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Datasets:
zijian2022
/
so10000_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
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
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9.93
frame_index
int64
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298
episode_index
int64
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int64
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int64
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74
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[ 16.875, 192.568359375, 177.451171875, 76.9921875, -19.951171875, 21.480709075927734 ]
[ 15.99609375, 191.77734375, 178.857421875, 75.673828125, -18.10546875, 20.670391082763672 ]
2.5
75
0
75
0
[ 16.962890625, 192.12890625, 176.484375, 77.080078125, -20.302734375, 21.480709075927734 ]
[ 15.99609375, 191.77734375, 178.857421875, 75.673828125, -18.45703125, 20.670391082763672 ]
2.533333
76
0
76
0
[ 17.05078125, 190.810546875, 175.078125, 77.080078125, -21.005859375, 21.480709075927734 ]
[ 15.99609375, 191.77734375, 178.505859375, 76.025390625, -18.896484375, 20.670391082763672 ]
2.566667
77
0
77
0
[ 17.05078125, 189.228515625, 173.408203125, 77.16796875, -21.708984375, 21.480709075927734 ]
[ 16.171875, 191.513671875, 177.802734375, 76.46484375, -19.6875, 20.670391082763672 ]
2.6
78
0
78
0
[ 17.05078125, 187.646484375, 171.650390625, 77.51953125, -22.236328125, 21.480709075927734 ]
[ 16.611328125, 190.546875, 176.748046875, 76.46484375, -20.126953125, 20.670391082763672 ]
2.633333
79
0
79
0
[ 17.05078125, 186.064453125, 169.8046875, 77.51953125, -23.37890625, 21.584983825683594 ]
[ 16.611328125, 189.4921875, 175.166015625, 76.81640625, -20.7421875, 20.670391082763672 ]
2.666667
80
0
80
0
[ 16.962890625, 184.04296875, 167.783203125, 77.51953125, -24.08203125, 21.584983825683594 ]
[ 16.611328125, 188.26171875, 173.3203125, 76.81640625, -21.533203125, 20.670391082763672 ]
2.7
81
0
81
0
[ 16.962890625, 181.93359375, 165.5859375, 77.607421875, -24.873046875, 21.584983825683594 ]
[ 16.5234375, 186.85546875, 171.650390625, 76.81640625, -22.67578125, 20.670391082763672 ]
2.733333
82
0
82
0
[ 16.962890625, 179.912109375, 163.4765625, 77.607421875, -26.015625, 21.584983825683594 ]
[ 16.259765625, 185.009765625, 169.8046875, 76.81640625, -23.02734375, 20.670391082763672 ]
2.766667
83
0
83
0
[ 16.962890625, 177.890625, 161.455078125, 77.6953125, -26.71875, 21.584983825683594 ]
[ 16.171875, 182.8125, 167.6953125, 76.81640625, -23.818359375, 20.670391082763672 ]
2.8
84
0
84
0
[ 16.875, 176.1328125, 159.609375, 77.783203125, -27.509765625, 21.584983825683594 ]
[ 16.171875, 180.703125, 165.849609375, 76.81640625, -24.873046875, 20.670391082763672 ]
2.833333
85
0
85
0
[ 16.962890625, 174.55078125, 157.8515625, 77.783203125, -28.388671875, 21.584983825683594 ]
[ 16.171875, 178.9453125, 164.00390625, 76.81640625, -25.576171875, 20.670391082763672 ]
2.866667
86
0
86
0
[ 17.138671875, 172.880859375, 156.181640625, 77.783203125, -29.267578125, 21.584983825683594 ]
[ 16.083984375, 177.36328125, 161.89453125, 76.81640625, -26.455078125, 20.670391082763672 ]
2.9
87
0
87
0
[ 17.40234375, 170.771484375, 154.423828125, 77.783203125, -30.234375, 21.584983825683594 ]
[ 16.34765625, 175.4296875, 160.13671875, 76.81640625, -27.421875, 20.670391082763672 ]
2.933333
88
0
88
0
[ 17.666015625, 169.1015625, 152.75390625, 77.87109375, -30.9375, 21.584983825683594 ]
[ 16.611328125, 173.49609375, 158.5546875, 76.81640625, -28.388671875, 20.670391082763672 ]
2.966667
89
0
89
0
[ 17.9296875, 167.51953125, 151.34765625, 77.87109375, -31.81640625, 21.584983825683594 ]
[ 16.69921875, 171.826171875, 156.533203125, 76.81640625, -29.00390625, 20.670391082763672 ]
3
90
0
90
0
[ 18.10546875, 165.9375, 150.205078125, 77.87109375, -32.431640625, 21.584983825683594 ]
[ 16.69921875, 170.244140625, 155.0390625, 76.81640625, -29.53125, 20.670391082763672 ]
3.033333
91
0
91
0
[ 18.28125, 164.794921875, 149.4140625, 77.87109375, -32.607421875, 21.584983825683594 ]
[ 16.962890625, 168.310546875, 153.720703125, 76.81640625, -30.5859375, 20.670391082763672 ]
3.066667
92
0
92
0
[ 18.544921875, 163.916015625, 148.798828125, 77.87109375, -32.87109375, 21.584983825683594 ]
[ 17.40234375, 166.552734375, 152.40234375, 76.81640625, -31.11328125, 20.670391082763672 ]
3.1
93
0
93
0
[ 18.80859375, 163.212890625, 148.359375, 77.87109375, -32.958984375, 21.584983825683594 ]
[ 17.40234375, 165.146484375, 151.435546875, 76.81640625, -31.376953125, 20.670391082763672 ]
3.133333
94
0
94
0
[ 18.984375, 162.861328125, 148.18359375, 77.87109375, -32.958984375, 21.584983825683594 ]
[ 17.578125, 164.1796875, 150.556640625, 76.81640625, -31.552734375, 20.670391082763672 ]
3.166667
95
0
95
0
[ 19.3359375, 162.0703125, 147.65625, 77.87109375, -32.958984375, 21.584983825683594 ]
[ 17.666015625, 163.564453125, 150.29296875, 76.81640625, -31.640625, 20.670391082763672 ]
3.2
96
0
96
0
[ 19.775390625, 160.751953125, 146.77734375, 77.87109375, -33.57421875, 21.584983825683594 ]
[ 18.017578125, 162.7734375, 149.765625, 76.81640625, -31.640625, 20.670391082763672 ]
3.233333
97
0
97
0
[ 20.21484375, 159.08203125, 145.546875, 77.87109375, -34.453125, 21.584983825683594 ]
[ 18.45703125, 162.0703125, 148.974609375, 76.81640625, -32.080078125, 20.670391082763672 ]
3.266667
98
0
98
0
[ 20.390625, 158.115234375, 144.755859375, 77.87109375, -34.892578125, 21.584983825683594 ]
[ 18.896484375, 160.927734375, 147.919921875, 76.81640625, -32.87109375, 20.670391082763672 ]
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": 2,
    "total_frames": 598,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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",
                "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": "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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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