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Datasets:
sixpigs1
/
so100_push_cube_error

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
push_cube
reach_position_offset
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
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action
sequence
observation.state
sequence
timestamp
float32
0
10.8
frame_index
int64
0
324
episode_index
int64
0
79
index
int64
0
17.1k
task_index
int64
0
3
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0
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[ -5.361328125, 127.79296875, 119.53125, 84.7265625, -53.525390625, 0.23715414106845856 ]
2.6
78
0
78
0
[ -4.306640625, 121.904296875, 113.73046875, 91.23046875, -66.796875, 0 ]
[ -5.09765625, 126.298828125, 118.388671875, 86.396484375, -56.689453125, 0.23715414106845856 ]
2.633333
79
0
79
0
[ -4.130859375, 120.41015625, 113.466796875, 91.494140625, -69.08203125, 0 ]
[ -4.833984375, 124.8046875, 117.421875, 88.505859375, -59.94140625, 0.23715414106845856 ]
2.666667
80
0
80
0
[ -3.8671875, 118.916015625, 113.466796875, 91.0546875, -70.927734375, 0 ]
[ -4.74609375, 123.22265625, 116.630859375, 89.384765625, -62.841796875, 0.23715414106845856 ]
2.7
81
0
81
0
[ -3.603515625, 117.333984375, 113.466796875, 90.17578125, -72.685546875, 0 ]
[ -4.5703125, 121.728515625, 116.103515625, 89.82421875, -65.390625, 0.23715414106845856 ]
2.733333
82
0
82
0
[ -3.427734375, 115.6640625, 113.466796875, 89.208984375, -73.65234375, 0 ]
[ -4.306640625, 120.234375, 115.83984375, 90.3515625, -67.763671875, 0.23715414106845856 ]
2.766667
83
0
83
0
[ -3.427734375, 113.994140625, 113.466796875, 88.154296875, -74.00390625, 0 ]
[ -4.04296875, 118.65234375, 115.751953125, 90.087890625, -69.873046875, 0.23715414106845856 ]
2.8
84
0
84
0
[ -3.33984375, 112.32421875, 113.466796875, 87.099609375, -74.443359375, 0 ]
[ -3.8671875, 116.982421875, 115.6640625, 89.384765625, -71.455078125, 0.23715414106845856 ]
2.833333
85
0
85
0
[ -3.1640625, 110.478515625, 113.466796875, 85.95703125, -74.794921875, 0 ]
[ -3.69140625, 115.3125, 115.6640625, 89.033203125, -72.421875, 0.23715414106845856 ]
2.866667
86
0
86
0
[ -2.900390625, 108.720703125, 113.5546875, 84.90234375, -75.322265625, 0 ]
[ -3.69140625, 113.73046875, 115.576171875, 88.06640625, -73.125, 0.23715414106845856 ]
2.9
87
0
87
0
[ -2.63671875, 107.2265625, 113.818359375, 83.671875, -75.9375, 0 ]
[ -3.515625, 112.060546875, 115.576171875, 86.66015625, -73.828125, 0.23715414106845856 ]
2.933333
88
0
88
0
[ -2.28515625, 105.732421875, 113.994140625, 82.79296875, -76.728515625, 0 ]
[ -3.251953125, 110.21484375, 115.576171875, 85.869140625, -74.443359375, 0.23715414106845856 ]
2.966667
89
0
89
0
[ -1.845703125, 104.4140625, 113.994140625, 82.08984375, -77.255859375, 0 ]
[ -2.98828125, 108.544921875, 115.576171875, 85.166015625, -75.05859375, 0.23715414106845856 ]
3
90
0
90
0
[ -1.58203125, 103.271484375, 114.08203125, 81.474609375, -77.783203125, 0 ]
[ -2.724609375, 106.875, 115.576171875, 83.935546875, -75.849609375, 0.23715414106845856 ]
3.033333
91
0
91
0
[ -1.142578125, 102.3046875, 114.169921875, 80.947265625, -78.486328125, 0 ]
[ -2.373046875, 105.46875, 115.576171875, 82.705078125, -76.46484375, 0.23715414106845856 ]
3.066667
92
0
92
0
[ -0.791015625, 101.42578125, 114.345703125, 80.15625, -79.189453125, 0 ]
[ -2.021484375, 104.150390625, 115.576171875, 82.353515625, -76.9921875, 0.23715414106845856 ]
3.1
93
0
93
0
[ -0.439453125, 100.546875, 114.609375, 79.1015625, -79.716796875, 0 ]
[ -1.669921875, 103.0078125, 115.576171875, 82.001953125, -77.6953125, 0.23715414106845856 ]
3.133333
94
0
94
0
[ 0, 99.66796875, 114.873046875, 78.22265625, -80.33203125, 0 ]
[ -1.318359375, 101.865234375, 115.576171875, 80.859375, -78.3984375, 0.23715414106845856 ]
3.166667
95
0
95
0
[ 0.3515625, 99.052734375, 115.3125, 77.431640625, -81.123046875, 0 ]
[ -0.966796875, 100.8984375, 115.576171875, 79.62890625, -79.013671875, 0.23715414106845856 ]
3.2
96
0
96
0
[ 0.703125, 98.4375, 116.015625, 76.552734375, -81.650390625, 0 ]
[ -0.52734375, 100.01953125, 115.576171875, 79.1015625, -79.541015625, 0.23715414106845856 ]
3.233333
97
0
97
0
[ 1.0546875, 98.0859375, 116.89453125, 75.498046875, -82.265625, 0 ]
[ -0.17578125, 99.228515625, 115.751953125, 78.486328125, -80.33203125, 0.23715414106845856 ]
3.266667
98
0
98
0
[ 1.494140625, 97.734375, 118.037109375, 74.443359375, -82.96875, 0 ]
[ 0.17578125, 98.525390625, 116.19140625, 77.080078125, -80.947265625, 0.23715414106845856 ]
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": 4284,
    "total_tasks": 1,
    "total_videos": 40,
    "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": [
                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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.rightfront": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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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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