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Datasets:
doujiangwang
/
so100_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
1
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.466667
74
0
74
0
[ 1.58203125, 187.20703125, 169.453125, 71.89453125, -3.251953125, -0.08904719352722168 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.5
75
0
75
0
[ 1.58203125, 187.20703125, 169.453125, 71.89453125, -3.33984375, -0.08904719352722168 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.533333
76
0
76
0
[ 1.494140625, 187.20703125, 169.453125, 71.89453125, -3.33984375, -0.08904719352722168 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.566667
77
0
77
0
[ 1.0546875, 187.20703125, 169.453125, 71.89453125, -3.515625, -0.08904719352722168 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.6
78
0
78
0
[ 0.87890625, 187.20703125, 169.453125, 71.19140625, -3.427734375, -0.17809438705444336 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.633333
79
0
79
0
[ 1.93359375, 187.20703125, 169.453125, 68.818359375, -3.69140625, -0.17809438705444336 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.666667
80
0
80
0
[ 4.306640625, 187.20703125, 169.453125, 65.302734375, -3.69140625, -0.17809438705444336 ]
[ 0.791015625, 186.943359375, 169.62890625, 71.3671875, -3.251953125, 0.8272058963775635 ]
2.7
81
0
81
0
[ 5.9765625, 187.20703125, 169.453125, 61.259765625, -4.833984375, -0.17809438705444336 ]
[ 0.791015625, 186.943359375, 169.62890625, 70.751953125, -3.251953125, 0.8272058963775635 ]
2.733333
82
0
82
0
[ 7.294921875, 187.20703125, 169.189453125, 58.447265625, -8.4375, -0.17809438705444336 ]
[ 1.494140625, 186.85546875, 169.62890625, 68.90625, -3.251953125, 0.8272058963775635 ]
2.766667
83
0
83
0
[ 7.998046875, 187.20703125, 168.310546875, 57.568359375, -9.404296875, 0 ]
[ 2.98828125, 186.85546875, 169.62890625, 66.26953125, -3.33984375, 0.8272058963775635 ]
2.8
84
0
84
0
[ 8.0859375, 187.119140625, 166.904296875, 57.65625, -10.1953125, 0.4452359974384308 ]
[ 4.658203125, 186.85546875, 169.62890625, 63.28125, -4.21875, 0.8272058963775635 ]
2.833333
85
0
85
0
[ 8.0859375, 186.767578125, 164.70703125, 58.974609375, -10.37109375, 1.8699910640716553 ]
[ 5.888671875, 186.85546875, 169.62890625, 60.732421875, -5.9765625, 0.8272058963775635 ]
2.866667
86
0
86
0
[ 7.91015625, 186.591796875, 162.0703125, 60.205078125, -10.37109375, 2.9385573863983154 ]
[ 6.85546875, 186.85546875, 169.62890625, 59.150390625, -7.646484375, 0.8272058963775635 ]
2.9
87
0
87
0
[ 7.822265625, 185.80078125, 158.994140625, 61.435546875, -10.37109375, 4.18521785736084 ]
[ 7.3828125, 186.85546875, 169.541015625, 58.7109375, -8.701171875, 0.8272058963775635 ]
2.933333
88
0
88
0
[ 7.55859375, 183.955078125, 155.390625, 62.138671875, -10.37109375, 4.897595405578613 ]
[ 7.55859375, 186.6796875, 169.541015625, 59.0625, -9.228515625, 1.1029411554336548 ]
2.966667
89
0
89
0
[ 7.03125, 180.87890625, 151.259765625, 62.490234375, -10.37109375, 5.520925998687744 ]
[ 7.3828125, 185.625, 168.310546875, 59.94140625, -9.4921875, 1.9301470518112183 ]
3
90
0
90
0
[ 6.50390625, 176.484375, 146.513671875, 63.017578125, -10.1953125, 6.055209636688232 ]
[ 7.119140625, 184.658203125, 165.5859375, 60.8203125, -9.580078125, 2.5735294818878174 ]
3.033333
91
0
91
0
[ 5.9765625, 171.298828125, 141.6796875, 63.45703125, -10.283203125, 6.411398410797119 ]
[ 6.85546875, 183.515625, 161.982421875, 61.34765625, -9.66796875, 3.216911792755127 ]
3.066667
92
0
92
0
[ 5.80078125, 165.76171875, 136.494140625, 63.80859375, -10.01953125, 6.500445365905762 ]
[ 6.6796875, 181.0546875, 157.763671875, 62.05078125, -9.66796875, 4.319852828979492 ]
3.1
93
0
93
0
[ 5.80078125, 160.48828125, 131.396484375, 64.072265625, -10.01953125, 6.589492321014404 ]
[ 6.328125, 177.890625, 153.369140625, 62.490234375, -9.66796875, 4.963235378265381 ]
3.133333
94
0
94
0
[ 6.064453125, 155.56640625, 126.73828125, 64.248046875, -10.37109375, 7.301869869232178 ]
[ 5.537109375, 174.0234375, 148.798828125, 62.75390625, -9.66796875, 5.3308820724487305 ]
3.166667
95
0
95
0
[ 6.85546875, 151.083984375, 122.783203125, 64.248046875, -10.634765625, 8.103294372558594 ]
[ 4.833984375, 169.453125, 143.876953125, 63.193359375, -9.755859375, 5.6066179275512695 ]
3.2
96
0
96
0
[ 7.294921875, 146.77734375, 118.916015625, 64.248046875, -12.041015625, 9.082813262939453 ]
[ 5.185546875, 164.619140625, 139.04296875, 63.6328125, -9.84375, 6.066176414489746 ]
3.233333
97
0
97
0
[ 7.734375, 142.294921875, 115.48828125, 64.248046875, -13.7109375, 10.240427017211914 ]
[ 5.44921875, 159.521484375, 134.033203125, 63.80859375, -9.84375, 6.8014702796936035 ]
3.266667
98
0
98
0
[ 8.173828125, 137.4609375, 111.97265625, 64.599609375, -15.46875, 11.487088203430176 ]
[ 6.240234375, 154.51171875, 129.287109375, 63.80859375, -10.107421875, 7.628676414489746 ]
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": 810,
    "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
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            "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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                3
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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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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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        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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