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Datasets:
Winster
/
so100_cube

Tasks:
Robotics
Tags:
LeRobot
so100
tutorial
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
49
index
int64
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29.9k
task_index
int64
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0
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[ 0.17578125, 153.369140625, 121.11328125, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.4
72
0
72
0
[ 0.966796875, 146.42578125, 109.248046875, 82.265625, 88.2421875, 0.25929126143455505 ]
[ 0.263671875, 151.875, 118.65234375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.433333
73
0
73
0
[ 0.966796875, 144.755859375, 107.138671875, 82.265625, 88.2421875, 0.25929126143455505 ]
[ 0.263671875, 149.853515625, 115.927734375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.466667
74
0
74
0
[ 0.966796875, 142.91015625, 104.58984375, 82.44140625, 88.2421875, 0.25929126143455505 ]
[ 0.17578125, 148.0078125, 113.818359375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.5
75
0
75
0
[ 0.966796875, 141.240234375, 102.65625, 82.08984375, 88.2421875, 0.25929126143455505 ]
[ 0.17578125, 146.07421875, 111.708984375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.533333
76
0
76
0
[ 0.966796875, 139.5703125, 100.72265625, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.17578125, 144.140625, 109.3359375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.566667
77
0
77
0
[ 1.0546875, 137.8125, 98.876953125, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.17578125, 142.55859375, 106.962890625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.6
78
0
78
0
[ 1.23046875, 136.142578125, 97.294921875, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.17578125, 141.240234375, 104.765625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.633333
79
0
79
0
[ 1.845703125, 134.384765625, 95.888671875, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.263671875, 139.658203125, 102.568359375, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.666667
80
0
80
0
[ 2.900390625, 132.5390625, 94.658203125, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.439453125, 137.724609375, 100.810546875, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.7
81
0
81
0
[ 4.21875, 130.78125, 93.427734375, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 0.615234375, 135.791015625, 99.31640625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.733333
82
0
82
0
[ 5.625, 128.935546875, 92.4609375, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 1.142578125, 133.76953125, 97.822265625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.766667
83
0
83
0
[ 6.85546875, 127.001953125, 91.669921875, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 2.373046875, 131.923828125, 96.591796875, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.8
84
0
84
0
[ 7.998046875, 125.15625, 90.966796875, 82.001953125, 88.2421875, 0.25929126143455505 ]
[ 3.515625, 130.078125, 95.361328125, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.833333
85
0
85
0
[ 9.052734375, 123.3984375, 90.263671875, 81.9140625, 88.2421875, 0.25929126143455505 ]
[ 4.5703125, 128.408203125, 94.306640625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.866667
86
0
86
0
[ 10.107421875, 121.728515625, 89.384765625, 81.9140625, 88.154296875, 0.25929126143455505 ]
[ 5.888671875, 126.826171875, 93.515625, 81.826171875, 88.06640625, 0.4834810495376587 ]
2.9
87
0
87
0
[ 11.07421875, 120.146484375, 88.505859375, 81.9140625, 88.154296875, 0.25929126143455505 ]
[ 7.119140625, 124.98046875, 92.900390625, 81.73828125, 88.06640625, 0.4834810495376587 ]
2.933333
88
0
88
0
[ 11.865234375, 118.564453125, 87.5390625, 81.9140625, 88.154296875, 0.25929126143455505 ]
[ 8.0859375, 122.87109375, 91.845703125, 81.650390625, 88.06640625, 0.4834810495376587 ]
2.966667
89
0
89
0
[ 12.65625, 116.982421875, 86.572265625, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 9.140625, 121.11328125, 91.0546875, 81.650390625, 88.06640625, 0.4834810495376587 ]
3
90
0
90
0
[ 13.095703125, 115.400390625, 85.693359375, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 10.01953125, 119.619140625, 90.3515625, 81.5625, 88.06640625, 0.4834810495376587 ]
3.033333
91
0
91
0
[ 13.53515625, 113.818359375, 84.7265625, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 11.07421875, 117.861328125, 89.12109375, 81.5625, 88.06640625, 0.4834810495376587 ]
3.066667
92
0
92
0
[ 13.798828125, 112.236328125, 83.583984375, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 11.689453125, 116.19140625, 88.06640625, 81.5625, 88.06640625, 0.4834810495376587 ]
3.1
93
0
93
0
[ 13.974609375, 110.654296875, 82.44140625, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 12.12890625, 114.609375, 87.1875, 81.5625, 88.06640625, 0.4834810495376587 ]
3.133333
94
0
94
0
[ 14.0625, 109.072265625, 81.298828125, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 12.392578125, 113.02734375, 86.30859375, 81.5625, 88.06640625, 0.4834810495376587 ]
3.166667
95
0
95
0
[ 14.0625, 107.578125, 80.15625, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 12.568359375, 111.4453125, 85.25390625, 81.5625, 88.06640625, 0.4834810495376587 ]
3.2
96
0
96
0
[ 14.0625, 106.171875, 79.189453125, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 12.65625, 109.951171875, 84.287109375, 81.5625, 88.06640625, 0.4834810495376587 ]
3.233333
97
0
97
0
[ 14.0625, 104.58984375, 78.486328125, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 13.0078125, 108.369140625, 83.3203125, 81.5625, 88.06640625, 0.4834810495376587 ]
3.266667
98
0
98
0
[ 14.150390625, 103.18359375, 77.87109375, 81.826171875, 88.154296875, 0.25929126143455505 ]
[ 13.359375, 106.962890625, 82.177734375, 81.5625, 88.06640625, 0.4834810495376587 ]
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": 50,
    "total_frames": 29900,
    "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,
                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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