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Datasets:
THUgewu
/
so100_base_env

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
lerobot
robotics
so100
License:
Dataset card Data Studio Files
xet
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The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
episode_index: int64
stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 1443 chars omitted)
  child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 2, observation.images.laptop: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
      child 0, min: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
              child 0, item: list<item: double>
       
...
ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 7, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 8, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
length: int64
tasks: list<item: string>
  child 0, item: string
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_index: int64
              stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 1443 chars omitted)
                child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 2, observation.images.laptop: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
                    child 0, min: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
                            child 0, item: list<item: double>
                     
              ...
              ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 7, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 8, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
              length: int64
              tasks: list<item: string>
                child 0, item: string
              to
              {'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
              because column names don't match
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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episode_index
int64
tasks
list
length
int64
0
[ "Grasp a lego block and put it in the bin." ]
449
1
[ "Grasp a lego block and put it in the bin." ]
417
2
[ "Grasp a lego block and put it in the bin." ]
411
3
[ "Grasp a lego block and put it in the bin." ]
415
4
[ "Grasp a lego block and put it in the bin." ]
436
5
[ "Grasp a lego block and put it in the bin." ]
393
6
[ "Grasp a lego block and put it in the bin." ]
448
7
[ "Grasp a lego block and put it in the bin." ]
322
8
[ "Grasp a lego block and put it in the bin." ]
449
9
[ "Grasp a lego block and put it in the bin." ]
379
10
[ "Grasp a lego block and put it in the bin." ]
449
11
[ "Grasp a lego block and put it in the bin." ]
449
12
[ "Grasp a lego block and put it in the bin." ]
449
13
[ "Grasp a lego block and put it in the bin." ]
438
14
[ "Grasp a lego block and put it in the bin." ]
416
15
[ "Grasp a lego block and put it in the bin." ]
400
16
[ "Grasp a lego block and put it in the bin." ]
449
17
[ "Grasp a lego block and put it in the bin." ]
388
18
[ "Grasp a lego block and put it in the bin." ]
424
19
[ "Grasp a lego block and put it in the bin." ]
449
20
[ "Grasp a lego block and put it in the bin." ]
449
21
[ "Grasp a lego block and put it in the bin." ]
420
22
[ "Grasp a lego block and put it in the bin." ]
414
23
[ "Grasp a lego block and put it in the bin." ]
420
24
[ "Grasp a lego block and put it in the bin." ]
449
25
[ "Grasp a lego block and put it in the bin." ]
449
26
[ "Grasp a lego block and put it in the bin." ]
431
27
[ "Grasp a lego block and put it in the bin." ]
361
28
[ "Grasp a lego block and put it in the bin." ]
449
29
[ "Grasp a lego block and put it in the bin." ]
432
30
[ "Grasp a lego block and put it in the bin." ]
449
31
[ "Grasp a lego block and put it in the bin." ]
449
32
[ "Grasp a lego block and put it in the bin." ]
414
33
[ "Grasp a lego block and put it in the bin." ]
449
34
[ "Grasp a lego block and put it in the bin." ]
449
35
[ "Grasp a lego block and put it in the bin." ]
374
36
[ "Grasp a lego block and put it in the bin." ]
373
37
[ "Grasp a lego block and put it in the bin." ]
449
38
[ "Grasp a lego block and put it in the bin." ]
421
39
[ "Grasp a lego block and put it in the bin." ]
419
40
[ "Grasp a lego block and put it in the bin." ]
392
41
[ "Grasp a lego block and put it in the bin." ]
392
42
[ "Grasp a lego block and put it in the bin." ]
372
43
[ "Grasp a lego block and put it in the bin." ]
422
44
[ "Grasp a lego block and put it in the bin." ]
405
45
[ "Grasp a lego block and put it in the bin." ]
409
46
[ "Grasp a lego block and put it in the bin." ]
420
47
[ "Grasp a lego block and put it in the bin." ]
430
48
[ "Grasp a lego block and put it in the bin." ]
413
49
[ "Grasp a lego block and put it in the bin." ]
345
50
[ "Grasp a lego block and put it in the bin." ]
449
51
[ "Grasp a lego block and put it in the bin." ]
366
52
[ "Grasp a lego block and put it in the bin." ]
76
53
[ "Grasp a lego block and put it in the bin." ]
418
54
[ "Grasp a lego block and put it in the bin." ]
401
55
[ "Grasp a lego block and put it in the bin." ]
440
56
[ "Grasp a lego block and put it in the bin." ]
373
57
[ "Grasp a lego block and put it in the bin." ]
390
58
[ "Grasp a lego block and put it in the bin." ]
448
59
[ "Grasp a lego block and put it in the bin." ]
435
60
[ "Grasp a lego block and put it in the bin." ]
448
61
[ "Grasp a lego block and put it in the bin." ]
410
62
[ "Grasp a lego block and put it in the bin." ]
404
63
[ "Grasp a lego block and put it in the bin." ]
448
64
[ "Grasp a lego block and put it in the bin." ]
425
65
[ "Grasp a lego block and put it in the bin." ]
442
66
[ "Grasp a lego block and put it in the bin." ]
448
67
[ "Grasp a lego block and put it in the bin." ]
431
68
[ "Grasp a lego block and put it in the bin." ]
437
69
[ "Grasp a lego block and put it in the bin." ]
415
70
[ "Grasp a lego block and put it in the bin." ]
448
71
[ "Grasp a lego block and put it in the bin." ]
334
72
[ "Grasp a lego block and put it in the bin." ]
373
73
[ "Grasp a lego block and put it in the bin." ]
408
74
[ "Grasp a lego block and put it in the bin." ]
406
75
[ "Grasp a lego block and put it in the bin." ]
448
76
[ "Grasp a lego block and put it in the bin." ]
367
77
[ "Grasp a lego block and put it in the bin." ]
417
78
[ "Grasp a lego block and put it in the bin." ]
386
79
[ "Grasp a lego block and put it in the bin." ]
398
80
[ "Grasp a lego block and put it in the bin." ]
378
81
[ "Grasp a lego block and put it in the bin." ]
431
82
[ "Grasp a lego block and put it in the bin." ]
444
83
[ "Grasp a lego block and put it in the bin." ]
392
84
[ "Grasp a lego block and put it in the bin." ]
357
85
[ "Grasp a lego block and put it in the bin." ]
353
86
[ "Grasp a lego block and put it in the bin." ]
320
87
[ "Grasp a lego block and put it in the bin." ]
382
88
[ "Grasp a lego block and put it in the bin." ]
355
89
[ "Grasp a lego block and put it in the bin." ]
372
90
[ "Grasp a lego block and put it in the bin." ]
378
91
[ "Grasp a lego block and put it in the bin." ]
423
92
[ "Grasp a lego block and put it in the bin." ]
404
93
[ "Grasp a lego block and put it in the bin." ]
414
94
[ "Grasp a lego block and put it in the bin." ]
406
95
[ "Grasp a lego block and put it in the bin." ]
367
96
[ "Grasp a lego block and put it in the bin." ]
339
97
[ "Grasp a lego block and put it in the bin." ]
412
98
[ "Grasp a lego block and put it in the bin." ]
396
99
[ "Grasp a lego block and put it in the bin." ]
420
End of preview.

