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Datasets:
liuhuanjim013
/
so100_fl

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
29.1
frame_index
int64
0
874
episode_index
int64
0
5
index
int64
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5.22k
task_index
int64
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73
0
[ -8.4375, 129.287109375, 107.75390625, 86.748046875, 8.876953125, 28.986783981323242 ]
[ -6.416015625, 143.96484375, 117.421875, 84.638671875, 7.822265625, 28.633594512939453 ]
2.466667
74
0
74
0
[ -9.140625, 125.068359375, 104.94140625, 87.5390625, 9.31640625, 28.898677825927734 ]
[ -6.50390625, 139.658203125, 114.9609375, 85.166015625, 7.822265625, 28.633594512939453 ]
2.5
75
0
75
0
[ -9.755859375, 120.849609375, 102.216796875, 88.330078125, 9.755859375, 28.898677825927734 ]
[ -7.119140625, 135.615234375, 112.412109375, 85.517578125, 7.91015625, 28.285465240478516 ]
2.533333
76
0
76
0
[ -10.283203125, 116.982421875, 99.66796875, 88.76953125, 10.1953125, 28.81057357788086 ]
[ -7.646484375, 130.78125, 109.86328125, 85.869140625, 8.349609375, 28.19843292236328 ]
2.566667
77
0
77
0
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[ -8.26171875, 126.650390625, 107.490234375, 87.01171875, 8.525390625, 28.111400604248047 ]
2.6
78
0
78
0
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[ -9.140625, 122.51953125, 104.765625, 87.36328125, 9.052734375, 28.111400604248047 ]
2.633333
79
0
79
0
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[ -9.66796875, 117.685546875, 101.513671875, 87.451171875, 9.31640625, 28.111400604248047 ]
2.666667
80
0
80
0
[ -12.3046875, 104.58984375, 91.40625, 88.59375, 11.865234375, 28.634361267089844 ]
[ -10.283203125, 113.994140625, 99.404296875, 88.154296875, 10.01953125, 28.111400604248047 ]
2.7
81
0
81
0
[ -12.65625, 102.568359375, 89.82421875, 88.41796875, 12.041015625, 28.634361267089844 ]
[ -10.634765625, 110.478515625, 97.646484375, 88.2421875, 10.37109375, 28.111400604248047 ]
2.733333
82
0
82
0
[ -12.919921875, 100.546875, 87.978515625, 88.330078125, 12.12890625, 28.634361267089844 ]
[ -10.72265625, 107.2265625, 95.2734375, 88.154296875, 10.634765625, 28.111400604248047 ]
2.766667
83
0
83
0
[ -13.0078125, 98.525390625, 85.95703125, 88.330078125, 12.216796875, 28.546255111694336 ]
[ -10.810546875, 104.58984375, 93.427734375, 88.154296875, 11.42578125, 28.111400604248047 ]
2.8
84
0
84
0
[ -13.0078125, 96.416015625, 83.49609375, 88.681640625, 12.392578125, 28.546255111694336 ]
[ -11.337890625, 101.689453125, 91.0546875, 88.154296875, 11.513671875, 28.111400604248047 ]
2.833333
85
0
85
0
[ -13.0078125, 94.306640625, 81.123046875, 89.12109375, 12.48046875, 28.546255111694336 ]
[ -11.953125, 99.931640625, 89.384765625, 88.154296875, 11.513671875, 28.111400604248047 ]
2.866667
86
0
86
0
[ -12.83203125, 92.373046875, 78.92578125, 89.6484375, 12.48046875, 28.546255111694336 ]
[ -12.65625, 97.91015625, 87.451171875, 88.154296875, 11.513671875, 28.111400604248047 ]
2.9
87
0
87
0
[ -12.568359375, 90.703125, 76.904296875, 89.82421875, 12.392578125, 28.546255111694336 ]
[ -12.744140625, 95.625, 85.341796875, 88.2421875, 11.42578125, 28.111400604248047 ]
2.933333
88
0
88
0
[ -12.3046875, 89.208984375, 75.322265625, 90, 12.216796875, 28.546255111694336 ]
[ -12.65625, 93.603515625, 83.14453125, 88.41796875, 11.07421875, 28.111400604248047 ]
2.966667
89
0
89
0
[ -11.865234375, 87.890625, 73.916015625, 90.263671875, 12.12890625, 28.546255111694336 ]
[ -12.568359375, 91.494140625, 80.771484375, 88.76953125, 11.162109375, 28.111400604248047 ]
3
90
0
90
0
[ -11.42578125, 86.66015625, 72.509765625, 90.615234375, 11.953125, 28.546255111694336 ]
[ -12.3046875, 89.912109375, 79.1015625, 88.59375, 11.6015625, 28.111400604248047 ]
3.033333
91
0
91
0
[ -10.986328125, 85.693359375, 71.3671875, 90.966796875, 11.77734375, 28.546255111694336 ]
[ -11.689453125, 88.330078125, 77.431640625, 89.208984375, 11.953125, 28.111400604248047 ]
3.066667
92
0
92
0
[ -10.37109375, 85.078125, 70.751953125, 91.0546875, 11.6015625, 28.546255111694336 ]
[ -11.25, 86.748046875, 75.9375, 89.82421875, 11.513671875, 28.111400604248047 ]
3.1
93
0
93
0
[ -9.755859375, 84.638671875, 70.48828125, 91.0546875, 11.337890625, 28.546255111694336 ]
[ -10.810546875, 85.517578125, 74.53125, 89.912109375, 11.337890625, 28.111400604248047 ]
3.133333
94
0
94
0
[ -8.96484375, 84.375, 70.400390625, 90.966796875, 11.162109375, 28.634361267089844 ]
[ -10.37109375, 84.990234375, 73.564453125, 89.82421875, 11.337890625, 28.111400604248047 ]
3.166667
95
0
95
0
[ -8.26171875, 84.111328125, 70.48828125, 90.966796875, 10.986328125, 28.634361267089844 ]
[ -10.01953125, 84.287109375, 72.94921875, 90.087890625, 11.337890625, 28.111400604248047 ]
3.2
96
0
96
0
[ -7.734375, 83.935546875, 71.015625, 90.966796875, 10.810546875, 28.634361267089844 ]
[ -9.31640625, 84.0234375, 72.59765625, 90.52734375, 11.337890625, 28.111400604248047 ]
3.233333
97
0
97
0
[ -7.294921875, 83.84765625, 71.806640625, 90.791015625, 10.810546875, 28.634361267089844 ]
[ -8.876953125, 83.759765625, 72.59765625, 90.52734375, 10.810546875, 28.111400604248047 ]
3.266667
98
0
98
0
[ -7.03125, 83.935546875, 72.861328125, 90.263671875, 10.986328125, 28.634361267089844 ]
[ -8.26171875, 83.14453125, 72.509765625, 90.439453125, 10.546875, 28.111400604248047 ]
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": 6,
    "total_frames": 5216,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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