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Datasets:
weiye11
/
so100_423_pick

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
13.9
frame_index
int64
0
418
episode_index
int64
0
99
index
int64
0
30.7k
task_index
int64
0
0
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2.133333
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2.2
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2.266667
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2.3
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2.333333
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2.366667
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2.4
72
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72
0
[ 0.087890625, 187.294921875, 174.19921875, 51.240234375, 0.615234375, -0.09970089793205261 ]
[ 0.3515625, 186.85546875, 175.4296875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.433333
73
0
73
0
[ 0, 187.294921875, 174.19921875, 51.240234375, 0.615234375, -0.09970089793205261 ]
[ 0.3515625, 186.85546875, 175.4296875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.466667
74
0
74
0
[ 0, 187.03125, 174.0234375, 51.240234375, 0.615234375, -0.09970089793205261 ]
[ 0.3515625, 186.85546875, 175.4296875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.5
75
0
75
0
[ -0.087890625, 186.240234375, 173.671875, 51.591796875, 0.439453125, -0.09970089793205261 ]
[ 0.3515625, 186.85546875, 175.4296875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.533333
76
0
76
0
[ -0.087890625, 185.625, 173.3203125, 51.85546875, 0.615234375, -0.09970089793205261 ]
[ 0.3515625, 186.85546875, 175.4296875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.566667
77
0
77
0
[ -0.087890625, 184.482421875, 173.056640625, 51.328125, 0.703125, -0.09970089793205261 ]
[ 0.3515625, 186.6796875, 175.341796875, 51.50390625, 0.3515625, 0.15267175436019897 ]
2.6
78
0
78
0
[ -0.087890625, 182.28515625, 172.44140625, 50.09765625, 0.791015625, -0.09970089793205261 ]
[ 0.3515625, 186.240234375, 175.341796875, 51.591796875, 0.3515625, 0.15267175436019897 ]
2.633333
79
0
79
0
[ 0.263671875, 179.912109375, 171.650390625, 49.130859375, 0.791015625, -0.09970089793205261 ]
[ 0.3515625, 185.625, 175.341796875, 51.416015625, 0.3515625, 0.15267175436019897 ]
2.666667
80
0
80
0
[ 0.52734375, 178.681640625, 171.298828125, 48.515625, 0.439453125, -0.09970089793205261 ]
[ 0.3515625, 184.482421875, 175.166015625, 50.888671875, 0.439453125, 0.15267175436019897 ]
2.7
81
0
81
0
[ 0.791015625, 178.154296875, 170.859375, 48.69140625, 0.3515625, -0.09970089793205261 ]
[ 0.3515625, 182.724609375, 174.638671875, 50.09765625, 0.52734375, 0.15267175436019897 ]
2.733333
82
0
82
0
[ 0.87890625, 176.748046875, 169.27734375, 49.658203125, 0.3515625, -0.09970089793205261 ]
[ 0.3515625, 181.0546875, 174.111328125, 49.658203125, 0.52734375, 0.15267175436019897 ]
2.766667
83
0
83
0
[ 0.87890625, 174.638671875, 166.9921875, 50.712890625, 0.439453125, -0.09970089793205261 ]
[ 0.3515625, 179.6484375, 173.583984375, 49.5703125, 0.52734375, 0.15267175436019897 ]
2.8
84
0
84
0
[ 0.703125, 172.177734375, 163.916015625, 52.119140625, 0.703125, -0.09970089793205261 ]
[ 0.439453125, 178.330078125, 172.79296875, 49.833984375, 0.52734375, 0.15267175436019897 ]
2.833333
85
0
85
0
[ 0.615234375, 169.62890625, 161.103515625, 52.998046875, 1.0546875, -0.09970089793205261 ]
[ 0.52734375, 176.748046875, 171.474609375, 50.625, 0.52734375, 0.15267175436019897 ]
2.866667
86
0
86
0
[ 0.615234375, 167.255859375, 158.5546875, 53.525390625, 1.23046875, -0.09970089793205261 ]
[ 0.52734375, 174.90234375, 169.365234375, 51.591796875, 0.52734375, 0.15267175436019897 ]
2.9
87
0
87
0
[ 0.439453125, 165.322265625, 156.357421875, 53.7890625, 1.23046875, -0.09970089793205261 ]
[ 0.52734375, 172.79296875, 166.904296875, 52.470703125, 0.615234375, 0.15267175436019897 ]
2.933333
88
0
88
0
[ 0.087890625, 163.828125, 154.86328125, 53.96484375, 1.142578125, -0.09970089793205261 ]
[ 0.52734375, 170.595703125, 164.35546875, 53.0859375, 0.87890625, 0.15267175436019897 ]
2.966667
89
0
89
0
[ 0, 162.94921875, 153.720703125, 53.876953125, 1.23046875, -0.09970089793205261 ]
[ 0.52734375, 168.22265625, 161.806640625, 53.525390625, 0.966796875, 0.15267175436019897 ]
3
90
0
90
0
[ -0.263671875, 162.333984375, 153.017578125, 53.7890625, 0.966796875, -0.09970089793205261 ]
[ 0.52734375, 166.11328125, 159.43359375, 53.7890625, 1.0546875, 0.15267175436019897 ]
3.033333
91
0
91
0
[ -0.52734375, 161.54296875, 152.2265625, 54.052734375, 0.17578125, -0.09970089793205261 ]
[ 0.439453125, 164.53125, 157.587890625, 53.7890625, 1.0546875, 0.15267175436019897 ]
3.066667
92
0
92
0
[ -0.791015625, 160.576171875, 150.64453125, 55.283203125, 0.17578125, -0.09970089793205261 ]
[ 0.263671875, 163.4765625, 156.26953125, 53.7890625, 0.87890625, 0.15267175436019897 ]
3.1
93
0
93
0
[ -0.966796875, 159.169921875, 148.7109375, 56.953125, 0.615234375, -0.09970089793205261 ]
[ -0.087890625, 162.509765625, 155.302734375, 54.140625, 0.615234375, 0.15267175436019897 ]
3.133333
94
0
94
0
[ -1.23046875, 157.32421875, 146.689453125, 58.53515625, 1.0546875, -0.09970089793205261 ]
[ -0.439453125, 161.54296875, 154.16015625, 55.01953125, 0.615234375, 0.15267175436019897 ]
3.166667
95
0
95
0
[ -1.23046875, 155.126953125, 144.580078125, 59.677734375, 1.494140625, -0.09970089793205261 ]
[ -0.791015625, 160.48828125, 152.841796875, 56.337890625, 0.52734375, 0.15267175436019897 ]
3.2
96
0
96
0
[ -1.318359375, 153.10546875, 142.734375, 60.64453125, 1.93359375, -0.09970089793205261 ]
[ -0.966796875, 159.2578125, 151.171875, 57.65625, 0.703125, 0.15267175436019897 ]
3.233333
97
0
97
0
[ -1.494140625, 151.083984375, 140.888671875, 61.435546875, 2.548828125, -0.09970089793205261 ]
[ -1.0546875, 157.587890625, 149.150390625, 58.88671875, 1.142578125, 0.15267175436019897 ]
3.266667
98
0
98
0
[ -1.669921875, 149.326171875, 139.04296875, 62.2265625, 3.251953125, -0.09970089793205261 ]
[ -1.0546875, 155.654296875, 147.12890625, 60.029296875, 1.669921875, 0.15267175436019897 ]
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": 30661,
    "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": {
            "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.top": {
            "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
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        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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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:
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