.13671875, 0.07674597203731537 ]
2.8
84
0
84
0
[ -5.712890625, 150.8203125, 146.07421875, 61.962890625, -69.43359375, 0.9355509877204895 ]
[ -5.09765625, 152.490234375, 149.150390625, 62.138671875, -70.13671875, 0.3069838881492615 ]
2.833333
85
0
85
0
[ -5.80078125, 150.29296875, 145.810546875, 61.962890625, -69.43359375, 0.9355509877204895 ]
[ -5.625, 151.962890625, 148.974609375, 62.138671875, -69.9609375, 0.4604758322238922 ]
2.866667
86
0
86
0
[ -5.9765625, 149.853515625, 145.634765625, 61.962890625, -69.345703125, 0.9355509877204895 ]
[ -5.712890625, 151.34765625, 148.798828125, 62.138671875, -69.78515625, 0.5372217893600464 ]
2.9
87
0
87
0
[ -6.064453125, 149.326171875, 145.458984375, 61.962890625, -69.2578125, 0.9355509877204895 ]
[ -5.537109375, 150.8203125, 148.53515625, 62.138671875, -69.697265625, 0.613967776298523 ]
2.933333
88
0
88
0
[ -6.15234375, 148.798828125, 145.283203125, 61.962890625, -69.2578125, 0.9355509877204895 ]
[ -5.361328125, 150.29296875, 148.271484375, 62.138671875, -69.697265625, 0.613967776298523 ]
2.966667
89
0
89
0
[ -6.240234375, 148.18359375, 145.01953125, 61.962890625, -69.169921875, 0.9355509877204895 ]
[ -5.625, 149.765625, 148.095703125, 62.138671875, -69.609375, 0.613967776298523 ]
3
90
0
90
0
[ -6.416015625, 147.568359375, 144.755859375, 61.962890625, -69.08203125, 0.9355509877204895 ]
[ -6.15234375, 149.23828125, 148.0078125, 62.138671875, -69.609375, 0.613967776298523 ]
3.033333
91
0
91
0
[ -6.591796875, 146.953125, 144.404296875, 61.962890625, -68.994140625, 1.0395009517669678 ]
[ -6.240234375, 148.623046875, 147.744140625, 62.138671875, -69.521484375, 0.613967776298523 ]
3.066667
92
0
92
0
[ -6.6796875, 146.25, 144.052734375, 61.962890625, -68.73046875, 1.0395009517669678 ]
[ -6.240234375, 148.095703125, 147.48046875, 62.138671875, -69.43359375, 0.613967776298523 ]
3.1
93
0
93
0
[ -6.85546875, 145.37109375, 143.61328125, 61.962890625, -68.642578125, 1.0395009517669678 ]
[ -5.9765625, 147.392578125, 147.041015625, 62.138671875, -69.169921875, 0.6907137632369995 ]
3.133333
94
0
94
0
[ -7.03125, 144.580078125, 143.173828125, 61.962890625, -68.466796875, 1.0395009517669678 ]
[ -6.15234375, 146.6015625, 146.6015625, 62.138671875, -69.08203125, 0.7674597501754761 ]
3.166667
95
0
95
0
[ -7.20703125, 143.7890625, 142.822265625, 61.962890625, -68.37890625, 1.0395009517669678 ]
[ -6.591796875, 146.07421875, 146.337890625, 62.138671875, -69.08203125, 0.7674597501754761 ]
3.2
96
0
96
0
[ -7.3828125, 142.998046875, 142.3828125, 61.962890625, -68.291015625, 1.0395009517669678 ]
[ -6.943359375, 145.283203125, 145.8984375, 62.138671875, -68.90625, 0.7674597501754761 ]
3.233333
97
0
97
0
[ -7.55859375, 142.20703125, 142.03125, 61.962890625, -68.203125, 1.0395009517669678 ]
[ -6.943359375, 144.4921875, 145.458984375, 62.138671875, -68.73046875, 0.7674597501754761 ]
3.266667
98
0
98
0
[ -7.822265625, 141.416015625, 141.6796875, 61.962890625, -68.02734375, 1.0395009517669678 ]
[ -6.6796875, 143.701171875, 145.01953125, 62.138671875, -68.5546875, 0.7674597501754761 ]
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": 2,
    "total_frames": 1220,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.width": 640,
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                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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