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Datasets:
zaringleb
/
so100_cube_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
9.9
frame_index
int64
0
297
episode_index
int64
0
2
index
int64
0
874
task_index
int64
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[ -10.37109375, 99.580078125, 106.962890625, 65.91796875, 1.58203125, 2.1791768074035645 ]
2.366667
71
0
71
0
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2.4
72
0
72
0
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2.433333
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0
73
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2.466667
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74
0
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2.5
75
0
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2.533333
76
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2.566667
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0
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2.6
78
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2.633333
79
0
79
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2.666667
80
0
80
0
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[ -10.37109375, 83.935546875, 94.833984375, 65.21484375, 1.0546875, 5.569007396697998 ]
2.7
81
0
81
0
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2.733333
82
0
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2.766667
83
0
83
0
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[ -9.580078125, 83.759765625, 94.74609375, 65.21484375, 1.0546875, 5.569007396697998 ]
2.8
84
0
84
0
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2.833333
85
0
85
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2.866667
86
0
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2.9
87
0
87
0
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[ -9.228515625, 83.3203125, 91.142578125, 66.4453125, 1.142578125, 6.295399188995361 ]
2.933333
88
0
88
0
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2.966667
89
0
89
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3
90
0
90
0
[ -5.9765625, 83.3203125, 79.189453125, 66.4453125, 5.185546875, 8.32313346862793 ]
[ -8.7890625, 82.353515625, 90.3515625, 66.533203125, 1.23046875, 6.537530422210693 ]
3.033333
91
0
91
0
[ -5.888671875, 82.96875, 79.1015625, 66.4453125, 5.09765625, 8.812728881835938 ]
[ -8.525390625, 82.08984375, 90.3515625, 66.533203125, 1.23046875, 7.142857551574707 ]
3.066667
92
0
92
0
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[ -8.349609375, 81.5625, 90.263671875, 66.533203125, 1.23046875, 7.5060529708862305 ]
3.1
93
0
93
0
[ -5.44921875, 82.6171875, 79.27734375, 66.4453125, 4.658203125, 9.914320945739746 ]
[ -7.91015625, 80.859375, 90.263671875, 66.533203125, 1.318359375, 7.6271185874938965 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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[ -7.3828125, 80.419921875, 90.263671875, 66.4453125, 1.318359375, 8.837772369384766 ]
3.233333
97
0
97
0
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[ -7.294921875, 80.419921875, 90.263671875, 66.4453125, 1.318359375, 8.716707229614258 ]
3.266667
98
0
98
0
[ -5.09765625, 82.353515625, 79.013671875, 65.830078125, 5.009765625, 9.547122955322266 ]
[ -7.294921875, 80.419921875, 90.263671875, 66.4453125, 1.318359375, 8.837772369384766 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 875,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
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    "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": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

First Episode Video (observation.images.cam_high)

Citation

BibTeX:

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