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Datasets:
tim19970907
/
so100_test_0616_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
10K - 100K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
20.9
frame_index
int64
0
626
episode_index
int64
0
29
index
int64
0
16.1k
task_index
int64
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0
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[ 6.50390625, 109.3359375, 140.185546875, -42.01171875, -75.849609375, 31.563982009887695 ]
[ 5.537109375, 111.796875, 146.337890625, -43.330078125, -76.46484375, 30.6995906829834 ]
2.366667
71
0
71
0
[ 6.50390625, 108.369140625, 139.21875, -41.8359375, -75.849609375, 31.279621124267578 ]
[ 5.80078125, 110.7421875, 145.01953125, -42.71484375, -76.2890625, 31.028806686401367 ]
2.4
72
0
72
0
[ 6.50390625, 107.578125, 138.33984375, -41.572265625, -75.9375, 30.900474548339844 ]
[ 5.80078125, 109.6875, 143.876953125, -42.36328125, -76.2890625, 31.111112594604492 ]
2.433333
73
0
73
0
[ 6.416015625, 106.69921875, 137.4609375, -41.484375, -75.849609375, 30.23696517944336 ]
[ 5.888671875, 108.80859375, 142.822265625, -42.099609375, -76.2890625, 31.111112594604492 ]
2.466667
74
0
74
0
[ 6.416015625, 105.99609375, 136.494140625, -41.1328125, -75.849609375, 29.952606201171875 ]
[ 5.9765625, 107.841796875, 141.85546875, -41.748046875, -76.2890625, 31.111112594604492 ]
2.5
75
0
75
0
[ 6.416015625, 105.205078125, 135.615234375, -40.869140625, -75.849609375, 29.66824722290039 ]
[ 5.9765625, 106.962890625, 140.888671875, -41.572265625, -76.11328125, 31.111112594604492 ]
2.533333
76
0
76
0
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[ 5.9765625, 106.083984375, 140.009765625, -41.30859375, -76.11328125, 30.86419677734375 ]
2.566667
77
0
77
0
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[ 5.9765625, 105.205078125, 139.04296875, -41.044921875, -76.11328125, 30.452674865722656 ]
2.6
78
0
78
0
[ 6.416015625, 103.095703125, 133.41796875, -40.78125, -75.673828125, 28.436019897460938 ]
[ 5.9765625, 104.501953125, 138.33984375, -41.044921875, -76.11328125, 30.041152954101562 ]
2.633333
79
0
79
0
[ 6.416015625, 102.568359375, 132.802734375, -40.693359375, -75.673828125, 27.677722930908203 ]
[ 5.9765625, 103.7109375, 137.4609375, -41.044921875, -76.11328125, 29.629629135131836 ]
2.666667
80
0
80
0
[ 6.416015625, 102.041015625, 132.1875, -40.60546875, -75.673828125, 27.203792572021484 ]
[ 5.9765625, 103.0078125, 136.7578125, -41.044921875, -76.11328125, 29.218107223510742 ]
2.7
81
0
81
0
[ 6.416015625, 101.513671875, 131.66015625, -40.60546875, -75.849609375, 26.350709915161133 ]
[ 5.9765625, 102.392578125, 135.966796875, -41.044921875, -76.11328125, 28.559669494628906 ]
2.733333
82
0
82
0
[ 6.416015625, 101.07421875, 131.1328125, -40.60546875, -76.025390625, 25.68720245361328 ]
[ 5.9765625, 101.865234375, 135.3515625, -41.044921875, -76.11328125, 28.065841674804688 ]
2.766667
83
0
83
0
[ 6.328125, 100.634765625, 130.693359375, -40.60546875, -76.11328125, 25.30805778503418 ]
[ 5.9765625, 101.337890625, 134.736328125, -40.78125, -76.11328125, 27.407407760620117 ]
2.8
84
0
84
0
[ 6.328125, 100.283203125, 130.25390625, -40.60546875, -76.201171875, 24.739337921142578 ]
[ 5.9765625, 100.810546875, 134.208984375, -40.78125, -76.11328125, 26.666667938232422 ]
