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Datasets:
weiye11
/
0603_pi0_onlyright

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
12.6
frame_index
int64
0
379
episode_index
int64
0
30
index
int64
0
8.57k
task_index
int64
0
0
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73
0
[ 2.98828125, 180.263671875, 174.814453125, 49.658203125, -25.751953125, 4.926108360290527 ]
[ 2.109375, 187.03125, 176.30859375, 53.96484375, -21.357421875, 5.303030490875244 ]
2.466667
74
0
74
0
[ 3.427734375, 178.505859375, 173.935546875, 48.603515625, -27.0703125, 4.926108360290527 ]
[ 2.109375, 185.44921875, 176.30859375, 52.470703125, -22.8515625, 5.303030490875244 ]
2.5
75
0
75
0
[ 3.69140625, 176.8359375, 172.529296875, 48.076171875, -27.685546875, 4.926108360290527 ]
[ 2.4609375, 183.69140625, 176.30859375, 51.15234375, -24.609375, 5.303030490875244 ]
2.533333
76
0
76
0
[ 4.04296875, 175.25390625, 170.68359375, 48.1640625, -27.94921875, 4.926108360290527 ]
[ 2.900390625, 182.109375, 176.220703125, 50.09765625, -25.751953125, 5.303030490875244 ]
2.566667
77
0
77
0
[ 4.21875, 173.583984375, 168.3984375, 48.69140625, -27.421875, 4.926108360290527 ]
[ 3.251953125, 180.263671875, 175.25390625, 49.658203125, -26.455078125, 5.303030490875244 ]
2.6
78
0
78
0
[ 4.21875, 171.9140625, 166.025390625, 49.39453125, -26.806640625, 4.926108360290527 ]
[ 3.69140625, 177.5390625, 173.935546875, 49.482421875, -26.71875, 5.303030490875244 ]
2.633333
79
0
79
0
[ 4.39453125, 169.8046875, 163.65234375, 49.74609375, -26.103515625, 4.926108360290527 ]
[ 3.955078125, 175.869140625, 172.08984375, 49.658203125, -26.71875, 5.303030490875244 ]
2.666667
80
0
80
0
[ 4.5703125, 167.51953125, 161.3671875, 50.009765625, -25.400390625, 4.926108360290527 ]
[ 4.39453125, 174.287109375, 170.068359375, 49.74609375, -26.54296875, 5.303030490875244 ]
2.7
81
0
81
0
[ 4.74609375, 164.970703125, 159.169921875, 50.185546875, -24.78515625, 4.926108360290527 ]
[ 4.5703125, 172.6171875, 167.958984375, 49.74609375, -26.103515625, 5.303030490875244 ]
2.733333
82
0
82
0
[ 4.833984375, 162.421875, 157.236328125, 50.2734375, -24.43359375, 4.926108360290527 ]
[ 4.658203125, 170.771484375, 165.76171875, 50.009765625, -25.6640625, 5.303030490875244 ]
2.766667
83
0
83
0
[ 4.833984375, 159.873046875, 155.302734375, 50.2734375, -24.169921875, 4.8275861740112305 ]
[ 4.658203125, 169.1015625, 163.4765625, 50.009765625, -25.224609375, 5.303030490875244 ]
2.8
84
0
84
0
[ 4.921875, 157.5, 153.369140625, 50.2734375, -23.73046875, 4.8275861740112305 ]
[ 4.658203125, 167.255859375, 161.3671875, 50.009765625, -24.873046875, 5.303030490875244 ]
2.833333
85
0
85
0
[ 5.09765625, 155.126953125, 151.34765625, 50.2734375, -23.37890625, 4.8275861740112305 ]
[ 4.658203125, 164.794921875, 159.345703125, 50.009765625, -24.521484375, 5.303030490875244 ]
2.866667
86
0
86
0
[ 5.2734375, 153.017578125, 149.326171875, 50.361328125, -23.291015625, 4.8275861740112305 ]
[ 4.658203125, 161.3671875, 157.1484375, 50.009765625, -24.169921875, 5.303030490875244 ]
2.9
87
0
87
0
[ 5.2734375, 150.8203125, 147.568359375, 50.361328125, -23.37890625, 4.8275861740112305 ]
[ 4.658203125, 158.642578125, 155.302734375, 50.009765625, -23.818359375, 5.303030490875244 ]
2.933333
88
0
88
0
[ 5.361328125, 148.798828125, 145.810546875, 50.361328125, -23.37890625, 4.8275861740112305 ]
[ 4.658203125, 156.09375, 153.544921875, 50.09765625, -23.73046875, 5.303030490875244 ]
2.966667
89
0
89
0
[ 5.44921875, 146.6015625, 144.140625, 50.361328125, -23.37890625, 4.8275861740112305 ]
[ 4.658203125, 153.896484375, 151.69921875, 50.185546875, -23.73046875, 5.303030490875244 ]
3
90
0
90
0
[ 5.2734375, 144.31640625, 142.646484375, 50.361328125, -23.466796875, 4.8275861740112305 ]
[ 4.74609375, 151.69921875, 149.765625, 50.185546875, -23.73046875, 5.303030490875244 ]
3.033333
91
0
91
0
[ 5.09765625, 142.119140625, 141.416015625, 50.2734375, -23.466796875, 4.926108360290527 ]
[ 4.833984375, 149.58984375, 148.095703125, 50.2734375, -23.73046875, 5.303030490875244 ]
3.066667
92
0
92
0
[ 4.921875, 139.921875, 139.921875, 50.09765625, -23.291015625, 4.926108360290527 ]
[ 5.009765625, 147.392578125, 146.42578125, 50.2734375, -23.73046875, 5.303030490875244 ]
3.1
93
0
93
0
[ 4.833984375, 137.724609375, 138.427734375, 49.833984375, -22.763671875, 5.024630546569824 ]
[ 5.09765625, 145.283203125, 145.107421875, 50.2734375, -23.73046875, 5.303030490875244 ]
3.133333
94
0
94
0
[ 4.833984375, 135.791015625, 137.109375, 49.482421875, -22.5, 5.024630546569824 ]
[ 5.185546875, 142.998046875, 143.525390625, 50.185546875, -23.466796875, 5.303030490875244 ]
3.166667
95
0
95
0
[ 4.833984375, 134.12109375, 135.87890625, 49.21875, -22.412109375, 5.024630546569824 ]
[ 5.185546875, 140.625, 142.03125, 50.185546875, -23.115234375, 5.303030490875244 ]
3.2
96
0
96
0
[ 4.74609375, 132.451171875, 134.47265625, 49.130859375, -22.1484375, 5.024630546569824 ]
[ 5.185546875, 138.251953125, 140.625, 50.09765625, -22.939453125, 5.303030490875244 ]
3.233333
97
0
97
0
[ 4.658203125, 130.95703125, 133.2421875, 49.130859375, -21.97265625, 5.123152732849121 ]
[ 5.185546875, 135.966796875, 139.39453125, 49.833984375, -22.67578125, 5.303030490875244 ]
3.266667
98
0
98
0
[ 4.39453125, 129.462890625, 132.099609375, 49.130859375, -22.1484375, 5.123152732849121 ]
[ 5.185546875, 133.857421875, 137.98828125, 49.74609375, -22.5, 5.303030490875244 ]
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": 31,
    "total_frames": 8574,
    "total_tasks": 1,
    "total_videos": 62,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:31"
    },
    "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": [
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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