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Datasets:
tturing
/
so100_02

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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
0
19.8
frame_index
int64
0
595
episode_index
int64
0
1
index
int64
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1.19k
task_index
int64
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[ -6.943359375, 123.75, 82.705078125, 45.87890625, -31.46484375, -0.598802387714386 ]
2.366667
71
0
71
0
[ -5.361328125, 122.34375, 74.35546875, 49.39453125, -29.091796875, -2.2665457725524902 ]
[ -6.591796875, 122.783203125, 81.9140625, 46.7578125, -31.376953125, -0.598802387714386 ]
2.4
72
0
72
0
[ -5.09765625, 121.728515625, 74.35546875, 50.712890625, -27.509765625, -2.2665457725524902 ]
[ -6.064453125, 121.9921875, 81.474609375, 47.63671875, -30.849609375, -0.598802387714386 ]
2.433333
73
0
73
0
[ -4.921875, 121.201171875, 74.35546875, 52.20703125, -25.48828125, -2.2665457725524902 ]
[ -5.80078125, 121.46484375, 81.474609375, 48.603515625, -29.794921875, -0.598802387714386 ]
2.466667
74
0
74
0
[ -4.921875, 120.76171875, 74.35546875, 53.876953125, -23.37890625, -2.2665457725524902 ]
[ -5.361328125, 120.849609375, 81.38671875, 49.658203125, -28.4765625, -0.598802387714386 ]
2.5
75
0
75
0
[ -4.921875, 120.322265625, 74.267578125, 55.810546875, -21.09375, -2.2665457725524902 ]
[ -4.921875, 120.322265625, 81.38671875, 50.9765625, -27.0703125, -0.598802387714386 ]
2.533333
76
0
76
0
[ -4.921875, 120.05859375, 74.091796875, 57.83203125, -18.6328125, -2.2665457725524902 ]
[ -4.658203125, 119.794921875, 81.38671875, 52.470703125, -25.400390625, -0.598802387714386 ]
2.566667
77
0
77
0
[ -4.921875, 119.794921875, 73.828125, 59.94140625, -16.34765625, -2.2665457725524902 ]
[ -4.39453125, 119.443359375, 81.38671875, 53.96484375, -23.37890625, -0.598802387714386 ]
2.6
78
0
78
0
[ -4.921875, 119.443359375, 73.4765625, 62.138671875, -14.58984375, -2.2665457725524902 ]
[ -4.21875, 119.00390625, 81.38671875, 55.634765625, -21.26953125, -0.598802387714386 ]
2.633333
79
0
79
0
[ -4.921875, 119.267578125, 73.388671875, 64.248046875, -12.83203125, -2.2665457725524902 ]
[ -4.21875, 118.564453125, 81.03515625, 57.65625, -19.248046875, -0.598802387714386 ]
2.666667
80
0
80
0
[ -4.921875, 119.091796875, 73.388671875, 66.4453125, -11.25, -2.2665457725524902 ]
[ -4.21875, 118.30078125, 80.947265625, 59.853515625, -17.138671875, -0.598802387714386 ]
2.7
81
0
81
0
[ -4.921875, 119.00390625, 73.388671875, 68.466796875, -10.107421875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.859375, 61.875, -15.29296875, -0.598802387714386 ]
2.733333
82
0
82
0
[ -4.921875, 119.00390625, 73.388671875, 70.48828125, -9.580078125, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 63.984375, -13.798828125, -0.598802387714386 ]
2.766667
83
0
83
0
[ -4.921875, 119.00390625, 73.388671875, 72.333984375, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 66.005859375, -12.3046875, -0.598802387714386 ]
2.8
84
0
84
0
[ -4.921875, 119.00390625, 73.388671875, 74.091796875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 67.939453125, -11.25, -0.598802387714386 ]
2.833333
85
0
85
0
[ -4.833984375, 119.00390625, 73.388671875, 75.498046875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 69.9609375, -10.634765625, -0.598802387714386 ]
2.866667
86
0
86
0
[ -4.833984375, 119.00390625, 73.388671875, 76.904296875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 71.806640625, -10.1953125, -0.598802387714386 ]
2.9
87
0
87
0
[ -4.833984375, 118.916015625, 73.388671875, 78.046875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.212890625, 80.771484375, 73.388671875, -9.84375, -0.598802387714386 ]
2.933333
88
0
88
0
[ -4.833984375, 118.916015625, 73.388671875, 78.92578125, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 118.037109375, 80.771484375, 74.794921875, -9.580078125, -0.598802387714386 ]
2.966667
89
0
89
0
[ -4.74609375, 118.916015625, 73.388671875, 79.62890625, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.59765625, 80.68359375, 76.11328125, -9.404296875, -0.598802387714386 ]
3
90
0
90
0
[ -4.74609375, 118.916015625, 73.388671875, 79.98046875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.595703125, 77.080078125, -9.404296875, -0.598802387714386 ]
3.033333
91
0
91
0
[ -4.74609375, 118.916015625, 73.388671875, 79.98046875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.595703125, 77.87109375, -9.404296875, -0.598802387714386 ]
3.066667
92
0
92
0
[ -4.74609375, 118.916015625, 73.388671875, 79.892578125, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.595703125, 78.3984375, -9.404296875, -0.598802387714386 ]
3.1
93
0
93
0
[ -4.482421875, 118.828125, 73.388671875, 79.8046875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.5078125, 78.662109375, -9.404296875, -0.598802387714386 ]
3.133333
94
0
94
0
[ -4.04296875, 118.828125, 73.388671875, 79.716796875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.5078125, 78.75, -9.404296875, -0.598802387714386 ]
3.166667
95
0
95
0
[ -3.427734375, 118.828125, 73.388671875, 79.716796875, -9.4921875, -2.2665457725524902 ]
[ -4.21875, 117.421875, 80.5078125, 78.837890625, -9.404296875, -0.598802387714386 ]
3.2
96
0
96
0
[ -2.900390625, 118.828125, 73.388671875, 79.716796875, -9.4921875, -2.2665457725524902 ]
[ -4.04296875, 117.333984375, 80.5078125, 78.837890625, -9.404296875, -0.598802387714386 ]
3.233333
97
0
97
0
[ -2.28515625, 118.828125, 73.30078125, 79.716796875, -9.4921875, -2.2665457725524902 ]
[ -3.69140625, 117.333984375, 80.5078125, 78.837890625, -9.404296875, -0.598802387714386 ]
3.266667
98
0
98
0
[ -1.845703125, 118.916015625, 73.30078125, 79.716796875, -9.4921875, -2.2665457725524902 ]
[ -3.1640625, 117.333984375, 80.5078125, 78.837890625, -9.404296875, -0.598802387714386 ]
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": 1192,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.rgb": {
            "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": "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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