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Datasets:
weiye11
/
0609_pi0

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
33.7
frame_index
int64
0
1.01k
episode_index
int64
0
49
index
int64
0
23.1k
task_index
int64
0
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71
0
[ 7.294921875, 166.11328125, 167.51953125, 40.693359375, -7.470703125, 5.714285850524902 ]
[ 3.69140625, 181.318359375, 175.869140625, 47.98828125, -9.580078125, 5.60606050491333 ]
2.4
72
0
72
0
[ 7.294921875, 163.037109375, 163.828125, 40.693359375, -7.55859375, 5.714285850524902 ]
[ 4.833984375, 177.5390625, 174.990234375, 45.263671875, -8.7890625, 5.60606050491333 ]
2.433333
73
0
73
0
[ 6.943359375, 159.697265625, 159.78515625, 41.220703125, -7.734375, 5.714285850524902 ]
[ 5.80078125, 173.3203125, 173.056640625, 43.681640625, -8.26171875, 5.60606050491333 ]
2.466667
74
0
74
0
[ 6.240234375, 156.09375, 155.56640625, 42.275390625, -7.91015625, 5.714285850524902 ]
[ 6.6796875, 168.837890625, 170.5078125, 42.978515625, -8.0859375, 5.60606050491333 ]
2.5
75
0
75
0
[ 5.625, 152.138671875, 150.908203125, 43.681640625, -7.91015625, 5.714285850524902 ]
[ 7.119140625, 165.322265625, 167.607421875, 42.802734375, -8.0859375, 5.60606050491333 ]
2.533333
76
0
76
0
[ 5.09765625, 148.095703125, 146.337890625, 44.6484375, -7.646484375, 5.714285850524902 ]
[ 6.85546875, 162.0703125, 163.916015625, 42.890625, -8.0859375, 5.60606050491333 ]
2.566667
77
0
77
0
[ 4.833984375, 144.052734375, 142.03125, 44.736328125, -7.20703125, 5.714285850524902 ]
[ 6.416015625, 158.642578125, 160.224609375, 43.505859375, -7.998046875, 5.60606050491333 ]
2.6
78
0
78
0
[ 4.658203125, 140.185546875, 137.98828125, 44.736328125, -6.6796875, 5.714285850524902 ]
[ 5.80078125, 154.951171875, 156.09375, 44.12109375, -7.998046875, 5.60606050491333 ]
2.633333
79
0
79
0
[ 4.306640625, 136.40625, 134.12109375, 44.47265625, -6.50390625, 5.714285850524902 ]
[ 5.185546875, 151.171875, 151.962890625, 44.384765625, -7.646484375, 5.60606050491333 ]
2.666667
80
0
80
0
[ 3.955078125, 133.06640625, 130.4296875, 44.384765625, -5.9765625, 5.714285850524902 ]
[ 4.74609375, 147.3046875, 147.568359375, 44.384765625, -7.294921875, 5.60606050491333 ]
2.7
81
0
81
0
[ 3.33984375, 129.7265625, 126.73828125, 44.560546875, -5.625, 5.714285850524902 ]
[ 4.482421875, 143.525390625, 143.26171875, 44.296875, -6.943359375, 5.60606050491333 ]
2.733333
82
0
82
0
[ 2.548828125, 126.474609375, 123.046875, 45.17578125, -5.712890625, 5.714285850524902 ]
[ 4.39453125, 139.5703125, 139.21875, 44.296875, -6.50390625, 5.60606050491333 ]
2.766667
83
0
83
0
[ 1.669921875, 123.134765625, 119.1796875, 46.23046875, -5.80078125, 5.714285850524902 ]
[ 4.306640625, 135.615234375, 135.3515625, 44.47265625, -6.15234375, 5.60606050491333 ]
2.8
84
0
84
0
[ 0.615234375, 119.794921875, 115.224609375, 47.548828125, -5.888671875, 5.714285850524902 ]
[ 4.21875, 131.66015625, 131.484375, 44.912109375, -6.064453125, 5.60606050491333 ]
2.833333
85
0
85
0
[ -0.615234375, 116.455078125, 111.26953125, 49.130859375, -6.328125, 5.714285850524902 ]
[ 3.33984375, 127.705078125, 127.6171875, 45.703125, -6.064453125, 5.60606050491333 ]