SO-100 Base Environment (TsFile)

Apache TsFile version of shreyasgite/so100_base_env.

Overview

A LeRobot teleoperation dataset recorded on an SO-100 arm performing a Lego pick-and-place task: "Grasp a lego block and put it in the bin." Each episode captures the synchronized robot joint state and commanded action at every control step.

  • Robot: so100 (6-DoF arm: shoulder pan/lift, elbow flex, wrist flex/roll, gripper).
  • Episodes: 252 (single train split).
  • Frames: 98,999 total.
  • Sampling rate: 30 fps.
  • Tasks: 1 — "Grasp a lego block and put it in the bin".

Schema (TsFile structure)

  • Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 each episode (round(timestamp * 1000)).
  • episode_index (TAG) — episode id; query one episode with WHERE episode_index=0.
  • task_index (TAG) — task id (always 0 here).
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — global sample index (the source index column).
  • action_0 … action_5 (FIELD, FLOAT) — commanded joint positions (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
  • observation_state_0 … observation_state_5 (FIELD, FLOAT) — measured joint positions, same joint order as action.

Fixed-size vector columns from the source (action, observation.state, each length 6) are flattened to single-precision FLOAT columns; . becomes _ and the element index is appended. The source timestamp column is not retained as a separate field because it equals Time / 1000 seconds.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Camera videos (observation.images.laptop, observation.images.phone) are NOT included in this repository. They remain in the original dataset under videos/.

Source & license

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