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Datasets:
liuhuanjim013
/
so100_th

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
29.5
frame_index
int64
0
886
episode_index
int64
0
73
index
int64
0
37.2k
task_index
int64
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[ -25.224609375, 191.6015625, 161.103515625, 63.544921875, 15.29296875, 27.34307861328125 ]
2.366667
71
0
71
0
[ -23.818359375, 190.986328125, 153.10546875, 69.345703125, 15.64453125, 28.608470916748047 ]
[ -24.609375, 191.337890625, 159.169921875, 65.21484375, 15.029296875, 27.515047073364258 ]
2.4
72
0
72
0
[ -23.466796875, 189.84375, 152.314453125, 69.78515625, 15.556640625, 28.694900512695312 ]
[ -24.2578125, 191.25, 157.5, 66.357421875, 15.029296875, 27.601032257080078 ]
2.433333
73
0
73
0
[ -23.291015625, 187.646484375, 151.259765625, 70.13671875, 15.556640625, 28.867761611938477 ]
[ -23.73046875, 190.634765625, 156.533203125, 67.412109375, 15.029296875, 27.687015533447266 ]
2.466667
74
0
74
0
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[ -23.466796875, 189.84375, 155.56640625, 68.115234375, 15.029296875, 27.687015533447266 ]
2.5
75
0
75
0
[ -23.291015625, 180.87890625, 147.919921875, 70.3125, 15.556640625, 29.127052307128906 ]
[ -23.37890625, 188.701171875, 154.51171875, 68.90625, 15.029296875, 27.687015533447266 ]
2.533333
76
0
76
0
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[ -23.291015625, 186.85546875, 153.28125, 69.345703125, 15.029296875, 28.288908004760742 ]
2.566667
77
0
77
0
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[ -23.291015625, 184.21875, 151.34765625, 69.43359375, 15.029296875, 28.54686164855957 ]
2.6
78
0
78
0
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[ -23.291015625, 181.23046875, 149.326171875, 69.78515625, 15.029296875, 28.54686164855957 ]
2.633333
79
0
79
0
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[ -23.291015625, 177.71484375, 147.216796875, 69.78515625, 15.029296875, 28.54686164855957 ]
2.666667
80
0
80
0
[ -23.642578125, 158.115234375, 133.76953125, 72.24609375, 15.732421875, 29.991357803344727 ]
[ -23.291015625, 173.49609375, 144.66796875, 70.224609375, 15.029296875, 28.54686164855957 ]
2.7
81
0
81
0
[ -23.90625, 154.3359375, 130.95703125, 72.861328125, 15.732421875, 30.164216995239258 ]
[ -23.291015625, 169.1015625, 142.03125, 70.576171875, 15.029296875, 28.54686164855957 ]
2.733333
82
0
82
0
[ -23.90625, 150.908203125, 128.14453125, 73.916015625, 15.99609375, 30.250648498535156 ]
[ -23.203125, 164.8828125, 139.21875, 71.279296875, 15.029296875, 28.63284683227539 ]
2.766667
83
0
83
0
[ -23.994140625, 147.48046875, 125.33203125, 75.234375, 16.5234375, 30.337078094482422 ]
[ -23.203125, 160.751953125, 136.494140625, 71.630859375, 15.029296875, 29.148754119873047 ]
2.8
84
0
84
0
[ -23.90625, 143.876953125, 122.431640625, 76.728515625, 17.05078125, 30.337078094482422 ]
[ -23.203125, 156.533203125, 133.681640625, 72.333984375, 15.029296875, 29.406705856323242 ]
2.833333
85
0
85
0
[ -23.90625, 139.921875, 119.267578125, 78.486328125, 17.40234375, 30.509939193725586 ]
[ -23.203125, 152.490234375, 131.044921875, 73.65234375, 15.556640625, 29.578676223754883 ]
2.866667
86
0
86
0
[ -23.90625, 135.966796875, 115.83984375, 80.5078125, 17.75390625, 30.68280029296875 ]
[ -23.203125, 148.798828125, 128.232421875, 74.794921875, 16.171875, 29.578676223754883 ]
2.9
87
0
87
0
[ -23.90625, 131.8359375, 112.587890625, 82.44140625, 18.10546875, 30.94209098815918 ]
[ -23.203125, 145.107421875, 125.244140625, 76.11328125, 16.34765625, 29.578676223754883 ]
2.933333
88
0
88
0
[ -23.90625, 127.96875, 109.599609375, 84.0234375, 18.45703125, 31.201383590698242 ]
[ -23.203125, 140.888671875, 121.9921875, 78.046875, 16.611328125, 29.578676223754883 ]
2.966667
89
0
89
0
[ -23.818359375, 124.453125, 107.138671875, 84.990234375, 18.720703125, 31.374242782592773 ]
[ -23.115234375, 136.58203125, 119.091796875, 79.716796875, 17.2265625, 29.66465950012207 ]
3
90
0
90
0
[ -23.73046875, 121.2890625, 105.205078125, 85.25390625, 19.072265625, 31.374242782592773 ]
[ -23.291015625, 132.802734375, 116.103515625, 81.474609375, 17.314453125, 30.180566787719727 ]
3.033333
91
0
91
0
[ -23.642578125, 118.740234375, 103.88671875, 85.25390625, 19.599609375, 31.287813186645508 ]
[ -23.5546875, 129.287109375, 112.939453125, 82.44140625, 17.578125, 30.438520431518555 ]
3.066667
92
0
92
0
[ -23.5546875, 116.630859375, 102.83203125, 84.814453125, 20.0390625, 31.114952087402344 ]
[ -23.642578125, 125.859375, 110.302734375, 83.408203125, 18.193359375, 30.610490798950195 ]
3.1
93
0
93
0
[ -23.466796875, 114.78515625, 102.041015625, 84.287109375, 20.478515625, 31.028522491455078 ]
[ -23.466796875, 122.255859375, 108.10546875, 83.84765625, 18.544921875, 30.610490798950195 ]
3.133333
94
0
94
0
[ -23.37890625, 113.115234375, 101.25, 83.759765625, 20.654296875, 30.94209098815918 ]
[ -23.203125, 119.1796875, 106.5234375, 83.759765625, 19.16015625, 30.610490798950195 ]
3.166667
95
0
95
0
[ -23.203125, 111.357421875, 100.37109375, 83.671875, 21.005859375, 30.769229888916016 ]
[ -22.8515625, 116.806640625, 105.64453125, 83.84765625, 19.423828125, 30.610490798950195 ]
3.2
96
0
96
0
[ -22.8515625, 109.599609375, 99.31640625, 83.671875, 21.357421875, 30.509939193725586 ]
[ -22.8515625, 114.78515625, 104.58984375, 83.671875, 19.423828125, 30.610490798950195 ]
3.233333
97
0
97
0
[ -22.412109375, 108.017578125, 98.4375, 83.671875, 21.708984375, 30.337078094482422 ]
[ -22.8515625, 112.939453125, 103.53515625, 83.49609375, 20.126953125, 30.438520431518555 ]
3.266667
98
0
98
0
[ -21.884765625, 106.611328125, 97.646484375, 83.671875, 22.1484375, 30.250648498535156 ]
[ -22.8515625, 110.91796875, 102.3046875, 83.49609375, 20.390625, 30.266551971435547 ]
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": 74,
    "total_frames": 37220,
    "total_tasks": 1,
    "total_videos": 148,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:74"
    },
    "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": [
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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.top": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.front": {
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            "info": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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