2.866667
86
0
86
0
[ -1.93359375, 113.466796875, 107.578125, 50.361328125, -6.6796875, 5.714285850524902 ]
[ 2.28515625, 123.92578125, 123.92578125, 46.7578125, -6.064453125, 5.60606050491333 ]
2.9
87
0
87
0
[ -3.33984375, 110.478515625, 104.150390625, 51.591796875, -6.767578125, 5.714285850524902 ]
[ 1.23046875, 120.05859375, 119.970703125, 47.900390625, -6.064453125, 5.60606050491333 ]
2.933333
88
0
88
0
[ -4.74609375, 107.578125, 100.458984375, 53.4375, -7.03125, 5.714285850524902 ]
[ 0, 116.455078125, 116.19140625, 49.21875, -6.064453125, 5.60606050491333 ]
2.966667
89
0
89
0
[ -6.240234375, 104.677734375, 96.591796875, 55.634765625, -7.55859375, 5.714285850524902 ]
[ -1.318359375, 113.02734375, 112.412109375, 50.361328125, -6.15234375, 5.60606050491333 ]
3
90
0
90
0
[ -7.470703125, 102.12890625, 92.98828125, 57.568359375, -7.822265625, 5.714285850524902 ]
[ -2.63671875, 109.775390625, 108.720703125, 51.6796875, -6.50390625, 5.60606050491333 ]
3.033333
91
0
91
0
[ -8.349609375, 99.931640625, 89.736328125, 58.974609375, -7.3828125, 5.714285850524902 ]
[ -4.04296875, 106.787109375, 105.029296875, 53.61328125, -6.85546875, 5.60606050491333 ]
3.066667
92
0
92
0
[ -9.31640625, 98.0859375, 86.923828125, 60.1171875, -6.943359375, 5.714285850524902 ]
[ -5.44921875, 103.623046875, 101.42578125, 55.546875, -7.119140625, 5.60606050491333 ]
3.1
93
0
93
0
[ -10.283203125, 96.591796875, 84.462890625, 61.259765625, -6.85546875, 5.714285850524902 ]
[ -6.767578125, 100.810546875, 97.822265625, 57.216796875, -6.943359375, 5.60606050491333 ]
3.133333
94
0
94
0
[ -11.337890625, 95.185546875, 82.08984375, 62.40234375, -7.03125, 5.714285850524902 ]
[ -7.734375, 98.4375, 94.39453125, 58.447265625, -7.03125, 5.60606050491333 ]
3.166667
95
0
95
0
[ -12.392578125, 93.779296875, 79.453125, 63.80859375, -7.470703125, 5.714285850524902 ]
[ -8.701171875, 96.328125, 91.40625, 59.677734375, -7.119140625, 5.60606050491333 ]
3.2
96
0
96
0
[ -13.447265625, 92.197265625, 76.46484375, 65.56640625, -7.822265625, 5.714285850524902 ]
[ -9.580078125, 94.658203125, 88.59375, 60.8203125, -7.03125, 5.60606050491333 ]
3.233333
97
0
97
0
[ -14.4140625, 90.615234375, 73.4765625, 67.32421875, -7.822265625, 5.714285850524902 ]
[ -10.546875, 93.1640625, 85.78125, 62.2265625, -7.20703125, 5.60606050491333 ]
3.266667
98
0
98
0
[ -15.1171875, 89.033203125, 70.48828125, 68.73046875, -7.734375, 5.714285850524902 ]
[ -11.513671875, 91.58203125, 82.880859375, 63.80859375, -7.294921875, 5.60606050491333 ]
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": 50,
    "total_frames": 23063,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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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                "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
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        },
        "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": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "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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Number of rows:
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