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Datasets:
Cidoyi
/
so100_21

Tasks:
Robotics
Modalities:
Tabular
Time-series
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
9.33
frame_index
int64
0
280
episode_index
int64
0
0
index
int64
0
280
task_index
int64
0
0
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[ 23.818359375, 134.296875, 159.609375, -27.59765625, 176.8359375, 98.79724884033203 ]
2.466667
74
0
74
0
[ 23.02734375, 132.099609375, 158.818359375, -33.310546875, 176.8359375, 99.17431640625 ]
[ 23.5546875, 133.681640625, 159.609375, -28.4765625, 176.8359375, 98.79724884033203 ]
2.5
75
0
75
0
[ 23.115234375, 131.572265625, 158.818359375, -34.013671875, 176.8359375, 99.17431640625 ]
[ 23.291015625, 132.978515625, 159.609375, -29.443359375, 176.8359375, 98.79724884033203 ]
2.533333
76
0
76
0
[ 23.115234375, 131.1328125, 158.818359375, -34.98046875, 176.8359375, 99.17431640625 ]
[ 23.02734375, 132.275390625, 159.609375, -30.498046875, 176.8359375, 98.79724884033203 ]
2.566667
77
0
77
0
[ 23.115234375, 130.693359375, 158.818359375, -35.33203125, 176.923828125, 99.17431640625 ]
[ 22.939453125, 131.66015625, 159.609375, -31.46484375, 176.8359375, 98.79724884033203 ]
2.6
78
0
78
0
[ 23.115234375, 130.25390625, 158.818359375, -35.595703125, 176.923828125, 99.17431640625 ]
[ 22.939453125, 131.1328125, 159.609375, -32.34375, 176.8359375, 98.79724884033203 ]
2.633333
79
0
79
0
[ 23.115234375, 129.814453125, 158.818359375, -35.771484375, 177.01171875, 99.17431640625 ]
[ 22.939453125, 130.517578125, 159.609375, -33.134765625, 176.8359375, 98.79724884033203 ]
2.666667
80
0
80
0
[ 23.115234375, 129.462890625, 158.818359375, -36.123046875, 177.099609375, 99.17431640625 ]
[ 22.939453125, 130.078125, 159.609375, -33.662109375, 176.8359375, 98.79724884033203 ]
2.7
81
0
81
0
[ 23.115234375, 129.0234375, 158.818359375, -36.474609375, 177.1875, 99.17431640625 ]
[ 22.939453125, 129.638671875, 159.609375, -34.1015625, 176.8359375, 98.79724884033203 ]
2.733333
82
0
82
0
[ 23.115234375, 128.759765625, 158.818359375, -36.9140625, 177.1875, 99.17431640625 ]
[ 22.939453125, 129.19921875, 159.609375, -34.541015625, 176.8359375, 98.79724884033203 ]
2.766667
83
0
83
0
[ 23.115234375, 128.408203125, 158.818359375, -37.529296875, 177.099609375, 99.17431640625 ]
[ 22.939453125, 128.84765625, 159.609375, -34.892578125, 176.8359375, 98.79724884033203 ]
2.8
84
0
84
0
[ 23.203125, 128.056640625, 158.818359375, -38.14453125, 177.01171875, 99.17431640625 ]
[ 22.939453125, 128.49609375, 159.609375, -35.33203125, 176.8359375, 98.79724884033203 ]
2.833333
85
0
85
0
[ 23.291015625, 127.79296875, 158.818359375, -38.759765625, 176.923828125, 99.17431640625 ]
[ 22.939453125, 128.232421875, 159.609375, -35.859375, 176.8359375, 98.79724884033203 ]
2.866667
86
0
86
0
[ 23.37890625, 127.529296875, 158.818359375, -39.287109375, 176.923828125, 99.17431640625 ]
[ 22.939453125, 127.880859375, 159.609375, -36.38671875, 176.8359375, 98.79724884033203 ]
2.9
87
0
87
0
[ 23.37890625, 127.265625, 158.818359375, -39.375, 176.923828125, 99.17431640625 ]
[ 22.939453125, 127.529296875, 159.609375, -36.9140625, 176.8359375, 98.79724884033203 ]
2.933333
88
0
88
0
[ 23.466796875, 127.08984375, 158.818359375, -39.814453125, 176.923828125, 99.17431640625 ]
[ 22.939453125, 127.265625, 159.609375, -37.44140625, 176.8359375, 98.79724884033203 ]
2.966667
89
0
89
0
[ 23.5546875, 126.826171875, 158.818359375, -39.990234375, 176.923828125, 99.17431640625 ]
[ 22.939453125, 127.08984375, 159.609375, -37.880859375, 176.8359375, 98.79724884033203 ]
3
90
0
90
0
[ 23.642578125, 126.650390625, 158.818359375, -40.25390625, 176.923828125, 99.17431640625 ]
[ 22.939453125, 126.73828125, 159.609375, -38.232421875, 176.8359375, 98.79724884033203 ]
3.033333
91
0
91
0
[ 23.642578125, 126.38671875, 158.818359375, -40.517578125, 176.8359375, 99.17431640625 ]
[ 22.939453125, 126.5625, 159.609375, -38.583984375, 176.8359375, 98.79724884033203 ]
3.066667
92
0
92
0
[ 23.73046875, 126.123046875, 158.818359375, -40.78125, 176.8359375, 99.17431640625 ]
[ 23.115234375, 126.38671875, 159.609375, -38.84765625, 176.8359375, 98.79724884033203 ]
3.1
93
0
93
0
[ 23.818359375, 125.947265625, 158.818359375, -40.869140625, 176.8359375, 99.17431640625 ]
[ 23.291015625, 126.123046875, 159.609375, -39.111328125, 176.8359375, 98.79724884033203 ]
3.133333
94
0
94
0
[ 23.90625, 125.771484375, 158.818359375, -40.95703125, 176.923828125, 99.17431640625 ]
[ 23.642578125, 125.859375, 159.609375, -39.375, 176.8359375, 98.79724884033203 ]
3.166667
95
0
95
0
[ 23.994140625, 125.5078125, 158.818359375, -41.1328125, 177.01171875, 99.17431640625 ]
[ 23.818359375, 125.68359375, 159.609375, -39.55078125, 176.8359375, 98.79724884033203 ]
3.2
96
0
96
0
[ 24.08203125, 125.244140625, 158.90625, -41.30859375, 177.01171875, 99.17431640625 ]
[ 23.818359375, 125.419921875, 159.609375, -39.638671875, 176.8359375, 98.79724884033203 ]
3.233333
97
0
97
0
[ 24.08203125, 124.98046875, 158.90625, -41.396484375, 177.01171875, 99.17431640625 ]
[ 23.818359375, 125.15625, 159.609375, -39.90234375, 176.8359375, 98.79724884033203 ]
3.266667
98
0
98
0
[ 24.08203125, 124.716796875, 158.90625, -41.572265625, 177.099609375, 99.17431640625 ]
[ 23.73046875, 124.892578125, 159.609375, -40.078125, 176.8359375, 98.79724884033203 ]
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": 1,
    "total_frames": 281,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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