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Datasets:
sbyang19
/
so100_test_cards

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files
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action
sequence
observation.state
sequence
timestamp
float32
0
29.3
frame_index
int64
0
878
episode_index
int64
0
3
index
int64
0
3.49k
task_index
int64
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70
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[ -18.6328125, 192.392578125, 173.84765625, 85.341796875, 91.0546875, 0.10438413918018341 ]
[ -17.841796875, 191.865234375, 171.123046875, 84.287109375, 89.912109375, 0.41771093010902405 ]
2.366667
71
0
71
0
[ -18.720703125, 192.392578125, 173.759765625, 85.341796875, 91.40625, 0.10438413918018341 ]
[ -17.841796875, 191.865234375, 171.123046875, 84.287109375, 90.263671875, 0.41771093010902405 ]
2.4
72
0
72
0
[ -18.984375, 192.392578125, 173.49609375, 85.4296875, 92.109375, 0.10438413918018341 ]
[ -18.193359375, 191.865234375, 171.2109375, 84.287109375, 90.703125, 0.41771093010902405 ]
2.433333
73
0
73
0
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[ -18.28125, 191.865234375, 171.2109375, 84.287109375, 90.966796875, 0.41771093010902405 ]
2.466667
74
0
74
0
[ -19.248046875, 192.392578125, 172.880859375, 85.693359375, 92.4609375, 0.10438413918018341 ]
[ -18.544921875, 191.865234375, 171.2109375, 84.287109375, 91.142578125, 0.41771093010902405 ]
2.5
75
0
75
0
[ -19.423828125, 192.216796875, 172.08984375, 86.044921875, 92.98828125, 0.10438413918018341 ]
[ -18.6328125, 191.865234375, 171.2109375, 84.287109375, 91.494140625, 0.41771093010902405 ]
2.533333
76
0
76
0
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[ -18.720703125, 191.865234375, 171.2109375, 84.287109375, 91.669921875, 0.41771093010902405 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
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[ -19.248046875, 191.865234375, 171.123046875, 84.287109375, 92.548828125, 0.41771093010902405 ]
2.633333
79
0
79
0
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[ -19.51171875, 191.689453125, 170.947265625, 84.287109375, 92.900390625, 0.41771093010902405 ]
2.666667
80
0
80
0
[ -19.423828125, 171.03515625, 158.994140625, 86.396484375, 91.494140625, 0.10438413918018341 ]
[ -19.86328125, 188.7890625, 169.453125, 84.462890625, 92.98828125, 0.41771093010902405 ]
2.7
81
0
81
0
[ -18.896484375, 166.552734375, 155.21484375, 87.099609375, 89.6484375, 0.10438413918018341 ]
[ -20.126953125, 185.625, 167.87109375, 84.814453125, 92.98828125, 0.41771093010902405 ]
2.733333
82
0
82
0
[ -18.45703125, 162.24609375, 151.787109375, 87.275390625, 88.06640625, 0.10438413918018341 ]
[ -19.6875, 178.857421875, 163.65234375, 86.484375, 91.669921875, 0.41771093010902405 ]
2.766667
83
0
83
0
[ -18.369140625, 158.5546875, 149.0625, 87.275390625, 87.275390625, 0.10438413918018341 ]
[ -19.072265625, 175.078125, 161.455078125, 86.748046875, 90.966796875, 0.41771093010902405 ]
2.8
84
0
84
0
[ -18.28125, 154.6875, 146.25, 87.01171875, 86.748046875, 0.10438413918018341 ]
[ -18.6328125, 171.9140625, 159.345703125, 86.748046875, 90.615234375, 0.41771093010902405 ]
2.833333
85
0
85
0
[ -18.369140625, 150.99609375, 143.61328125, 86.66015625, 86.396484375, 0.10438413918018341 ]
[ -18.544921875, 167.431640625, 156.181640625, 86.8359375, 89.208984375, 0.41771093010902405 ]
2.866667
86
0
86
0
[ -18.6328125, 146.25, 140.44921875, 86.396484375, 86.396484375, 0.10438413918018341 ]
[ -18.80859375, 161.630859375, 151.962890625, 86.748046875, 87.978515625, 0.41771093010902405 ]
2.9
87
0
87
0
[ -18.896484375, 143.349609375, 138.603515625, 86.1328125, 86.484375, 0.10438413918018341 ]
[ -18.984375, 157.5, 149.150390625, 86.748046875, 87.5390625, 0.41771093010902405 ]
2.933333
88
0
88
0
[ -19.51171875, 139.5703125, 136.318359375, 85.60546875, 86.748046875, 0.10438413918018341 ]
[ -19.16015625, 154.3359375, 147.12890625, 86.748046875, 87.1875, 0.41771093010902405 ]
2.966667
89
0
89
0
[ -20.21484375, 136.0546875, 134.12109375, 85.166015625, 87.275390625, 0.10438413918018341 ]
[ -19.072265625, 149.58984375, 144.228515625, 86.484375, 87.1875, 0.41771093010902405 ]
3
90
0
90
0
[ -20.830078125, 133.154296875, 132.36328125, 84.90234375, 88.330078125, 0.10438413918018341 ]
[ -18.984375, 145.458984375, 141.50390625, 86.1328125, 87.1875, 0.41771093010902405 ]
3.033333
91
0
91
0
[ -21.357421875, 129.55078125, 129.990234375, 84.90234375, 88.857421875, 0.10438413918018341 ]
[ -19.423828125, 141.943359375, 139.306640625, 85.78125, 87.275390625, 0.41771093010902405 ]
3.066667
92
0
92
0
[ -22.060546875, 124.98046875, 126.650390625, 85.25390625, 89.208984375, 0.10438413918018341 ]
[ -20.478515625, 137.4609375, 136.494140625, 85.341796875, 87.5390625, 0.41771093010902405 ]
3.1
93
0
93
0
[ -22.5, 121.640625, 124.1015625, 85.4296875, 89.296875, 0.10438413918018341 ]
[ -21.26953125, 134.296875, 134.560546875, 85.4296875, 88.06640625, 0.41771093010902405 ]
3.133333
94
0
94
0
[ -23.115234375, 118.564453125, 121.640625, 85.25390625, 89.912109375, 0.10438413918018341 ]
[ -21.62109375, 131.396484375, 132.71484375, 85.60546875, 88.505859375, 0.41771093010902405 ]
3.166667
95
0
95
0
[ -23.818359375, 115.6640625, 119.267578125, 85.078125, 90.52734375, 0.10438413918018341 ]
[ -21.884765625, 127.705078125, 129.90234375, 85.517578125, 88.76953125, 0.41771093010902405 ]
3.2
96
0
96
0
[ -24.521484375, 113.02734375, 116.982421875, 84.90234375, 91.23046875, 0.10438413918018341 ]
[ -22.060546875, 123.92578125, 127.177734375, 85.078125, 89.296875, 0.41771093010902405 ]
3.233333
97
0
97
0
[ -25.13671875, 111.005859375, 115.13671875, 84.90234375, 92.109375, 0.10438413918018341 ]
[ -22.8515625, 120.498046875, 124.62890625, 84.990234375, 89.912109375, 0.41771093010902405 ]
3.266667
98
0
98
0
[ -25.6640625, 109.3359375, 113.73046875, 85.078125, 92.8125, 0.10438413918018341 ]
[ -24.08203125, 116.630859375, 121.728515625, 84.990234375, 90.615234375, 0.41771093010902405 ]
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": 4,
    "total_frames": 3490,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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": [
                6
            ],
            "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.webcam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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": {
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                1
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            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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