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Datasets:
simiken1234
/
so100_wave

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
wave
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
4.93
frame_index
int64
0
148
episode_index
int64
0
19
index
int64
0
2.98k
task_index
int64
0
0
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[ 2.4609375, 187.20703125, 175.95703125, 64.3359375, -87.978515625, -0.2970297038555145 ]
[ 5.712890625, 187.734375, 176.30859375, 52.822265625, -86.923828125, 1.0452961921691895 ]
2.4
72
0
72
0
[ 0.703125, 187.20703125, 175.95703125, 68.115234375, -87.890625, -0.2970297038555145 ]
[ 4.921875, 187.734375, 176.30859375, 54.931640625, -87.275390625, 1.0452961921691895 ]
2.433333
73
0
73
0
[ -0.703125, 187.20703125, 175.95703125, 70.400390625, -87.626953125, -0.2970297038555145 ]
[ 4.04296875, 187.734375, 176.30859375, 57.83203125, -87.5390625, 1.0452961921691895 ]
2.466667
74
0
74
0
[ -1.669921875, 187.20703125, 175.95703125, 71.630859375, -87.1875, -0.2970297038555145 ]
[ 2.98828125, 187.734375, 176.30859375, 60.732421875, -87.5390625, 1.0452961921691895 ]
2.5
75
0
75
0
[ -2.197265625, 187.20703125, 175.95703125, 72.24609375, -86.66015625, -0.2970297038555145 ]
[ 1.669921875, 187.734375, 176.30859375, 63.80859375, -87.5390625, 1.0452961921691895 ]
2.533333
76
0
76
0
[ -2.373046875, 187.20703125, 175.95703125, 72.333984375, -86.30859375, -0.2970297038555145 ]
[ 0.52734375, 187.734375, 176.30859375, 66.533203125, -87.5390625, 1.0452961921691895 ]
2.566667
77
0
77
0
[ -2.373046875, 187.20703125, 175.95703125, 72.333984375, -86.30859375, -0.2970297038555145 ]
[ -0.52734375, 187.734375, 176.30859375, 68.73046875, -87.36328125, 1.0452961921691895 ]
2.6
78
0
78
0
[ -2.373046875, 187.20703125, 175.95703125, 72.333984375, -86.30859375, -0.2970297038555145 ]
[ -1.0546875, 187.734375, 176.30859375, 69.873046875, -87.01171875, 1.0452961921691895 ]
2.633333
79
0
79
0
[ -2.373046875, 187.20703125, 175.95703125, 72.421875, -86.30859375, -0.19801980257034302 ]
[ -1.40625, 187.734375, 176.30859375, 70.6640625, -86.8359375, 1.0452961921691895 ]
2.666667
80
0
80
0
[ -2.4609375, 187.20703125, 175.95703125, 72.421875, -86.30859375, -0.19801980257034302 ]
[ -1.669921875, 187.734375, 176.30859375, 71.103515625, -86.66015625, 1.0452961921691895 ]
2.7
81
0
81
0
[ -2.63671875, 187.20703125, 175.95703125, 73.4765625, -86.572265625, -0.19801980257034302 ]
[ -1.845703125, 187.734375, 176.30859375, 71.54296875, -86.66015625, 1.0452961921691895 ]
2.733333
82
0
82
0
[ -2.98828125, 187.20703125, 175.95703125, 74.1796875, -87.1875, -0.19801980257034302 ]
[ -2.021484375, 187.734375, 176.30859375, 71.89453125, -86.484375, 1.0452961921691895 ]
2.766667
83
0
83
0
[ -3.1640625, 187.20703125, 175.95703125, 74.267578125, -87.275390625, -0.19801980257034302 ]
[ -2.197265625, 187.734375, 176.30859375, 72.421875, -86.484375, 1.0452961921691895 ]
2.8
84
0
84
0
[ -3.076171875, 187.20703125, 175.95703125, 74.267578125, -87.275390625, -0.19801980257034302 ]
[ -2.4609375, 187.734375, 176.30859375, 72.94921875, -86.484375, 1.0452961921691895 ]
2.833333
85
0
85
0
[ -2.98828125, 187.20703125, 175.95703125, 74.267578125, -87.5390625, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 73.65234375, -86.572265625, 1.0452961921691895 ]
2.866667
86
0
86
0
[ -2.8125, 187.20703125, 175.95703125, 74.267578125, -87.890625, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 73.828125, -86.8359375, 1.0452961921691895 ]
2.9
87
0
87
0
[ -2.724609375, 187.20703125, 175.95703125, 74.267578125, -87.890625, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 73.916015625, -87.099609375, 1.0452961921691895 ]
2.933333
88
0
88
0
[ -2.63671875, 187.20703125, 175.95703125, 74.267578125, -87.275390625, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.00390625, -87.36328125, 1.0452961921691895 ]
2.966667
89
0
89
0
[ -2.63671875, 187.20703125, 175.95703125, 74.267578125, -86.923828125, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.00390625, -87.5390625, 1.0452961921691895 ]
3
90
0
90
0
[ -2.63671875, 187.20703125, 175.95703125, 74.35546875, -84.990234375, -0.2970297038555145 ]
[ -2.724609375, 187.734375, 176.30859375, 74.00390625, -87.5390625, 1.0452961921691895 ]
3.033333
91
0
91
0
[ -2.63671875, 187.20703125, 175.95703125, 74.794921875, -83.408203125, -0.2970297038555145 ]
[ -2.724609375, 187.734375, 176.30859375, 74.00390625, -87.5390625, 1.0452961921691895 ]
3.066667
92
0
92
0
[ -2.4609375, 187.20703125, 175.95703125, 74.970703125, -83.3203125, -0.2970297038555145 ]
[ -2.724609375, 187.734375, 176.30859375, 74.1796875, -86.8359375, 1.0452961921691895 ]
3.1
93
0
93
0
[ -2.197265625, 187.20703125, 175.95703125, 74.970703125, -83.3203125, -0.2970297038555145 ]
[ -2.724609375, 187.734375, 176.30859375, 74.267578125, -85.60546875, 1.0452961921691895 ]
3.133333
94
0
94
0
[ -2.021484375, 187.20703125, 175.95703125, 74.970703125, -83.14453125, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.443359375, -84.814453125, 1.0452961921691895 ]
3.166667
95
0
95
0
[ -2.021484375, 187.20703125, 175.95703125, 74.970703125, -82.79296875, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.619140625, -84.375, 1.0452961921691895 ]
3.2
96
0
96
0
[ -2.109375, 187.20703125, 175.95703125, 74.970703125, -82.529296875, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.794921875, -83.935546875, 1.0452961921691895 ]
3.233333
97
0
97
0
[ -2.109375, 187.20703125, 175.95703125, 74.970703125, -82.177734375, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.8828125, -83.583984375, 1.0452961921691895 ]
3.266667
98
0
98
0
[ -2.109375, 187.20703125, 175.95703125, 74.970703125, -81.73828125, -0.19801980257034302 ]
[ -2.724609375, 187.734375, 176.30859375, 74.8828125, -83.232421875, 1.0452961921691895 ]
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": 20,
    "total_frames": 2980,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.robot": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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