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Datasets:
weiye11
/
0605_pi0_100

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
10.5
frame_index
int64
0
316
episode_index
int64
0
99
index
int64
0
24.8k
task_index
int64
0
0
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[ 0.439453125, 188.61328125, 172.79296875, 69.873046875, -9.052734375, 5.320197105407715 ]
[ 0.52734375, 188.876953125, 174.462890625, 69.78515625, -9.140625, 5.454545497894287 ]
2.4
72
0
72
0
[ 0.52734375, 188.349609375, 172.79296875, 69.43359375, -8.96484375, 5.024630546569824 ]
[ 0.52734375, 188.876953125, 174.462890625, 69.78515625, -9.140625, 5.454545497894287 ]
2.433333
73
0
73
0
[ 0.966796875, 187.470703125, 172.79296875, 68.02734375, -9.052734375, 4.926108360290527 ]
[ 0.52734375, 188.876953125, 174.462890625, 69.78515625, -9.140625, 5.454545497894287 ]
2.466667
74
0
74
0
[ 1.845703125, 185.9765625, 172.529296875, 65.91796875, -9.4921875, 4.926108360290527 ]
[ 0.52734375, 188.876953125, 174.462890625, 69.521484375, -9.140625, 5.303030490875244 ]
2.5
75
0
75
0
[ 2.724609375, 183.603515625, 171.650390625, 63.80859375, -11.865234375, 4.8275861740112305 ]
[ 0.615234375, 188.525390625, 174.462890625, 68.5546875, -9.140625, 5.151515007019043 ]
2.533333
76
0
76
0
[ 3.427734375, 180.966796875, 170.15625, 61.875, -14.853515625, 4.729063987731934 ]
[ 1.142578125, 187.734375, 174.55078125, 66.796875, -9.140625, 5.151515007019043 ]
2.566667
77
0
77
0
[ 4.306640625, 177.626953125, 168.22265625, 60.1171875, -17.9296875, 4.729063987731934 ]
[ 1.845703125, 186.240234375, 174.55078125, 65.126953125, -10.01953125, 5.151515007019043 ]
2.6
78
0
78
0
[ 5.2734375, 174.287109375, 165.76171875, 58.88671875, -21.357421875, 4.729063987731934 ]
[ 2.548828125, 184.39453125, 174.462890625, 63.45703125, -11.953125, 5.151515007019043 ]
2.633333
79
0
79
0
[ 6.328125, 170.771484375, 163.037109375, 57.919921875, -22.67578125, 4.729063987731934 ]
[ 3.33984375, 182.021484375, 173.232421875, 61.787109375, -14.326171875, 5.151515007019043 ]
2.666667
80
0
80
0
[ 7.294921875, 167.34375, 160.400390625, 57.041015625, -22.763671875, 4.729063987731934 ]
[ 4.130859375, 178.9453125, 171.2109375, 60.556640625, -16.962890625, 5.151515007019043 ]
2.7
81
0
81
0
[ 7.998046875, 163.916015625, 157.939453125, 56.162109375, -22.763671875, 4.729063987731934 ]
[ 5.09765625, 175.517578125, 169.013671875, 59.58984375, -19.3359375, 5.151515007019043 ]
2.733333
82
0
82
0
[ 8.61328125, 160.576171875, 155.56640625, 55.37109375, -22.32421875, 4.8275861740112305 ]
[ 6.064453125, 172.001953125, 166.552734375, 58.447265625, -20.654296875, 5.151515007019043 ]
2.766667
83
0
83
0
[ 8.96484375, 157.587890625, 153.28125, 54.755859375, -21.884765625, 5.024630546569824 ]
[ 6.85546875, 169.013671875, 164.00390625, 57.392578125, -21.26953125, 5.151515007019043 ]
2.8
84
0
84
0
[ 9.140625, 154.599609375, 151.083984375, 54.228515625, -21.796875, 5.221674919128418 ]
[ 7.55859375, 165.76171875, 161.630859375, 56.6015625, -21.357421875, 5.151515007019043 ]
2.833333
85
0
85
0
[ 9.140625, 151.962890625, 148.798828125, 54.140625, -21.796875, 5.418719291687012 ]
[ 8.26171875, 162.509765625, 159.169921875, 55.810546875, -21.4453125, 5.151515007019043 ]
2.866667
86
0
86
0
