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Datasets:
weiye11
/
so100_421_pick

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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1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.6
frame_index
int64
0
587
episode_index
int64
0
50
index
int64
0
23.5k
task_index
int64
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72
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[ 18.544921875, 105.29296875, 98.96484375, 63.45703125, 29.970703125, -0.09970089793205261 ]
[ 18.10546875, 108.28125, 106.875, 59.853515625, 26.3671875, 0.30534350872039795 ]
2.433333
73
0
73
0
[ 18.80859375, 104.23828125, 97.91015625, 64.072265625, 30.76171875, -0.09970089793205261 ]
[ 18.544921875, 106.34765625, 104.765625, 61.259765625, 27.7734375, 0.30534350872039795 ]
2.466667
74
0
74
0
[ 18.984375, 103.359375, 97.119140625, 64.3359375, 31.46484375, -0.09970089793205261 ]
[ 18.720703125, 105.029296875, 103.18359375, 62.2265625, 28.740234375, 0.30534350872039795 ]
2.5
75
0
75
0
[ 19.248046875, 102.65625, 96.591796875, 64.423828125, 32.255859375, -0.09970089793205261 ]
[ 18.720703125, 103.798828125, 101.6015625, 63.193359375, 29.794921875, 0.30534350872039795 ]
2.533333
76
0
76
0
[ 19.6875, 102.041015625, 96.416015625, 64.072265625, 33.3984375, -0.09970089793205261 ]
[ 18.720703125, 102.919921875, 100.546875, 63.80859375, 30.5859375, 0.30534350872039795 ]
2.566667
77
0
77
0
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[ 18.544921875, 102.041015625, 99.755859375, 64.072265625, 31.376953125, 0.30534350872039795 ]
2.6
78
0
78
0
[ 20.56640625, 100.810546875, 95.80078125, 63.369140625, 35.859375, -0.09970089793205261 ]
[ 18.6328125, 101.337890625, 99.140625, 64.072265625, 32.34375, 0.30534350872039795 ]
2.633333
79
0
79
0
[ 20.7421875, 100.37109375, 95.712890625, 62.841796875, 36.9140625, -0.09970089793205261 ]
[ 19.16015625, 100.72265625, 98.701171875, 63.984375, 33.3984375, 0.30534350872039795 ]
2.666667
80
0
80
0
[ 21.09375, 99.931640625, 95.712890625, 62.2265625, 38.232421875, -0.09970089793205261 ]
[ 19.599609375, 100.1953125, 98.4375, 63.984375, 34.541015625, 0.30534350872039795 ]
2.7
81
0
81
0
[ 21.4453125, 99.580078125, 95.712890625, 61.611328125, 39.814453125, -0.09970089793205261 ]
[ 20.390625, 99.755859375, 98.173828125, 63.6328125, 35.68359375, 0.30534350872039795 ]
2.733333
82
0
82
0
[ 21.62109375, 99.140625, 95.712890625, 60.8203125, 41.044921875, -0.09970089793205261 ]
[ 21.09375, 99.404296875, 98.173828125, 63.10546875, 36.826171875, 0.30534350872039795 ]
2.766667
83
0
83
0
[ 21.708984375, 98.701171875, 95.712890625, 60.29296875, 42.099609375, -0.09970089793205261 ]
[ 21.4453125, 99.052734375, 98.173828125, 62.490234375, 38.14453125, 0.30534350872039795 ]
2.8
84
0
84
0
[ 21.97265625, 97.998046875, 95.712890625, 59.853515625, 43.154296875, -0.09970089793205261 ]
[ 21.62109375, 98.61328125, 98.173828125, 61.875, 39.462890625, 0.30534350872039795 ]
2.833333
85
0
85
0
[ 22.236328125, 97.3828125, 95.712890625, 59.58984375, 44.12109375, 0 ]
[ 21.62109375, 97.998046875, 98.173828125, 61.171875, 40.78125, 0.30534350872039795 ]
2.866667
86
0
86
0
[ 22.32421875, 96.6796875, 95.712890625, 59.326171875, 44.736328125, 0.09970089793205261 ]
[ 21.4453125, 97.3828125, 98.173828125, 60.64453125, 41.8359375, 0.30534350872039795 ]
