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Datasets:
wenxin123
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 16.787109375, 116.279296875, 105.29296875, 55.01953125, 4.921875, 8.036454200744629 ]
2.466667
74
0
74
0
[ 12.216796875, 127.6171875, 105.732421875, 49.921875, 8.0859375, 0.08481764048337936 ]
[ 15.908203125, 118.4765625, 105.29296875, 54.140625, 5.80078125, 8.036454200744629 ]
2.5
75
0
75
0
[ 11.07421875, 129.55078125, 107.138671875, 48.251953125, 8.701171875, 0.08481764048337936 ]
[ 14.501953125, 120.849609375, 105.556640625, 53.173828125, 6.591796875, 8.036454200744629 ]
2.533333
76
0
76
0
[ 9.755859375, 131.396484375, 109.072265625, 46.23046875, 9.31640625, 0.08481764048337936 ]
[ 13.18359375, 123.3984375, 106.171875, 51.767578125, 7.3828125, 8.036454200744629 ]
2.566667
77
0
77
0
[ 8.525390625, 133.330078125, 111.357421875, 43.76953125, 9.84375, 0.08481764048337936 ]
[ 12.12890625, 125.33203125, 107.05078125, 50.44921875, 7.998046875, 8.036454200744629 ]
2.6
78
0
78
0
[ 7.294921875, 135.17578125, 114.169921875, 40.869140625, 10.1953125, 0.08481764048337936 ]
[ 11.162109375, 127.44140625, 108.45703125, 48.779296875, 8.701171875, 8.036454200744629 ]
2.633333
79
0
79
0
[ 6.064453125, 137.021484375, 117.0703125, 38.056640625, 10.37109375, 0.08481764048337936 ]
[ 10.1953125, 129.462890625, 110.302734375, 46.93359375, 9.140625, 8.036454200744629 ]
2.666667
80
0
80
0
[ 5.09765625, 138.603515625, 119.70703125, 35.859375, 10.458984375, 0.08481764048337936 ]
[ 9.052734375, 131.572265625, 112.587890625, 44.47265625, 9.580078125, 7.953604221343994 ]
2.7
81
0
81
0
[ 4.21875, 140.09765625, 121.904296875, 34.27734375, 10.810546875, 0.08481764048337936 ]
[ 7.91015625, 133.330078125, 114.78515625, 42.275390625, 9.84375, 7.953604221343994 ]
2.733333
82
0
82
0
[ 3.427734375, 141.416015625, 123.75, 33.134765625, 10.986328125, 0.08481764048337936 ]
[ 6.50390625, 135.087890625, 117.333984375, 39.814453125, 10.107421875, 7.953604221343994 ]
2.766667
83
0
83
0
[ 2.900390625, 142.55859375, 125.595703125, 32.080078125, 11.162109375, 0.08481764048337936 ]
[ 5.185546875, 136.7578125, 119.794921875, 37.79296875, 10.37109375, 7.953604221343994 ]
2.8
84
0
84
0
[ 2.4609375, 144.052734375, 127.705078125, 30.673828125, 11.25, 0.08481764048337936 ]
[ 4.39453125, 138.33984375, 122.16796875, 36.123046875, 10.72265625, 7.953604221343994 ]
2.833333
85
0
85
0
[ 2.109375, 145.810546875, 129.814453125, 29.1796875, 11.337890625, 0.08481764048337936 ]
[ 3.779296875, 139.5703125, 124.1015625, 34.892578125, 10.810546875, 7.953604221343994 ]
2.866667
86
0
86
0
[ 1.93359375, 147.83203125, 131.923828125, 27.94921875, 11.6015625, 0.08481764048337936 ]
[ 3.603515625, 140.9765625, 126.2109375, 33.3984375, 10.8984375, 7.953604221343994 ]
2.9
87
0
87
0
[ 1.845703125, 150.205078125, 133.9453125, 26.982421875, 11.77734375, 0.08481764048337936 ]
[ 3.251953125, 142.646484375, 128.232421875, 31.904296875, 11.07421875, 7.953604221343994 ]
2.933333
88
0
88
0
[ 1.669921875, 152.666015625, 135.703125, 26.54296875, 11.865234375, 0.08481764048337936 ]
[ 2.8125, 144.580078125, 130.60546875, 30.498046875, 11.337890625, 7.953604221343994 ]
2.966667
89
0
89
0
[ 1.40625, 155.126953125, 137.197265625, 26.455078125, 11.865234375, 0.08481764048337936 ]
[ 2.197265625, 146.42578125, 132.451171875, 29.443359375, 11.42578125, 7.953604221343994 ]
3
90
0
90
0
[ 1.318359375, 157.587890625, 138.515625, 26.3671875, 12.041015625, 0.08481764048337936 ]
[ 1.669921875, 148.623046875, 134.384765625, 28.65234375, 11.42578125, 7.953604221343994 ]
3.033333
91
0
91
0
[ 1.318359375, 159.873046875, 139.5703125, 26.279296875, 12.12890625, 0.08481764048337936 ]
[ 1.669921875, 150.908203125, 136.23046875, 28.212890625, 11.42578125, 7.953604221343994 ]
3.066667
92
0
92
0
[ 1.58203125, 162.158203125, 140.712890625, 25.83984375, 12.12890625, 0.08481764048337936 ]
[ 1.669921875, 153.28125, 137.724609375, 27.94921875, 11.689453125, 7.953604221343994 ]
3.1
93
0
93
0
[ 1.845703125, 164.794921875, 142.119140625, 25.048828125, 12.12890625, 0.08481764048337936 ]
[ 2.197265625, 155.654296875, 139.04296875, 27.685546875, 11.865234375, 7.953604221343994 ]
3.133333
94
0
94
0
[ 2.109375, 167.6953125, 143.876953125, 24.345703125, 11.953125, 0.08481764048337936 ]
[ 2.197265625, 158.02734375, 140.2734375, 27.24609375, 11.865234375, 7.953604221343994 ]
3.166667
95
0
95
0
[ 2.28515625, 170.5078125, 145.546875, 24.2578125, 11.689453125, 0.08481764048337936 ]
[ 2.197265625, 160.576171875, 141.591796875, 26.54296875, 11.865234375, 7.953604221343994 ]
3.2
96
0
96
0
[ 2.373046875, 172.79296875, 146.865234375, 25.048828125, 11.6015625, 0.08481764048337936 ]
[ 1.93359375, 163.212890625, 143.173828125, 26.015625, 11.865234375, 7.953604221343994 ]
3.233333
97
0
97
0
[ 2.373046875, 174.375, 147.744140625, 26.54296875, 11.42578125, 0.08481764048337936 ]
[ 1.669921875, 166.025390625, 144.755859375, 25.751953125, 11.865234375, 7.953604221343994 ]
3.266667
98
0
98
0
[ 2.197265625, 175.517578125, 148.623046875, 27.7734375, 10.986328125, 0.08481764048337936 ]
[ 1.845703125, 168.75, 146.25, 25.927734375, 11.865234375, 7.953604221343994 ]
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": 2,
    "total_frames": 1101,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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            }
        },
        "observation.images.phone": {
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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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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