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Datasets:
zhaoraning
/
so100_thefirs

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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action
sequence
observation.state
sequence
timestamp
float32
0
21.8
frame_index
int64
0
654
episode_index
int64
0
49
index
int64
0
15.4k
task_index
int64
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0
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[ -12.392578125, 161.279296875, 155.126953125, 65.390625, 89.296875, -0.2551020383834839 ]
2.4
72
0
72
0
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2.433333
73
0
73
0
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2.466667
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0
74
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2.5
75
0
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0
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2.533333
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0
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2.566667
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2.6
78
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2.633333
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0
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2.666667
80
0
80
0
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[ -15.380859375, 103.18359375, 95.625, 65.390625, 89.033203125, 1.5306122303009033 ]
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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2.8
84
0
84
0
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2.833333
85
0
85
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2.866667
86
0
86
0
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2.9
87
0
87
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2.933333
88
0
88
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2.966667
89
0
89
0
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3
90
0
90
0
[ -15.8203125, 76.9921875, 57.216796875, 66.09375, 89.12109375, 42.40837860107422 ]
[ -15.732421875, 77.255859375, 61.171875, 65.7421875, 89.384765625, 34.52381134033203 ]
3.033333
91
0
91
0
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[ -15.64453125, 76.552734375, 60.732421875, 65.7421875, 89.384765625, 37.41496658325195 ]
3.066667
92
0
92
0
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[ -15.46875, 75.76171875, 60.46875, 65.7421875, 89.384765625, 38.945579528808594 ]
3.1
93
0
93
0
[ -15.732421875, 76.904296875, 57.041015625, 66.09375, 89.208984375, 42.32111740112305 ]
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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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3.233333
97
0
97
0
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[ -14.677734375, 75.322265625, 59.501953125, 65.7421875, 89.384765625, 41.411563873291016 ]
3.266667
98
0
98
0
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[ -14.326171875, 75.322265625, 59.4140625, 65.56640625, 89.384765625, 41.49659729003906 ]
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": 50,
    "total_frames": 15437,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 880,
                "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": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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