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Datasets:
DYH-trans
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
25.8
frame_index
int64
0
644
episode_index
int64
0
3
index
int64
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2.46k
task_index
int64
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[ -6.416015625, 92.4609375, 164.619140625, -58.974609375, -96.50390625, 50.33738327026367 ]
2.8
70
0
70
0
[ -5.185546875, 88.681640625, 159.609375, -59.853515625, -97.646484375, 51.65876770019531 ]
[ -5.80078125, 91.142578125, 163.828125, -58.974609375, -96.591796875, 50.33738327026367 ]
2.84
71
0
71
0
[ -5.09765625, 87.626953125, 158.37890625, -59.853515625, -97.646484375, 51.81674575805664 ]
[ -4.921875, 89.560546875, 162.685546875, -58.974609375, -96.591796875, 50.33738327026367 ]
2.88
72
0
72
0
[ -5.009765625, 86.923828125, 157.236328125, -59.853515625, -97.646484375, 51.81674575805664 ]
[ -4.921875, 88.154296875, 161.279296875, -58.974609375, -96.591796875, 50.33738327026367 ]
2.92
73
0
73
0
[ -5.009765625, 86.30859375, 156.357421875, -59.853515625, -97.646484375, 51.97472381591797 ]
[ -5.44921875, 87.1875, 160.048828125, -58.974609375, -96.591796875, 50.33738327026367 ]
2.96
74
0
74
0
[ -5.2734375, 85.78125, 155.7421875, -59.853515625, -97.646484375, 52.1327018737793 ]
[ -5.537109375, 86.30859375, 158.90625, -58.974609375, -96.591796875, 50.33738327026367 ]
3
75
0
75
0
[ -5.625, 85.4296875, 155.478515625, -59.853515625, -97.646484375, 52.1327018737793 ]
[ -5.361328125, 85.869140625, 157.939453125, -58.974609375, -96.591796875, 50.6072883605957 ]
3.04
76
0
76
0
[ -5.9765625, 85.166015625, 155.390625, -59.853515625, -97.646484375, 52.1327018737793 ]
[ -4.74609375, 85.25390625, 156.97265625, -58.974609375, -96.591796875, 51.28205108642578 ]
3.08
77
0
77
0
[ -6.328125, 84.990234375, 155.390625, -59.853515625, -97.734375, 52.1327018737793 ]
[ -4.74609375, 85.078125, 156.62109375, -58.974609375, -96.591796875, 51.4170036315918 ]
3.12
78
0
78
0
[ -6.6796875, 84.7265625, 155.390625, -59.853515625, -97.734375, 52.1327018737793 ]
[ -5.009765625, 84.990234375, 156.533203125, -58.974609375, -96.591796875, 51.4170036315918 ]
3.16
79
0
79
0
[ -6.85546875, 84.375, 155.390625, -59.853515625, -97.822265625, 52.1327018737793 ]
[ -5.44921875, 84.111328125, 156.26953125, -58.974609375, -96.591796875, 51.4170036315918 ]
3.2
80
0
80
0
[ -7.03125, 83.935546875, 155.390625, -59.853515625, -97.998046875, 51.97472381591797 ]
[ -5.888671875, 83.84765625, 156.26953125, -58.974609375, -96.6796875, 51.4170036315918 ]
3.24
81
0
81
0
[ -7.20703125, 83.583984375, 155.302734375, -59.853515625, -98.26171875, 51.81674575805664 ]
[ -6.064453125, 83.759765625, 156.181640625, -58.974609375, -96.6796875, 51.4170036315918 ]
3.28
82
0
82
0
[ -7.294921875, 83.408203125, 155.302734375, -59.853515625, -98.349609375, 51.81674575805664 ]
[ -6.240234375, 83.056640625, 156.09375, -58.974609375, -96.591796875, 51.4170036315918 ]
3.32
83
0
83
0
[ -7.470703125, 83.14453125, 155.302734375, -59.853515625, -98.349609375, 51.65876770019531 ]
[ -6.328125, 82.880859375, 156.09375, -58.88671875, -97.3828125, 51.4170036315918 ]
3.36
84
0
84
0
[ -7.646484375, 83.056640625, 155.302734375, -59.853515625, -98.4375, 51.500789642333984 ]
[ -6.416015625, 82.880859375, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.4
85
0
85
0
[ -7.91015625, 83.056640625, 155.302734375, -59.853515625, -98.349609375, 51.500789642333984 ]
[ -6.6796875, 82.880859375, 155.830078125, -58.88671875, -97.55859375, 51.4170036315918 ]
3.44
86
0
86
0
[ -8.0859375, 83.056640625, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -6.85546875, 82.79296875, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.48
87
0
87
0
[ -8.26171875, 83.056640625, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -6.85546875, 82.79296875, 155.830078125, -58.88671875, -97.55859375, 51.4170036315918 ]
3.52
88
0
88
0
[ -8.349609375, 83.056640625, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -6.943359375, 82.79296875, 155.830078125, -58.88671875, -97.55859375, 51.4170036315918 ]
3.56
89
0
89
0
[ -8.4375, 83.056640625, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -7.20703125, 82.79296875, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.6
90
0
90
0
[ -8.4375, 82.96875, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -7.470703125, 82.79296875, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.64
91
0
91
0
[ -8.4375, 82.96875, 155.302734375, -59.853515625, -98.26171875, 51.500789642333984 ]
[ -7.822265625, 82.705078125, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.68
92
0
92
0
[ -8.349609375, 82.79296875, 155.126953125, -59.853515625, -98.173828125, 51.342811584472656 ]
[ -7.998046875, 82.001953125, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.72
93
0
93
0
[ -8.0859375, 82.265625, 155.126953125, -59.853515625, -98.525390625, 51.342811584472656 ]
[ -7.998046875, 81.9140625, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.76
94
0
94
0
[ -7.822265625, 81.5625, 154.775390625, -59.853515625, -98.876953125, 51.18483352661133 ]
[ -7.91015625, 81.9140625, 155.91796875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.8
95
0
95
0
[ -7.55859375, 80.859375, 153.984375, -59.853515625, -98.876953125, 51.18483352661133 ]
[ -7.91015625, 81.650390625, 155.830078125, -58.88671875, -97.55859375, 51.4170036315918 ]
3.84
96
0
96
0
[ -7.294921875, 80.068359375, 152.9296875, -59.853515625, -98.7890625, 51.18483352661133 ]
[ -7.55859375, 80.771484375, 155.302734375, -58.88671875, -97.55859375, 51.4170036315918 ]
3.88
97
0
97
0
[ -6.943359375, 79.189453125, 151.787109375, -59.853515625, -98.7890625, 51.18483352661133 ]
[ -7.294921875, 79.98046875, 154.51171875, -58.88671875, -97.55859375, 51.4170036315918 ]
3.92
98
0
98
0
[ -6.6796875, 78.310546875, 150.732421875, -59.853515625, -99.052734375, 51.18483352661133 ]
[ -6.85546875, 79.8046875, 153.720703125, -58.88671875, -97.55859375, 51.4170036315918 ]
3.96
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": 4,
    "total_frames": 2459,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:4"
    },
    "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
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            "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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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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