2.833333
85
0
85
0
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[ 5.9765625, 100.37109375, 133.681640625, -40.78125, -76.11328125, 26.09053611755371 ]
2.866667
86
0
86
0
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[ 5.9765625, 100.107421875, 133.2421875, -40.693359375, -76.11328125, 25.596708297729492 ]
2.9
87
0
87
0
[ 6.064453125, 99.404296875, 129.375, -40.60546875, -76.728515625, 22.559242248535156 ]
[ 5.9765625, 99.755859375, 132.802734375, -40.693359375, -76.11328125, 25.02057647705078 ]
2.933333
88
0
88
0
[ 6.064453125, 99.140625, 129.19921875, -40.60546875, -76.904296875, 21.895734786987305 ]
[ 5.9765625, 99.404296875, 132.451171875, -40.693359375, -76.201171875, 24.362138748168945 ]
2.966667
89
0
89
0
[ 6.064453125, 98.96484375, 129.0234375, -40.60546875, -77.080078125, 21.042654037475586 ]
[ 5.9765625, 99.31640625, 132.1875, -40.693359375, -76.376953125, 23.62139892578125 ]
3
90
0
90
0
[ 6.064453125, 98.7890625, 128.84765625, -40.60546875, -77.16796875, 20.189573287963867 ]
[ 5.9765625, 99.052734375, 132.1875, -40.693359375, -76.552734375, 22.962963104248047 ]
3.033333
91
0
91
0
[ 6.064453125, 98.61328125, 128.671875, -40.60546875, -77.51953125, 19.2417049407959 ]
[ 5.9765625, 98.701171875, 131.8359375, -40.693359375, -76.728515625, 22.22222328186035 ]
3.066667
92
0
92
0
[ 6.064453125, 98.61328125, 128.671875, -40.60546875, -77.783203125, 18.293838500976562 ]
[ 5.9765625, 98.4375, 131.66015625, -40.693359375, -76.904296875, 21.316871643066406 ]
3.1
93
0
93
0
[ 5.9765625, 98.525390625, 128.671875, -40.60546875, -78.22265625, 16.96682357788086 ]
[ 5.9765625, 98.349609375, 131.572265625, -40.693359375, -77.16796875, 20.49382781982422 ]
3.133333
94
0
94
0
[ 5.9765625, 98.525390625, 128.671875, -40.60546875, -78.3984375, 15.734596252441406 ]
[ 5.9765625, 98.349609375, 131.572265625, -40.693359375, -77.431640625, 19.588478088378906 ]
3.166667
95
0
95
0
[ 5.9765625, 98.525390625, 128.671875, -40.60546875, -78.662109375, 14.597156524658203 ]
[ 5.9765625, 98.349609375, 131.572265625, -40.693359375, -77.6953125, 18.518518447875977 ]
3.2
96
0
96
0
[ 5.9765625, 98.4375, 128.759765625, -40.60546875, -78.837890625, 13.64928913116455 ]
[ 5.9765625, 98.26171875, 131.572265625, -40.693359375, -77.958984375, 17.366256713867188 ]
3.233333
97
0
97
0
[ 5.9765625, 98.4375, 128.759765625, -40.60546875, -78.92578125, 13.175354957580566 ]
[ 5.9765625, 98.26171875, 131.572265625, -40.693359375, -78.310546875, 16.296295166015625 ]
3.266667
98
0
98
0
[ 5.9765625, 98.4375, 128.759765625, -40.60546875, -79.189453125, 12.796208381652832 ]
[ 5.9765625, 98.26171875, 131.572265625, -40.693359375, -78.486328125, 15.14403247833252 ]
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": 30,
    "total_frames": 16063,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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
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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": [
                "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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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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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