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Datasets:
abhisb
/
so100_51_ep

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100_51
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
40.6
frame_index
int64
0
1.22k
episode_index
int64
0
50
index
int64
0
46.9k
task_index
int64
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[ -6.591796875, 88.857421875, 7.91015625, 2.8125, 77.431640625, 5.776173114776611 ]
2.4
72
0
72
0
[ -6.6796875, 91.142578125, 9.052734375, 2.8125, 266.8359375, 6.4676618576049805 ]
[ -6.416015625, 88.857421875, 7.91015625, 2.8125, 77.431640625, 5.776173114776611 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -6.240234375, 88.9453125, 8.4375, 2.8125, 77.431640625, 5.776173114776611 ]
2.5
75
0
75
0
[ -6.6796875, 91.0546875, 9.052734375, 2.724609375, 266.8359375, 6.4676618576049805 ]
[ -6.064453125, 88.9453125, 8.7890625, 2.8125, 77.431640625, 5.776173114776611 ]
2.533333
76
0
76
0
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[ -5.9765625, 88.9453125, 8.7890625, 2.8125, 77.431640625, 5.776173114776611 ]
2.566667
77
0
77
0
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[ -5.9765625, 88.76953125, 8.876953125, 2.8125, 77.431640625, 5.776173114776611 ]
2.6
78
0
78
0
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[ -5.9765625, 88.76953125, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.633333
79
0
79
0
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[ -5.9765625, 88.76953125, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.666667
80
0
80
0
[ -7.03125, 90.703125, 9.052734375, 2.28515625, 266.572265625, 6.4676618576049805 ]
[ -5.9765625, 88.76953125, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.7
81
0
81
0
[ -7.119140625, 90.703125, 9.052734375, 2.28515625, 266.572265625, 6.4676618576049805 ]
[ -5.9765625, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.733333
82
0
82
0
[ -7.20703125, 90.615234375, 9.052734375, 2.28515625, 266.484375, 6.4676618576049805 ]
[ -6.064453125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.766667
83
0
83
0
[ -7.294921875, 90.615234375, 9.052734375, 2.28515625, 266.396484375, 6.4676618576049805 ]
[ -6.416015625, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.8
84
0
84
0
[ -7.294921875, 90.52734375, 9.052734375, 2.28515625, 266.30859375, 6.4676618576049805 ]
[ -6.50390625, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.833333
85
0
85
0
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[ -6.6796875, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.866667
86
0
86
0
[ -7.3828125, 90.52734375, 9.052734375, 2.28515625, 266.220703125, 6.4676618576049805 ]
[ -6.943359375, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.9
87
0
87
0
[ -7.3828125, 90.52734375, 9.052734375, 2.28515625, 266.1328125, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.933333
88
0
88
0
[ -7.3828125, 90.439453125, 9.052734375, 2.28515625, 266.1328125, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
2.966667
89
0
89
0
[ -7.3828125, 90.439453125, 9.052734375, 2.28515625, 265.95703125, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3
90
0
90
0
[ -7.3828125, 90.3515625, 9.052734375, 2.28515625, 265.95703125, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.033333
91
0
91
0
[ -7.3828125, 90.3515625, 9.052734375, 2.28515625, 265.869140625, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.066667
92
0
92
0
[ -7.294921875, 90.263671875, 9.052734375, 2.28515625, 265.869140625, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.1
93
0
93
0
[ -7.294921875, 90.17578125, 8.96484375, 2.28515625, 266.396484375, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.133333
94
0
94
0
[ -7.20703125, 90.087890625, 8.876953125, 2.28515625, 266.748046875, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.166667
95
0
95
0
[ -7.20703125, 90, 8.7890625, 2.28515625, 267.01171875, 6.4676618576049805 ]
[ -7.03125, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.2
96
0
96
0
[ -7.20703125, 89.912109375, 8.701171875, 2.28515625, 267.1875, 6.4676618576049805 ]
[ -6.943359375, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.233333
97
0
97
0
[ -7.20703125, 89.912109375, 8.61328125, 2.28515625, 267.1875, 6.4676618576049805 ]
[ -6.943359375, 88.857421875, 8.96484375, 2.8125, 77.431640625, 5.776173114776611 ]
3.266667
98
0
98
0
[ -7.20703125, 89.912109375, 8.525390625, 2.28515625, 267.1875, 6.4676618576049805 ]
[ -6.943359375, 88.76953125, 8.876953125, 2.8125, 77.431640625, 5.776173114776611 ]
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": 51,
    "total_frames": 46882,
    "total_tasks": 1,
    "total_videos": 153,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.front": {
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            "shape": [
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                320,
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            "names": [
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            "info": {
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                "video.height": 240,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                360,
                640,
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            "names": [
                "height",
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            "info": {
                "video.fps": 30.0,
                "video.height": 360,
                "video.width": 640,
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        "observation.images.mobile": {
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            "shape": [
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                320,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 240,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.86 MB
Number of rows:
46,882

Models trained or fine-tuned on abhisb/so100_51_ep