2.9
87
0
87
0
[ 22.412109375, 95.9765625, 95.712890625, 59.23828125, 45.439453125, 0.29910269379615784 ]
[ 21.357421875, 96.6796875, 98.173828125, 60.29296875, 42.890625, 0.30534350872039795 ]
2.933333
88
0
88
0
[ 22.5, 95.2734375, 95.712890625, 59.0625, 45.966796875, 0.29910269379615784 ]
[ 21.62109375, 95.888671875, 98.173828125, 59.94140625, 43.76953125, 0.30534350872039795 ]
2.966667
89
0
89
0
[ 22.32421875, 94.482421875, 95.712890625, 58.7109375, 46.40625, 0.39880359172821045 ]
[ 21.884765625, 95.185546875, 98.173828125, 59.677734375, 44.6484375, 0.30534350872039795 ]
3
90
0
90
0
[ 21.97265625, 93.69140625, 95.712890625, 58.53515625, 46.7578125, 0.6979062557220459 ]
[ 22.236328125, 94.5703125, 98.173828125, 59.501953125, 45.263671875, 0.30534350872039795 ]
3.033333
91
0
91
0
[ 21.533203125, 93.076171875, 95.712890625, 58.271484375, 46.93359375, 0.6979062557220459 ]
[ 22.67578125, 93.779296875, 98.173828125, 59.23828125, 45.87890625, 0.30534350872039795 ]
3.066667
92
0
92
0
[ 21.09375, 92.4609375, 95.712890625, 58.095703125, 46.7578125, 1.096709966659546 ]
[ 22.763671875, 93.076171875, 98.173828125, 58.974609375, 46.23046875, 0.30534350872039795 ]
3.1
93
0
93
0
[ 20.654296875, 92.021484375, 95.712890625, 58.0078125, 46.58203125, 1.096709966659546 ]
[ 22.412109375, 92.373046875, 98.173828125, 58.7109375, 46.58203125, 0.4580152630805969 ]
3.133333
94
0
94
0
[ 20.478515625, 91.58203125, 95.537109375, 58.095703125, 46.494140625, 1.1964107751846313 ]
[ 21.884765625, 91.7578125, 98.173828125, 58.53515625, 46.58203125, 0.6106870174407959 ]
3.166667
95
0
95
0
[ 20.390625, 91.318359375, 95.44921875, 58.095703125, 46.494140625, 1.1964107751846313 ]
[ 21.26953125, 91.318359375, 98.173828125, 58.447265625, 46.58203125, 0.7633587718009949 ]
3.2
96
0
96
0
[ 20.21484375, 90.966796875, 95.44921875, 57.65625, 46.494140625, 1.1964107751846313 ]
[ 20.654296875, 90.966796875, 98.173828125, 58.359375, 46.58203125, 0.8396946787834167 ]
3.233333
97
0
97
0
[ 19.951171875, 90.791015625, 95.44921875, 57.041015625, 46.494140625, 1.1964107751846313 ]
[ 20.21484375, 90.703125, 98.173828125, 58.359375, 46.58203125, 0.992366373538971 ]
3.266667
98
0
98
0
[ 19.6875, 90.791015625, 95.44921875, 56.689453125, 46.58203125, 1.2961117029190063 ]
[ 20.0390625, 90.439453125, 98.173828125, 58.18359375, 46.58203125, 0.992366373538971 ]
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": 23,
    "total_frames": 10341,
    "total_tasks": 1,
    "total_videos": 46,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:23"
    },
    "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": {
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            "names": [
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                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "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.images.top": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.wrist_left": {
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            "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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        "index": {
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        }
    }
}

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:
23,500