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Datasets:
stevenbobo
/
so100_test_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
896
episode_index
int64
0
1
index
int64
0
1.7k
task_index
int64
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[ -12.83203125, 189.931640625, 176.923828125, 76.728515625, 56.337890625, -0.8979591727256775 ]
2.4
72
0
72
0
[ -13.53515625, 190.986328125, 174.990234375, 79.189453125, 52.119140625, -2.137998104095459 ]
[ -12.83203125, 189.931640625, 176.8359375, 76.9921875, 56.162109375, -0.9795917868614197 ]
2.433333
73
0
73
0
[ -13.798828125, 190.107421875, 173.056640625, 79.27734375, 50.009765625, -2.137998104095459 ]
[ -12.83203125, 189.931640625, 176.66015625, 76.9921875, 54.755859375, -1.0612244606018066 ]
2.466667
74
0
74
0
[ -13.271484375, 189.228515625, 170.947265625, 79.27734375, 47.63671875, -2.137998104095459 ]
[ -12.919921875, 189.931640625, 175.517578125, 77.255859375, 53.349609375, -1.0612244606018066 ]
2.5
75
0
75
0
[ -12.041015625, 187.998046875, 168.3984375, 79.189453125, 44.560546875, -2.137998104095459 ]
[ -12.65625, 189.84375, 174.375, 77.34375, 51.328125, -1.0612244606018066 ]
2.533333
76
0
76
0
[ -10.634765625, 186.240234375, 165.498046875, 79.189453125, 42.01171875, -2.137998104095459 ]
[ -12.568359375, 189.755859375, 172.705078125, 77.431640625, 48.779296875, -1.0612244606018066 ]
2.566667
77
0
77
0
[ -9.052734375, 184.39453125, 162.158203125, 79.1015625, 39.287109375, -2.137998104095459 ]
[ -12.392578125, 188.876953125, 170.595703125, 77.51953125, 46.318359375, -1.0612244606018066 ]
2.6
78
0
78
0
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[ -11.6015625, 187.646484375, 168.310546875, 77.607421875, 43.9453125, -1.0612244606018066 ]
2.633333
79
0
79
0
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[ -9.755859375, 186.240234375, 165.5859375, 77.958984375, 40.78125, -1.0612244606018066 ]
2.666667
80
0
80
0
[ -7.91015625, 176.484375, 150.029296875, 79.365234375, 30.498046875, -1.8464528322219849 ]
[ -8.876953125, 184.04296875, 162.158203125, 78.75, 37.705078125, -1.0612244606018066 ]
2.7
81
0
81
0
[ -8.26171875, 172.353515625, 144.84375, 79.541015625, 27.94921875, -0.680272102355957 ]
[ -8.876953125, 182.28515625, 158.73046875, 78.837890625, 34.62890625, -1.0612244606018066 ]
2.733333
82
0
82
0
[ -8.525390625, 167.958984375, 138.8671875, 79.892578125, 25.3125, 1.5549076795578003 ]
[ -7.734375, 179.912109375, 154.86328125, 78.837890625, 32.080078125, -0.8163264989852905 ]
2.766667
83
0
83
0
[ -8.7890625, 162.861328125, 132.1875, 81.474609375, 25.576171875, 1.1661808490753174 ]
[ -7.646484375, 176.1328125, 150.1171875, 78.837890625, 29.443359375, -0.24489794671535492 ]
2.8
84
0
84
0
[ -9.052734375, 157.939453125, 125.15625, 83.056640625, 27.861328125, -2.137998104095459 ]
[ -8.349609375, 173.14453125, 144.755859375, 78.837890625, 27.509765625, 0.24489794671535492 ]
2.833333
85
0
85
0
[ -9.404296875, 152.666015625, 117.59765625, 85.341796875, 30.76171875, -2.137998104095459 ]
[ -8.4375, 169.8046875, 139.04296875, 79.8046875, 27.333984375, 0.48979589343070984 ]
2.866667
86
0
86
0
[ -9.580078125, 147.65625, 109.86328125, 87.71484375, 32.080078125, -2.137998104095459 ]
[ -8.0859375, 165.234375, 132.626953125, 81.474609375, 28.125, 0 ]
2.9
87
0
87
0
[ -9.404296875, 142.998046875, 102.568359375, 90.3515625, 30.673828125, -1.6520893573760986 ]
[ -8.349609375, 160.048828125, 125.68359375, 83.232421875, 29.619140625, -0.7346938848495483 ]
2.933333
88
0
88
0
[ -9.404296875, 139.130859375, 95.9765625, 93.779296875, 27.24609375, 1.7492711544036865 ]
[ -8.96484375, 155.56640625, 118.4765625, 84.990234375, 30.146484375, -0.8979591727256775 ]
2.966667
89
0
89
0
[ -9.755859375, 136.23046875, 90.703125, 96.943359375, 22.939453125, 7.482992649078369 ]
[ -9.140625, 151.171875, 111.005859375, 86.923828125, 29.1796875, -0.6530612111091614 ]
3
90
0
90
0
[ -10.634765625, 132.802734375, 85.517578125, 101.6015625, 18.193359375, 9.329446792602539 ]
[ -9.140625, 147.041015625, 103.974609375, 89.6484375, 27.158203125, 0.16326530277729034 ]
3.033333
91
0
91
0
[ -11.42578125, 131.484375, 83.49609375, 101.77734375, 10.107421875, 7.482992649078369 ]
[ -8.701171875, 142.822265625, 97.646484375, 92.28515625, 23.5546875, 2.040816307067871 ]
3.066667
92
0
92
0
[ -12.568359375, 130.693359375, 82.265625, 101.953125, 5.009765625, 8.163265228271484 ]
[ -9.228515625, 138.603515625, 92.28515625, 95.2734375, 19.86328125, 4.326530456542969 ]
3.1
93
0
93
0
[ -14.150390625, 130.4296875, 81.9140625, 101.953125, -2.197265625, 12.147716522216797 ]
[ -10.107421875, 135.263671875, 88.9453125, 97.822265625, 14.501953125, 6.285714149475098 ]
3.133333
94
0
94
0
[ -15.29296875, 130.4296875, 82.001953125, 101.953125, -11.07421875, 13.022351264953613 ]
[ -11.07421875, 132.890625, 86.66015625, 98.96484375, 9.052734375, 6.775510311126709 ]
3.166667
95
0
95
0
[ -15.732421875, 130.693359375, 83.056640625, 101.953125, -20.654296875, 13.411079406738281 ]
[ -12.83203125, 131.66015625, 85.60546875, 99.580078125, 3.33984375, 7.18367338180542 ]
3.2
96
0
96
0
[ -16.171875, 131.8359375, 84.814453125, 101.865234375, -25.400390625, 14.577259063720703 ]
[ -13.447265625, 131.30859375, 85.4296875, 100.1953125, -3.8671875, 9.061224937438965 ]
3.233333
97
0
97
0
[ -16.875, 132.802734375, 86.66015625, 101.337890625, -27.94921875, 15.646258354187012 ]
[ -14.326171875, 131.30859375, 85.341796875, 100.458984375, -11.689453125, 10.938776016235352 ]
3.266667
98
0
98
0
[ -17.841796875, 133.857421875, 88.9453125, 99.66796875, -31.025390625, 17.00680160522461 ]
[ -15.029296875, 130.95703125, 85.4296875, 100.634765625, -18.10546875, 12.163265228271484 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1703,
    "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": [
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                640,
                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": 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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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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