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Datasets:
Beegbrain
/
stack_green_cube_blue

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
lerobot
stack
cubes
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
23.3
frame_index
int64
0
698
episode_index
int64
0
9
index
int64
0
4.53k
task_index
int64
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[ -45.615234375, 134.6484375, 116.015625, 77.6953125, -43.06640625, 0.08319467306137085 ]
[ -43.41796875, 139.21875, 122.34375, 80.771484375, -44.912109375, 0.7692307829856873 ]
2.333333
70
0
70
0
[ -45.703125, 132.978515625, 115.576171875, 76.81640625, -42.802734375, 0.08319467306137085 ]
[ -44.12109375, 137.98828125, 121.640625, 80.15625, -44.296875, 0.7692307829856873 ]
2.366667
71
0
71
0
[ -45.52734375, 130.78125, 114.78515625, 76.11328125, -42.451171875, 0.08319467306137085 ]
[ -44.82421875, 136.494140625, 121.11328125, 79.453125, -43.857421875, 0.7692307829856873 ]
2.4
72
0
72
0
[ -45.263671875, 128.583984375, 113.73046875, 75.322265625, -42.1875, 0.08319467306137085 ]
[ -45.263671875, 135, 120.5859375, 78.662109375, -43.505859375, 0.7692307829856873 ]
2.433333
73
0
73
0
[ -45, 126.650390625, 112.939453125, 74.267578125, -41.923828125, 0.08319467306137085 ]
[ -45.3515625, 133.330078125, 119.970703125, 78.046875, -43.154296875, 0.7692307829856873 ]
2.466667
74
0
74
0
[ -44.912109375, 124.892578125, 112.1484375, 73.037109375, -41.572265625, 0.08319467306137085 ]
[ -45.3515625, 131.484375, 119.1796875, 77.34375, -42.71484375, 0.7692307829856873 ]
2.5
75
0
75
0
[ -44.82421875, 123.310546875, 111.26953125, 71.89453125, -41.1328125, 0.08319467306137085 ]
[ -45.087890625, 129.462890625, 118.388671875, 76.376953125, -42.451171875, 0.7692307829856873 ]
2.533333
76
0
76
0
[ -44.912109375, 121.904296875, 110.478515625, 70.927734375, -40.869140625, 0.08319467306137085 ]
[ -45, 127.44140625, 117.685546875, 75.41015625, -42.099609375, 0.7692307829856873 ]
2.566667
77
0
77
0
[ -45.087890625, 120.5859375, 109.775390625, 70.048828125, -40.60546875, 0.08319467306137085 ]
[ -44.912109375, 125.5078125, 116.89453125, 74.443359375, -41.748046875, 0.7692307829856873 ]
2.6
78
0
78
0
[ -45.3515625, 119.267578125, 109.072265625, 69.43359375, -40.341796875, 0.08319467306137085 ]
[ -44.912109375, 123.75, 116.19140625, 73.4765625, -41.396484375, 0.7692307829856873 ]
2.633333
79
0
79
0
[ -45.3515625, 118.037109375, 108.28125, 68.90625, -40.25390625, 0.08319467306137085 ]
[ -44.912109375, 122.080078125, 115.400390625, 72.421875, -41.1328125, 0.7692307829856873 ]
2.666667
80
0
80
0
[ -45.3515625, 116.89453125, 107.75390625, 68.291015625, -40.25390625, 0.08319467306137085 ]
[ -45, 120.5859375, 114.78515625, 71.630859375, -40.78125, 0.7692307829856873 ]
2.7
81
0
81
0
[ -45.17578125, 115.6640625, 107.314453125, 67.412109375, -40.4296875, 0.08319467306137085 ]
[ -45.087890625, 119.091796875, 113.994140625, 70.927734375, -40.60546875, 0.7692307829856873 ]
2.733333
82
0
82
0
[ -44.82421875, 114.345703125, 106.611328125, 66.62109375, -40.60546875, 0.08319467306137085 ]
[ -45.087890625, 117.7734375, 113.291015625, 70.13671875, -40.517578125, 0.7692307829856873 ]
2.766667
83
0
83
0
[ -44.384765625, 113.02734375, 105.99609375, 65.830078125, -40.869140625, 0.08319467306137085 ]
[ -45.087890625, 116.455078125, 112.587890625, 69.43359375, -40.517578125, 0.7692307829856873 ]
2.8
84
0
84
0
