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Datasets:
sihyun77
/
suho_so100

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100,tutorial
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.1
frame_index
int64
0
873
episode_index
int64
0
49
index
int64
0
25k
task_index
int64
0
0
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71
0
[ 12.919921875, 108.193359375, 46.494140625, -44.208984375, -91.7578125, 29.33579444885254 ]
[ 11.77734375, 105.908203125, 40.166015625, -42.36328125, -90.966796875, 27.69230842590332 ]
2.4
72
0
72
0
[ 13.0078125, 108.80859375, 47.373046875, -43.9453125, -91.7578125, 29.33579444885254 ]
[ 11.865234375, 106.875, 41.220703125, -42.626953125, -90.791015625, 28.076923370361328 ]
2.433333
73
0
73
0
[ 13.0078125, 109.51171875, 48.251953125, -43.9453125, -91.7578125, 29.33579444885254 ]
[ 11.865234375, 107.666015625, 42.275390625, -42.626953125, -90.791015625, 28.384613037109375 ]
2.466667
74
0
74
0
[ 13.0078125, 110.21484375, 49.04296875, -43.9453125, -91.7578125, 29.33579444885254 ]
[ 11.953125, 108.193359375, 43.330078125, -42.5390625, -90.791015625, 28.615385055541992 ]
2.5
75
0
75
0
[ 13.0078125, 110.830078125, 49.74609375, -43.9453125, -91.669921875, 29.24354362487793 ]
[ 12.216796875, 108.896484375, 44.384765625, -42.5390625, -91.23046875, 28.69230842590332 ]
2.533333
76
0
76
0
[ 13.0078125, 111.357421875, 50.2734375, -43.9453125, -91.669921875, 29.24354362487793 ]
[ 12.568359375, 109.775390625, 45.3515625, -42.5390625, -90.791015625, 28.69230842590332 ]
2.566667
77
0
77
0
[ 13.0078125, 112.060546875, 50.80078125, -43.9453125, -91.7578125, 29.24354362487793 ]
[ 12.744140625, 110.478515625, 46.318359375, -42.5390625, -90.791015625, 28.923076629638672 ]
2.6
78
0
78
0
[ 13.0078125, 112.939453125, 51.6796875, -43.9453125, -91.845703125, 29.33579444885254 ]
[ 12.83203125, 111.796875, 47.548828125, -42.5390625, -90.791015625, 28.923076629638672 ]
2.633333
79
0
79
0
[ 13.0078125, 113.203125, 52.03125, -43.9453125, -91.845703125, 29.33579444885254 ]
[ 12.83203125, 111.97265625, 47.98828125, -42.5390625, -90.791015625, 28.923076629638672 ]
2.666667
80
0
80
0
[ 13.0078125, 113.466796875, 52.470703125, -43.9453125, -91.7578125, 29.33579444885254 ]
[ 12.744140625, 112.236328125, 48.515625, -42.5390625, -90.791015625, 28.923076629638672 ]
2.7
81
0
81
0
[ 13.0078125, 113.818359375, 53.0859375, -43.857421875, -91.845703125, 29.33579444885254 ]
[ 12.65625, 112.8515625, 49.21875, -42.5390625, -90.791015625, 28.923076629638672 ]
2.733333
82
0
82
0
[ 13.0078125, 114.345703125, 54.052734375, -43.330078125, -91.845703125, 29.33579444885254 ]
[ 12.65625, 113.115234375, 49.658203125, -42.5390625, -90.791015625, 28.923076629638672 ]
2.766667
83
0
83
0
[ 13.0078125, 115.048828125, 54.931640625, -42.802734375, -92.021484375, 29.33579444885254 ]
[ 12.65625, 113.37890625, 50.2734375, -42.5390625, -90.791015625, 28.923076629638672 ]
2.8
84
0
84
0
[ 13.095703125, 115.6640625, 55.634765625, -42.71484375, -92.109375, 29.33579444885254 ]
[ 12.65625, 113.90625, 50.9765625, -42.36328125, -90.791015625, 28.923076629638672 ]
