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Datasets:
xnny
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
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xet
Community
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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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71
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[ -7.91015625, 121.81640625, 126.826171875, 64.775390625, 82.177734375, 30.762920379638672 ]
[ -7.55859375, 121.904296875, 128.935546875, 68.818359375, 82.08984375, 30.950727462768555 ]
2.4
72
0
72
0
[ -7.91015625, 121.81640625, 127.353515625, 62.314453125, 82.177734375, 30.762920379638672 ]
[ -7.734375, 121.728515625, 128.935546875, 67.5, 82.08984375, 30.950727462768555 ]
2.433333
73
0
73
0
[ -7.91015625, 121.728515625, 127.529296875, 61.259765625, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.640625, 128.935546875, 66.09375, 82.08984375, 30.950727462768555 ]
2.466667
74
0
74
0
[ -7.91015625, 121.728515625, 127.6171875, 60.46875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.640625, 128.935546875, 64.3359375, 82.08984375, 30.950727462768555 ]
2.5
75
0
75
0
[ -7.998046875, 121.640625, 127.6171875, 60.29296875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.552734375, 128.935546875, 61.787109375, 82.08984375, 30.950727462768555 ]
2.533333
76
0
76
0
[ -7.998046875, 121.640625, 127.6171875, 60.46875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.46484375, 128.935546875, 61.259765625, 82.08984375, 30.950727462768555 ]
2.566667
77
0
77
0
[ -7.998046875, 121.640625, 127.6171875, 60.64453125, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.46484375, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.6
78
0
78
0
[ -7.998046875, 121.640625, 127.705078125, 60.732421875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.46484375, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.633333
79
0
79
0
[ -7.998046875, 120.673828125, 127.705078125, 60.732421875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.46484375, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.666667
80
0
80
0
[ -7.998046875, 119.794921875, 127.705078125, 60.732421875, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 121.46484375, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.7
81
0
81
0
[ -7.998046875, 118.037109375, 127.6171875, 60.8203125, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 120.146484375, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.733333
82
0
82
0
[ -7.998046875, 117.333984375, 127.529296875, 60.556640625, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 119.70703125, 128.935546875, 60.99609375, 82.08984375, 30.950727462768555 ]
2.766667
83
0
83
0
[ -7.998046875, 116.630859375, 127.353515625, 60.205078125, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 117.94921875, 128.935546875, 60.8203125, 82.08984375, 30.950727462768555 ]
2.8
84
0
84
0
[ -7.998046875, 116.630859375, 127.265625, 60.205078125, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 117.333984375, 129.0234375, 60.8203125, 82.08984375, 30.950727462768555 ]
2.833333
85
0
85
0
[ -7.998046875, 116.630859375, 127.353515625, 60.205078125, 82.177734375, 30.762920379638672 ]
[ -7.822265625, 116.71875, 128.935546875, 60.8203125, 82.08984375, 30.950727462768555 ]
2.866667
86
0
86
0
[ -7.998046875, 116.630859375, 127.44140625, 60.29296875, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.71875, 128.935546875, 60.64453125, 82.08984375, 30.950727462768555 ]
2.9
87
0
87
0
[ -7.998046875, 116.630859375, 127.529296875, 60.556640625, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.71875, 128.935546875, 60.64453125, 82.08984375, 30.950727462768555 ]
2.933333
88
0
88
0
[ -7.998046875, 116.630859375, 127.529296875, 60.732421875, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.71875, 128.935546875, 60.64453125, 82.08984375, 30.950727462768555 ]
2.966667
89
0
89
0
[ -7.998046875, 116.54296875, 127.529296875, 60.732421875, 82.177734375, 30.926990509033203 ]
[ -7.822265625, 116.71875, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3
90
0
90
0
[ -7.998046875, 116.54296875, 127.529296875, 60.64453125, 82.177734375, 30.926990509033203 ]
[ -7.822265625, 116.455078125, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.033333
91
0
91
0
[ -7.998046875, 116.54296875, 127.529296875, 60.380859375, 82.177734375, 30.926990509033203 ]
[ -7.822265625, 116.3671875, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.066667
92
0
92
0
[ -7.998046875, 116.54296875, 127.529296875, 60.205078125, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.3671875, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.1
93
0
93
0
[ -7.998046875, 116.455078125, 127.6171875, 60.29296875, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.3671875, 128.935546875, 60.64453125, 82.08984375, 30.950727462768555 ]
3.133333
94
0
94
0
[ -8.26171875, 116.3671875, 127.6171875, 60.8203125, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.3671875, 128.935546875, 60.64453125, 82.08984375, 30.950727462768555 ]
3.166667
95
0
95
0
[ -8.7890625, 116.3671875, 127.705078125, 60.8203125, 82.177734375, 30.844953536987305 ]
[ -7.822265625, 116.19140625, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.2
96
0
96
0
[ -9.31640625, 116.3671875, 127.705078125, 60.8203125, 82.177734375, 30.844953536987305 ]
[ -7.91015625, 116.19140625, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.233333
97
0
97
0
[ -9.66796875, 116.3671875, 127.705078125, 60.908203125, 82.177734375, 30.844953536987305 ]
[ -8.96484375, 116.19140625, 128.935546875, 60.732421875, 82.08984375, 30.950727462768555 ]
3.266667
98
0
98
0
[ -9.66796875, 116.3671875, 127.705078125, 60.908203125, 82.177734375, 30.844953536987305 ]
[ -9.580078125, 116.19140625, 128.935546875, 60.732421875, 82.001953125, 30.950727462768555 ]
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": 1173,
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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