[ -43.9453125, 111.884765625, 105.46875, 64.951171875, -41.30859375, 0.08319467306137085 ]
[ -45.087890625, 115.224609375, 111.97265625, 68.642578125, -40.4296875, 0.7692307829856873 ]
2.833333
85
0
85
0
[ -43.505859375, 110.830078125, 105.205078125, 63.984375, -41.923828125, 0.08319467306137085 ]
[ -45.087890625, 113.818359375, 111.26953125, 67.8515625, -40.517578125, 0.7692307829856873 ]
2.866667
86
0
86
0
[ -43.154296875, 109.951171875, 105.1171875, 63.193359375, -42.5390625, 0.08319467306137085 ]
[ -44.912109375, 112.587890625, 110.7421875, 67.060546875, -40.869140625, 0.7692307829856873 ]
2.9
87
0
87
0
[ -42.802734375, 109.072265625, 105.029296875, 62.490234375, -43.330078125, 0.08319467306137085 ]
[ -44.47265625, 111.26953125, 110.302734375, 66.181640625, -41.30859375, 0.7692307829856873 ]
2.933333
88
0
88
0
[ -42.451171875, 108.193359375, 105.029296875, 61.611328125, -43.857421875, 0.08319467306137085 ]
[ -44.033203125, 110.21484375, 109.86328125, 65.390625, -41.748046875, 0.7692307829856873 ]
2.966667
89
0
89
0
[ -42.1875, 107.314453125, 105.1171875, 60.99609375, -44.47265625, 0.08319467306137085 ]
[ -43.41796875, 109.16015625, 109.6875, 64.599609375, -42.36328125, 0.7692307829856873 ]
3
90
0
90
0
[ -42.01171875, 106.435546875, 105.205078125, 60.380859375, -45.17578125, 0.08319467306137085 ]
[ -42.890625, 108.193359375, 109.51171875, 63.80859375, -42.890625, 0.7692307829856873 ]
3.033333
91
0
91
0
[ -41.8359375, 105.556640625, 105.29296875, 59.765625, -45.87890625, 0.08319467306137085 ]
[ -42.5390625, 107.2265625, 109.423828125, 63.017578125, -43.505859375, 0.7692307829856873 ]
3.066667
92
0
92
0
[ -41.66015625, 104.765625, 105.46875, 59.0625, -46.58203125, 0.08319467306137085 ]
[ -42.275390625, 106.171875, 109.423828125, 62.2265625, -44.12109375, 0.7692307829856873 ]
3.1
93
0
93
0
[ -41.484375, 104.0625, 105.556640625, 58.53515625, -47.548828125, 0.08319467306137085 ]
[ -42.099609375, 105.29296875, 109.423828125, 61.611328125, -44.736328125, 0.7692307829856873 ]
3.133333
94
0
94
0
[ -41.1328125, 103.447265625, 105.556640625, 58.0078125, -48.33984375, 0.1663893461227417 ]
[ -42.01171875, 104.4140625, 109.423828125, 60.908203125, -45.3515625, 0.7692307829856873 ]
3.166667
95
0
95
0
[ -40.78125, 102.919921875, 105.556640625, 57.568359375, -49.21875, 0.1663893461227417 ]
[ -42.01171875, 103.53515625, 109.423828125, 60.29296875, -46.142578125, 0.7692307829856873 ]
3.2
96
0
96
0
[ -40.25390625, 102.3046875, 105.556640625, 57.392578125, -50.44921875, 0.24958401918411255 ]
[ -41.748046875, 103.0078125, 109.423828125, 59.677734375, -46.93359375, 0.7692307829856873 ]
3.233333
97
0
97
0
[ -39.7265625, 101.865234375, 105.556640625, 57.3046875, -52.03125, 0.24958401918411255 ]
[ -41.484375, 102.48046875, 109.3359375, 59.150390625, -47.724609375, 0.7692307829856873 ]
3.266667
98
0
98
0
[ -39.111328125, 101.337890625, 105.46875, 57.3046875, -53.26171875, 0.24958401918411255 ]
[ -41.044921875, 101.865234375, 109.3359375, 58.798828125, -48.603515625, 0.7692307829856873 ]
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": 10,
    "total_frames": 4528,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
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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.OBS_IMAGE_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.OBS_IMAGE_2": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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