2.833333
85
0
85
0
[ 13.095703125, 116.103515625, 56.162109375, -42.71484375, -92.28515625, 29.33579444885254 ]
[ 12.744140625, 114.697265625, 51.591796875, -42.5390625, -90.966796875, 28.923076629638672 ]
2.866667
86
0
86
0
[ 13.18359375, 116.630859375, 56.689453125, -42.71484375, -92.373046875, 29.33579444885254 ]
[ 12.83203125, 115.048828125, 52.3828125, -42.451171875, -91.23046875, 28.923076629638672 ]
2.9
87
0
87
0
[ 13.271484375, 117.0703125, 57.3046875, -42.71484375, -92.4609375, 29.33579444885254 ]
[ 12.83203125, 115.576171875, 53.26171875, -42.275390625, -91.40625, 28.923076629638672 ]
2.933333
88
0
88
0
[ 13.271484375, 117.59765625, 57.83203125, -42.626953125, -92.548828125, 29.428043365478516 ]
[ 12.83203125, 115.927734375, 53.7890625, -42.275390625, -91.40625, 28.923076629638672 ]
2.966667
89
0
89
0
[ 13.271484375, 118.037109375, 58.53515625, -42.451171875, -92.548828125, 29.428043365478516 ]
[ 12.83203125, 116.455078125, 54.4921875, -42.1875, -91.494140625, 28.923076629638672 ]
3
90
0
90
0
[ 13.271484375, 118.4765625, 59.150390625, -42.1875, -92.548828125, 29.428043365478516 ]
[ 12.744140625, 116.89453125, 55.01953125, -42.1875, -91.58203125, 28.923076629638672 ]
3.033333
91
0
91
0
[ 13.271484375, 118.828125, 59.765625, -41.923828125, -92.63671875, 29.428043365478516 ]
[ 12.744140625, 117.421875, 55.810546875, -42.1875, -91.58203125, 28.923076629638672 ]
3.066667
92
0
92
0
[ 13.271484375, 119.35546875, 60.29296875, -41.923828125, -92.63671875, 29.428043365478516 ]
[ 12.65625, 117.7734375, 56.6015625, -41.923828125, -91.58203125, 29 ]
3.1
93
0
93
0
[ 13.18359375, 119.8828125, 60.99609375, -41.8359375, -92.63671875, 29.428043365478516 ]
[ 12.65625, 117.861328125, 57.12890625, -41.66015625, -91.58203125, 29 ]
3.133333
94
0
94
0
[ 13.095703125, 120.5859375, 61.69921875, -41.8359375, -92.63671875, 29.428043365478516 ]
[ 12.65625, 118.388671875, 57.744140625, -41.484375, -91.58203125, 29 ]
3.166667
95
0
95
0
[ 13.095703125, 121.376953125, 62.490234375, -41.8359375, -92.63671875, 29.428043365478516 ]
[ 12.65625, 118.828125, 58.18359375, -41.484375, -91.58203125, 29 ]
3.2
96
0
96
0
[ 13.095703125, 122.080078125, 63.45703125, -41.8359375, -92.724609375, 29.428043365478516 ]
[ 12.568359375, 119.35546875, 58.88671875, -41.484375, -91.58203125, 29 ]
3.233333
97
0
97
0
[ 13.095703125, 122.783203125, 64.248046875, -41.8359375, -92.724609375, 29.428043365478516 ]
[ 12.568359375, 120.146484375, 59.853515625, -41.484375, -91.58203125, 29 ]
3.266667
98
0
98
0
[ 13.095703125, 123.3984375, 65.126953125, -41.66015625, -92.724609375, 29.428043365478516 ]
[ 12.48046875, 120.849609375, 60.8203125, -41.484375, -91.58203125, 29 ]
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": 50,
    "total_frames": 24955,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "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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        "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:
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