[ 9.140625, 149.501953125, 146.6015625, 54.140625, -21.796875, 5.714285850524902 ]
[ 8.7890625, 159.43359375, 156.796875, 55.283203125, -21.4453125, 5.151515007019043 ]
2.9
87
0
87
0
[ 9.140625, 146.953125, 144.4921875, 54.140625, -21.708984375, 6.10837459564209 ]
[ 9.052734375, 156.26953125, 154.423828125, 55.107421875, -21.4453125, 5.151515007019043 ]
2.933333
88
0
88
0
[ 9.140625, 144.404296875, 142.119140625, 54.052734375, -21.26953125, 5.714285850524902 ]
[ 9.140625, 153.45703125, 152.2265625, 54.84375, -21.4453125, 5.151515007019043 ]
2.966667
89
0
89
0
[ 9.404296875, 141.767578125, 139.658203125, 54.052734375, -20.56640625, 5.714285850524902 ]
[ 9.052734375, 150.46875, 150.1171875, 54.755859375, -21.4453125, 5.2272725105285645 ]
3
90
0
90
0
[ 9.4921875, 139.21875, 137.4609375, 54.052734375, -19.951171875, 6.009851932525635 ]
[ 8.876953125, 147.65625, 147.83203125, 54.755859375, -21.4453125, 5.2272725105285645 ]
3.033333
91
0
91
0
[ 9.66796875, 136.58203125, 135.087890625, 54.052734375, -19.3359375, 6.10837459564209 ]
[ 8.701171875, 145.01953125, 145.458984375, 54.66796875, -21.09375, 5.303030490875244 ]
3.066667
92
0
92
0
[ 9.66796875, 133.9453125, 132.978515625, 54.052734375, -18.984375, 6.305418968200684 ]
[ 8.7890625, 142.294921875, 143.0859375, 54.580078125, -20.56640625, 5.60606050491333 ]
3.1
93
0
93
0
[ 9.404296875, 131.748046875, 131.220703125, 53.96484375, -18.80859375, 6.305418968200684 ]
[ 9.052734375, 139.5703125, 140.80078125, 54.580078125, -20.0390625, 5.757575988769531 ]
3.133333
94
0
94
0
[ 9.140625, 129.638671875, 129.55078125, 53.96484375, -18.6328125, 6.10837459564209 ]
[ 9.228515625, 136.93359375, 138.515625, 54.580078125, -19.6875, 5.984848499298096 ]
3.166667
95
0
95
0
[ 8.876953125, 127.880859375, 128.232421875, 53.7890625, -18.544921875, 6.502462863922119 ]
[ 9.404296875, 134.296875, 136.318359375, 54.4921875, -19.3359375, 5.984848499298096 ]
3.2
96
0
96
0
[ 8.61328125, 126.298828125, 127.44140625, 53.26171875, -18.544921875, 9.261083602905273 ]
[ 9.404296875, 131.748046875, 134.560546875, 54.4921875, -19.072265625, 5.984848499298096 ]
3.233333
97
0
97
0
[ 8.26171875, 124.8046875, 127.08984375, 52.3828125, -19.16015625, 13.793103218078613 ]
[ 9.31640625, 129.375, 132.890625, 54.140625, -18.984375, 6.28787899017334 ]
3.266667
98
0
98
0
[ 7.822265625, 123.22265625, 126.826171875, 51.50390625, -19.86328125, 20.197044372558594 ]
[ 9.228515625, 127.353515625, 131.66015625, 53.61328125, -18.984375, 7.272727012634277 ]
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": 100,
    "total_frames": 24804,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
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            "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": [
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                640,
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            "names": [
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        "observation.images.wrist_right": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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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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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:
24,804