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Datasets:
samsam0510
/
cube_reorientation_4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
reorientation
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
898
episode_index
int64
0
99
index
int64
0
56.8k
task_index
int64
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[ 18.896484375, 110.91796875, 139.39453125, 48.603515625, -19.423828125, 0.5637773275375366 ]
2.433333
73
0
73
0
[ 23.5546875, 106.5234375, 136.142578125, 49.5703125, -21.62109375, 0 ]
[ 19.6875, 110.126953125, 138.515625, 48.779296875, -19.599609375, 0.5637773275375366 ]
2.466667
74
0
74
0
[ 24.08203125, 105.205078125, 135, 49.5703125, -21.884765625, 0 ]
[ 20.302734375, 109.248046875, 137.724609375, 48.8671875, -20.0390625, 0.5637773275375366 ]
2.5
75
0
75
0
[ 24.521484375, 103.88671875, 133.681640625, 49.5703125, -22.1484375, 0 ]
[ 21.005859375, 108.369140625, 137.021484375, 48.8671875, -20.390625, 0.5637773275375366 ]
2.533333
76
0
76
0
[ 24.78515625, 102.568359375, 132.36328125, 49.5703125, -22.236328125, 0 ]
[ 21.796875, 107.490234375, 136.142578125, 48.8671875, -20.654296875, 0.5637773275375366 ]
2.566667
77
0
77
0
[ 24.9609375, 101.25, 131.044921875, 49.5703125, -22.32421875, 0 ]
[ 22.412109375, 106.435546875, 135.087890625, 48.8671875, -21.09375, 0.5637773275375366 ]
2.6
78
0
78
0
[ 25.048828125, 99.84375, 129.638671875, 49.5703125, -22.32421875, 0 ]
[ 22.8515625, 105.205078125, 133.76953125, 48.8671875, -21.4453125, 0.5637773275375366 ]
2.633333
79
0
79
0
[ 25.048828125, 98.525390625, 128.3203125, 49.5703125, -22.32421875, 0 ]
[ 23.115234375, 104.0625, 132.71484375, 48.8671875, -21.708984375, 0.5637773275375366 ]
2.666667
80
0
80
0
[ 25.048828125, 97.294921875, 127.001953125, 49.5703125, -22.32421875, 0 ]
[ 23.5546875, 102.83203125, 131.484375, 48.8671875, -21.708984375, 0.5637773275375366 ]
2.7
81
0
81
0
[ 25.048828125, 95.9765625, 125.5078125, 49.5703125, -22.32421875, 0 ]
[ 23.994140625, 101.513671875, 130.078125, 48.8671875, -21.708984375, 0.5637773275375366 ]
2.733333
82
0
82
0
[ 25.048828125, 94.658203125, 124.1015625, 49.658203125, -22.32421875, 0 ]
[ 24.2578125, 100.37109375, 128.84765625, 48.8671875, -21.708984375, 0.5637773275375366 ]
2.766667
83
0
83
0
[ 25.048828125, 93.427734375, 122.607421875, 49.74609375, -22.32421875, 0 ]
[ 24.43359375, 99.052734375, 127.529296875, 48.8671875, -21.708984375, 0.5637773275375366 ]
2.8
84
0
84
0
[ 25.048828125, 92.109375, 121.201171875, 49.921875, -22.32421875, 0 ]
[ 24.521484375, 97.822265625, 126.03515625, 48.955078125, -21.708984375, 0.5637773275375366 ]
2.833333
85
0
85
0
[ 25.048828125, 90.87890625, 119.70703125, 50.09765625, -22.32421875, 0 ]
[ 24.609375, 96.6796875, 124.716796875, 48.955078125, -21.708984375, 0.5637773275375366 ]
2.866667
86
0
86
0
[ 24.9609375, 89.560546875, 118.125, 50.44921875, -22.32421875, 0 ]
[ 24.609375, 95.537109375, 123.310546875, 48.955078125, -21.708984375, 0.5637773275375366 ]
2.9
87
0
87
0
[ 24.9609375, 88.2421875, 116.54296875, 50.80078125, -22.32421875, 0 ]
[ 24.609375, 94.21875, 121.81640625, 49.21875, -21.708984375, 0.5637773275375366 ]
2.933333
88
0
88
0
[ 24.873046875, 87.099609375, 115.224609375, 50.9765625, -22.32421875, 0 ]
[ 24.697265625, 92.900390625, 120.322265625, 49.482421875, -21.708984375, 0.5637773275375366 ]
2.966667
89
0
89
0
[ 24.697265625, 86.1328125, 113.90625, 51.15234375, -22.32421875, 0 ]
[ 24.697265625, 91.7578125, 118.828125, 49.74609375, -21.708984375, 0.5637773275375366 ]
3
90
0
90
0
[ 24.609375, 85.166015625, 112.587890625, 51.416015625, -22.32421875, 0 ]
[ 24.521484375, 90.615234375, 117.333984375, 49.74609375, -21.708984375, 0.5637773275375366 ]
3.033333
91
0
91
0
[ 24.43359375, 84.19921875, 111.357421875, 51.591796875, -22.32421875, 0 ]
[ 24.345703125, 89.560546875, 115.83984375, 49.921875, -21.708984375, 0.5637773275375366 ]
3.066667
92
0
92
0
[ 24.169921875, 83.232421875, 110.126953125, 51.85546875, -22.32421875, 0 ]
[ 24.2578125, 88.41796875, 114.43359375, 50.44921875, -21.708984375, 0.5637773275375366 ]
3.1
93
0
93
0
[ 23.994140625, 82.353515625, 109.072265625, 52.119140625, -22.32421875, 0 ]
[ 24.169921875, 87.36328125, 113.115234375, 50.625, -21.708984375, 0.5637773275375366 ]
3.133333
94
0
94
0
[ 23.73046875, 81.5625, 107.9296875, 52.294921875, -22.32421875, 0 ]
[ 24.169921875, 86.396484375, 111.796875, 50.80078125, -21.708984375, 0.5637773275375366 ]
3.166667
95
0
95
0
[ 23.5546875, 80.859375, 106.962890625, 52.55859375, -22.32421875, 0 ]
[ 24.08203125, 85.341796875, 110.56640625, 51.240234375, -21.708984375, 0.5637773275375366 ]
3.2
96
0
96
0
[ 23.37890625, 80.068359375, 105.908203125, 52.734375, -22.32421875, 0 ]
[ 23.818359375, 84.462890625, 109.248046875, 51.50390625, -21.708984375, 0.5637773275375366 ]
3.233333
97
0
97
0
[ 23.291015625, 79.27734375, 104.853515625, 52.91015625, -22.32421875, 0 ]
[ 23.5546875, 83.583984375, 107.9296875, 51.6796875, -21.708984375, 0.5637773275375366 ]
3.266667
98
0
98
0
[ 23.115234375, 78.3984375, 103.623046875, 53.26171875, -22.32421875, 0 ]
[ 23.466796875, 82.79296875, 106.787109375, 51.767578125, -21.708984375, 0.5637773275375366 ]
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": 100,
    "total_frames": 56785,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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
            ],
            "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": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "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": "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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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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