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Datasets:
wangjl1512
/
doll

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
10.2
frame_index
int64
0
307
episode_index
int64
0
28
index
int64
0
7.48k
task_index
int64
0
0
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[ 13.359375, 182.900390625, 172.529296875, 69.08203125, -99.84375, 19.375574111938477 ]
[ 11.25, 187.55859375, 180, 74.267578125, -98.173828125, 13.429054260253906 ]
2.433333
73
0
73
0
[ 13.974609375, 180.087890625, 169.62890625, 67.236328125, -99.404296875, 21.6712589263916 ]
[ 11.865234375, 185.625, 179.12109375, 72.94921875, -98.525390625, 15.371622085571289 ]
2.466667
74
0
74
0
[ 14.501953125, 176.923828125, 166.640625, 65.302734375, -98.7890625, 23.32415008544922 ]
[ 12.3046875, 183.33984375, 177.5390625, 71.630859375, -98.61328125, 17.314189910888672 ]
2.5
75
0
75
0
[ 14.853515625, 173.759765625, 163.65234375, 63.28125, -98.0859375, 25.068870544433594 ]
[ 12.83203125, 180.87890625, 175.166015625, 69.9609375, -98.61328125, 19.341217041015625 ]
2.533333
76
0
76
0
[ 15.1171875, 170.419921875, 160.751953125, 61.259765625, -97.55859375, 26.170799255371094 ]
[ 13.359375, 177.978515625, 172.353515625, 68.02734375, -98.349609375, 21.368244171142578 ]
2.566667
77
0
77
0
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[ 13.798828125, 174.990234375, 169.365234375, 66.005859375, -97.91015625, 23.141891479492188 ]
2.6
78
0
78
0
[ 15.64453125, 164.00390625, 154.86328125, 58.447265625, -96.943359375, 27.36455535888672 ]
[ 14.326171875, 171.9140625, 166.201171875, 63.984375, -97.470703125, 24.408782958984375 ]
2.633333
79
0
79
0
[ 15.908203125, 161.103515625, 152.2265625, 57.3046875, -96.591796875, 28.74196434020996 ]
[ 14.58984375, 168.92578125, 163.125, 62.05078125, -96.943359375, 25.33783721923828 ]
2.666667
80
0
80
0
[ 16.171875, 158.203125, 150.1171875, 56.07421875, -96.6796875, 29.201101303100586 ]
[ 14.765625, 165.9375, 159.9609375, 60.46875, -96.50390625, 26.266891479492188 ]
2.7
81
0
81
0
[ 16.435546875, 155.478515625, 148.447265625, 54.580078125, -96.943359375, 29.47658348083496 ]
[ 14.765625, 162.94921875, 157.32421875, 59.0625, -96.240234375, 27.195945739746094 ]
2.733333
82
0
82
0
[ 16.69921875, 152.841796875, 147.216796875, 52.822265625, -97.470703125, 30.76216697692871 ]
[ 15.029296875, 159.9609375, 155.0390625, 57.83203125, -96.15234375, 27.95608139038086 ]
2.766667
83
0
83
0
[ 16.962890625, 150.29296875, 146.25, 51.15234375, -98.26171875, 32.78236770629883 ]
[ 15.46875, 156.884765625, 153.10546875, 56.25, -96.240234375, 28.631755828857422 ]
2.8
84
0
84
0
[ 17.138671875, 147.83203125, 145.458984375, 49.130859375, -98.525390625, 33.14967727661133 ]
[ 16.083984375, 153.984375, 151.5234375, 54.66796875, -96.6796875, 29.560810089111328 ]
2.833333
85
0
85
0
[ 17.40234375, 145.01953125, 144.66796875, 46.93359375, -98.876953125, 33.14967727661133 ]
[ 16.34765625, 151.171875, 150.29296875, 53.173828125, -97.119140625, 30.82770347595215 ]
2.866667
86
0
86
0
[ 17.666015625, 142.294921875, 143.96484375, 44.736328125, -98.876953125, 33.60881423950195 ]
[ 16.5234375, 148.53515625, 149.326171875, 51.416015625, -97.3828125, 31.756755828857422 ]
2.9
87
0
87
0
[ 17.9296875, 139.658203125, 143.173828125, 42.802734375, -98.876953125, 34.34343338012695 ]
[ 16.611328125, 145.986328125, 148.53515625, 49.21875, -97.55859375, 32.263511657714844 ]
2.933333
88
0
88
0
[ 18.017578125, 137.109375, 142.470703125, 40.78125, -99.140625, 35.6290168762207 ]
[ 16.787109375, 143.26171875, 147.65625, 47.109375, -97.646484375, 32.77027130126953 ]
2.966667
89
0
89
0
[ 18.10546875, 134.47265625, 141.767578125, 38.49609375, -98.4375, 35.9963264465332 ]
[ 17.05078125, 140.537109375, 146.953125, 44.912109375, -97.822265625, 33.445945739746094 ]
3
90
0
90
0
[ 18.10546875, 131.748046875, 140.80078125, 36.38671875, -97.470703125, 38.38383865356445 ]
[ 17.490234375, 137.8125, 146.25, 42.890625, -97.998046875, 34.121620178222656 ]
3.033333
91
0
91
0
[ 18.10546875, 128.935546875, 139.5703125, 35.068359375, -97.119140625, 40.49586868286133 ]
[ 17.75390625, 135, 145.458984375, 40.869140625, -97.822265625, 34.966217041015625 ]
3.066667
92
0
92
0
[ 18.193359375, 125.947265625, 138.1640625, 33.57421875, -97.03125, 41.96510696411133 ]
[ 17.841796875, 132.01171875, 144.404296875, 39.111328125, -97.3828125, 36.570945739746094 ]
3.1
93
0
93
0
[ 18.193359375, 123.134765625, 136.845703125, 31.904296875, -97.03125, 42.6078987121582 ]
[ 17.841796875, 129.111328125, 143.4375, 37.44140625, -97.20703125, 38.260135650634766 ]
3.133333
94
0
94
0
[ 18.193359375, 120.146484375, 135.3515625, 30.146484375, -97.03125, 44.16896057128906 ]
[ 17.666015625, 126.123046875, 142.20703125, 35.595703125, -97.03125, 39.611488342285156 ]
3.166667
95
0
95
0
[ 18.10546875, 117.158203125, 133.76953125, 28.388671875, -96.943359375, 44.35261535644531 ]
[ 17.666015625, 123.3984375, 140.9765625, 34.013671875, -97.03125, 41.047298431396484 ]
3.2
96
0
96
0
[ 18.10546875, 114.2578125, 132.01171875, 27.0703125, -96.943359375, 44.71992492675781 ]
[ 17.75390625, 120.5859375, 139.74609375, 32.431640625, -96.85546875, 42.22972869873047 ]
3.233333
97
0
97
0
[ 17.9296875, 111.708984375, 129.90234375, 26.3671875, -96.767578125, 46.64830017089844 ]
[ 17.75390625, 117.59765625, 138.33984375, 31.025390625, -96.416015625, 42.989864349365234 ]
3.266667
98
0
98
0
[ 17.841796875, 109.16015625, 127.529296875, 26.279296875, -96.416015625, 47.01560974121094 ]
[ 17.75390625, 114.609375, 136.845703125, 29.794921875, -96.15234375, 43.75 ]
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": 29,
    "total_frames": 7481,
    "total_tasks": 1,
    "total_videos": 58,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:29"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "h264",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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