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igaewa
/
so100_test_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
49
index
int64
0
22.4k
task_index
int64
0
0
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71
0
[ 9.140625, 184.482421875, 171.826171875, -109.3359375, 21.533203125, 13.043478012084961 ]
[ 7.55859375, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.4
72
0
72
0
[ 9.228515625, 184.482421875, 171.826171875, -109.3359375, 21.533203125, 13.043478012084961 ]
[ 8.26171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.433333
73
0
73
0
[ 9.228515625, 184.482421875, 171.826171875, -109.3359375, 21.62109375, 13.043478012084961 ]
[ 8.4375, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.466667
74
0
74
0
[ 9.228515625, 184.482421875, 171.826171875, -109.3359375, 22.060546875, 13.043478012084961 ]
[ 8.4375, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.5
75
0
75
0
[ 9.228515625, 184.482421875, 171.826171875, -109.3359375, 22.32421875, 13.043478012084961 ]
[ 8.525390625, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.533333
76
0
76
0
[ 9.31640625, 184.482421875, 171.826171875, -109.3359375, 22.5, 13.1578950881958 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.566667
77
0
77
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 22.67578125, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.6
78
0
78
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 22.8515625, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.633333
79
0
79
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 22.939453125, 13.272311210632324 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.666667
80
0
80
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 23.02734375, 13.043478012084961 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.7
81
0
81
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 23.291015625, 13.043478012084961 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.733333
82
0
82
0
[ 9.404296875, 184.482421875, 171.826171875, -109.3359375, 23.5546875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.766667
83
0
83
0
[ 9.580078125, 184.482421875, 171.826171875, -109.3359375, 23.5546875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.8
84
0
84
0
[ 9.84375, 184.482421875, 171.826171875, -109.3359375, 23.5546875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.833333
85
0
85
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.466796875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.866667
86
0
86
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.466796875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.9
87
0
87
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.466796875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.933333
88
0
88
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.5546875, 13.386727333068848 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
2.966667
89
0
89
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 13.844393730163574 ]
[ 8.701171875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3
90
0
90
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 13.958809852600098 ]
[ 9.140625, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.033333
91
0
91
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 13.958809852600098 ]
[ 9.404296875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.066667
92
0
92
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 13.958809852600098 ]
[ 9.4921875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.1
93
0
93
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 14.073226928710938 ]
[ 9.66796875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.133333
94
0
94
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 14.187643051147461 ]
[ 9.66796875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.166667
95
0
95
0
[ 10.01953125, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 14.302059173583984 ]
[ 9.66796875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.2
96
0
96
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 14.302059173583984 ]
[ 9.66796875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.233333
97
0
97
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.818359375, 14.416476249694824 ]
[ 9.66796875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
3.266667
98
0
98
0
[ 9.931640625, 184.482421875, 171.826171875, -109.3359375, 23.73046875, 14.530892372131348 ]
[ 9.404296875, 183.955078125, 171.123046875, -108.896484375, 0.703125, 13.363028526306152 ]
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": 50,
    "total_frames": 22384,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                6
            ],
            "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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