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Datasets:
zonglin1104
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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29.4
frame_index
int64
0
881
episode_index
int64
0
1
index
int64
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1.75k
task_index
int64
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[ 0.52734375, 190.01953125, 168.486328125, 76.640625, 5.537109375, 17.201675415039062 ]
[ 0.087890625, 190.107421875, 170.15625, 76.376953125, 7.998046875, 6.527196884155273 ]
2.5
75
0
75
0
[ 1.142578125, 190.107421875, 168.486328125, 76.640625, 4.658203125, 19.99302101135254 ]
[ 0.087890625, 190.107421875, 170.15625, 76.376953125, 7.20703125, 8.870292663574219 ]
2.533333
76
0
76
0
[ 1.669921875, 190.107421875, 168.3984375, 76.640625, 4.04296875, 22.540124893188477 ]
[ 0.087890625, 190.107421875, 170.15625, 76.376953125, 6.15234375, 11.882844924926758 ]
2.566667
77
0
77
0
[ 1.494140625, 190.1953125, 167.607421875, 76.640625, 3.076171875, 23.93579864501953 ]
[ 0.17578125, 190.107421875, 170.15625, 76.376953125, 5.185546875, 15.481171607971191 ]
2.6
78
0
78
0
[ 1.23046875, 190.1953125, 166.640625, 76.640625, 2.197265625, 24.563852310180664 ]
[ 0.439453125, 190.107421875, 170.15625, 76.376953125, 4.833984375, 17.656904220581055 ]
2.633333
79
0
79
0
[ 1.142578125, 190.1953125, 165.673828125, 76.640625, 1.93359375, 25.122121810913086 ]
[ 0.703125, 190.107421875, 169.716796875, 76.376953125, 3.955078125, 19.916318893432617 ]
2.666667
80
0
80
0
[ 1.0546875, 190.1953125, 164.619140625, 76.640625, 1.7578125, 25.575716018676758 ]
[ 0.966796875, 190.01953125, 168.92578125, 76.376953125, 2.98828125, 21.42259407043457 ]
2.7
81
0
81
0
[ 1.0546875, 190.1953125, 163.30078125, 76.640625, 1.845703125, 25.785066604614258 ]
[ 1.142578125, 190.107421875, 167.958984375, 76.376953125, 2.109375, 22.761507034301758 ]
2.733333
82
0
82
0
[ 1.0546875, 190.1953125, 161.806640625, 76.640625, 2.021484375, 25.889741897583008 ]
[ 1.142578125, 190.107421875, 167.080078125, 76.376953125, 1.7578125, 23.514644622802734 ]
2.766667
83
0
83
0
[ 1.0546875, 190.1953125, 160.048828125, 76.640625, 1.93359375, 25.924633026123047 ]
[ 1.142578125, 190.107421875, 166.025390625, 76.376953125, 1.669921875, 23.933053970336914 ]
2.8
84
0
84
0
[ 0.966796875, 190.1953125, 157.939453125, 76.640625, 1.93359375, 25.95952606201172 ]
[ 1.142578125, 190.107421875, 164.70703125, 76.376953125, 1.845703125, 24.26778221130371 ]
2.833333
85
0
85
0
[ 0.966796875, 190.1953125, 156.09375, 76.640625, 1.93359375, 25.994417190551758 ]
[ 1.142578125, 190.107421875, 163.212890625, 76.376953125, 1.494140625, 24.43514633178711 ]
2.866667
86
0
86
0
[ 0.791015625, 190.107421875, 154.423828125, 76.640625, 1.845703125, 25.994417190551758 ]
[ 0.703125, 190.107421875, 161.806640625, 76.376953125, 1.318359375, 24.602510452270508 ]
2.9
87
0
87
0
[ 0.615234375, 190.107421875, 153.017578125, 76.640625, 1.93359375, 25.994417190551758 ]
[ 0.3515625, 189.66796875, 159.873046875, 76.376953125, 1.318359375, 24.602510452270508 ]
2.933333
88
0
88
0
[ 0.52734375, 189.931640625, 151.962890625, 76.46484375, 2.021484375, 25.924633026123047 ]
[ -0.17578125, 190.107421875, 158.115234375, 76.376953125, 1.318359375, 24.602510452270508 ]
2.966667
89
0
89
0
[ 0.439453125, 189.755859375, 151.34765625, 75.9375, 2.109375, 25.785066604614258 ]
[ -0.263671875, 190.107421875, 156.533203125, 76.376953125, 1.318359375, 24.68619155883789 ]
3
90
0
90
0
[ 0.439453125, 189.052734375, 150.99609375, 75.146484375, 2.28515625, 25.680391311645508 ]
[ -0.17578125, 189.84375, 155.126953125, 76.376953125, 1.669921875, 24.68619155883789 ]
3.033333
91
0
91
0
[ 0.439453125, 188.26171875, 150.732421875, 74.619140625, 2.4609375, 25.540822982788086 ]
[ -0.17578125, 189.580078125, 154.16015625, 75.9375, 1.7578125, 24.68619155883789 ]
3.066667
92
0
92
0
[ 0.439453125, 186.943359375, 150.205078125, 74.443359375, 2.548828125, 25.471040725708008 ]
[ 0.087890625, 189.4921875, 153.28125, 75.673828125, 1.7578125, 24.68619155883789 ]
3.1
93
0
93
0
[ 0.439453125, 185.537109375, 149.150390625, 74.443359375, 2.28515625, 25.366363525390625 ]
[ 0.3515625, 188.876953125, 152.666015625, 75.05859375, 1.7578125, 24.68619155883789 ]
3.133333
94
0
94
0
[ 0.52734375, 182.98828125, 147.3046875, 74.443359375, 1.58203125, 25.261688232421875 ]
[ 0.439453125, 187.822265625, 152.314453125, 74.794921875, 1.7578125, 24.68619155883789 ]
3.166667
95
0
95
0
[ 0.52734375, 181.494140625, 144.4921875, 74.443359375, 0.52734375, 25.226797103881836 ]
[ 0.3515625, 186.328125, 151.69921875, 74.70703125, 1.7578125, 24.68619155883789 ]
3.2
96
0
96
0
[ 0.703125, 177.71484375, 141.064453125, 74.443359375, -0.703125, 25.226797103881836 ]
[ 0.263671875, 184.921875, 150.46875, 74.70703125, 1.23046875, 24.68619155883789 ]
3.233333
97
0
97
0
[ 0.791015625, 173.759765625, 137.63671875, 74.53125, -1.494140625, 25.331472396850586 ]
[ 0.263671875, 183.33984375, 148.7109375, 74.70703125, 0.703125, 24.68619155883789 ]
3.266667
98
0
98
0
[ 0.87890625, 170.419921875, 134.736328125, 74.443359375, -1.93359375, 25.540822982788086 ]
[ 0.263671875, 181.0546875, 146.162109375, 74.70703125, 0.439453125, 24.68619155883789 ]
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": 2,
    "total_frames": 1751,
    "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": {
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            "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": [
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            "names": [
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        "observation.images.phone": {
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            "info": {
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        },
        "timestamp": {
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            "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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            "names": null
        }
    }
}

Citation

BibTeX:

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