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Datasets:
Taka-Hashimoto
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so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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float32
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int64
episode_index
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index
int64
task_index
int64
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[ -2.548828125, 165.234375, 143.876953125, 10.458984375, -1.494140625, 36.604774475097656 ]
2.366667
71
0
71
0
[ -0.52734375, 155.302734375, 127.880859375, 9.4921875, -1.58203125, 36.74208068847656 ]
[ -2.373046875, 163.037109375, 141.591796875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.4
72
0
72
0
[ -0.263671875, 152.2265625, 124.98046875, 9.4921875, -1.58203125, 36.74208068847656 ]
[ -1.845703125, 160.751953125, 139.39453125, 10.458984375, -1.494140625, 36.604774475097656 ]
2.433333
73
0
73
0
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[ -1.23046875, 158.90625, 137.63671875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.466667
74
0
74
0
[ 0.263671875, 146.337890625, 119.794921875, 9.4921875, -1.58203125, 36.74208068847656 ]
[ -0.703125, 156.62109375, 135.3515625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.5
75
0
75
0
[ 0.3515625, 143.349609375, 116.89453125, 9.4921875, -1.58203125, 36.74208068847656 ]
[ -0.3515625, 153.896484375, 132.890625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.533333
76
0
76
0
[ 0.439453125, 139.482421875, 113.466796875, 9.4921875, -1.58203125, 36.74208068847656 ]
[ -0.17578125, 149.94140625, 129.462890625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.566667
77
0
77
0
[ 0.439453125, 136.142578125, 110.302734375, 9.404296875, -1.58203125, 36.74208068847656 ]
[ 0.087890625, 146.07421875, 126.03515625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.6
78
0
78
0
[ 0.439453125, 132.71484375, 107.138671875, 9.404296875, -1.845703125, 36.74208068847656 ]
[ 0.263671875, 143.701171875, 124.1015625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.633333
79
0
79
0
[ 0.439453125, 129.814453125, 104.326171875, 9.404296875, -1.845703125, 36.74208068847656 ]
[ 0.3515625, 140.888671875, 121.46484375, 10.458984375, -1.494140625, 36.604774475097656 ]
2.666667
80
0
80
0
[ 0.439453125, 127.001953125, 101.6015625, 9.404296875, -1.93359375, 36.74208068847656 ]
[ 0.439453125, 137.373046875, 118.4765625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.7
81
0
81
0
[ 0.439453125, 124.1015625, 98.7890625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 134.296875, 115.927734375, 10.458984375, -1.494140625, 36.604774475097656 ]
2.733333
82
0
82
0
[ 0.439453125, 121.201171875, 95.888671875, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 130.60546875, 112.587890625, 10.458984375, -1.494140625, 36.604774475097656 ]
2.766667
83
0
83
0
[ 0.439453125, 118.4765625, 93.076171875, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 127.44140625, 109.951171875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.8
84
0
84
0
[ 0.439453125, 115.751953125, 90.3515625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 125.068359375, 107.841796875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.833333
85
0
85
0
[ 0.439453125, 113.115234375, 87.5390625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 121.81640625, 105.029296875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.866667
86
0
86
0
[ 0.439453125, 110.654296875, 84.990234375, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 119.00390625, 102.3046875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.9
87
0
87
0
[ 0.439453125, 108.28125, 82.529296875, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 116.103515625, 99.66796875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.933333
88
0
88
0
[ 0.439453125, 106.083984375, 80.15625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 113.115234375, 96.6796875, 10.458984375, -1.494140625, 36.604774475097656 ]
2.966667
89
0
89
0
[ 0.439453125, 103.974609375, 77.958984375, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 110.21484375, 94.04296875, 10.458984375, -1.494140625, 36.604774475097656 ]
3
90
0
90
0
[ 0.439453125, 101.953125, 75.673828125, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 107.841796875, 91.669921875, 10.458984375, -1.494140625, 36.604774475097656 ]
3.033333
91
0
91
0
[ 0.439453125, 99.931640625, 73.388671875, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 104.326171875, 88.154296875, 10.458984375, -1.494140625, 36.604774475097656 ]
3.066667
92
0
92
0
[ 0.439453125, 97.998046875, 71.103515625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 102.48046875, 86.396484375, 10.458984375, -1.494140625, 36.604774475097656 ]
3.1
93
0
93
0
[ 0.439453125, 96.15234375, 68.90625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 100.37109375, 84.375, 10.458984375, -1.494140625, 36.604774475097656 ]
3.133333
94
0
94
0
[ 0.439453125, 94.306640625, 66.796875, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 97.3828125, 81.123046875, 10.458984375, -1.494140625, 36.604774475097656 ]
3.166667
95
0
95
0
[ 0.439453125, 92.548828125, 64.775390625, 9.404296875, -2.021484375, 36.74208068847656 ]
[ 0.52734375, 95.44921875, 78.837890625, 10.458984375, -1.494140625, 36.604774475097656 ]
3.2
96
0
96
0
[ 0.3515625, 90.703125, 63.017578125, 9.404296875, -2.109375, 36.74208068847656 ]
[ 0.439453125, 93.955078125, 77.080078125, 10.458984375, -1.494140625, 36.604774475097656 ]
3.233333
97
0
97
0
[ 0.17578125, 88.9453125, 61.5234375, 9.404296875, -2.109375, 36.74208068847656 ]
[ 0.3515625, 92.109375, 74.8828125, 10.458984375, -1.494140625, 36.604774475097656 ]
3.266667
98
0
98
0
[ 0.087890625, 87.451171875, 60.205078125, 9.404296875, -2.109375, 36.74208068847656 ]
[ 0.3515625, 90.263671875, 72.861328125, 10.458984375, -1.494140625, 36.604774475097656 ]
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": 2,
    "total_frames": 1662,
    "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.webcam": {
            "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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