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Datasets:
gxy1111
/
so100_soft

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
23
frame_index
int64
0
691
episode_index
int64
0
49
index
int64
0
21.4k
task_index
int64
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0
[ 37.79296875, 142.03125, 138.33984375, 58.447265625, -67.1484375, 6.755555629730225 ]
[ 36.5625, 148.798828125, 142.03125, 62.2265625, -67.67578125, 5.532503604888916 ]
2.466667
74
0
74
0
[ 37.79296875, 140.537109375, 138.779296875, 57.12890625, -66.796875, 7.55555534362793 ]
[ 36.826171875, 146.513671875, 141.943359375, 61.083984375, -67.67578125, 5.7399725914001465 ]
2.5
75
0
75
0
[ 37.880859375, 139.21875, 139.39453125, 55.283203125, -66.181640625, 8.355555534362793 ]
[ 36.9140625, 144.31640625, 141.85546875, 60.1171875, -67.67578125, 6.224066257476807 ]
2.533333
76
0
76
0
[ 38.056640625, 137.98828125, 139.833984375, 53.4375, -65.126953125, 8.711111068725586 ]
[ 36.826171875, 142.3828125, 141.85546875, 58.974609375, -67.412109375, 6.915629863739014 ]
2.566667
77
0
77
0
[ 38.408203125, 136.845703125, 140.009765625, 51.591796875, -64.072265625, 8.88888931274414 ]
[ 36.826171875, 140.712890625, 141.85546875, 57.48046875, -67.5, 7.538036346435547 ]
2.6
78
0
78
0
[ 38.759765625, 135.87890625, 140.009765625, 50.009765625, -63.369140625, 9.066666603088379 ]
[ 37.177734375, 139.306640625, 141.85546875, 55.8984375, -66.62109375, 8.022130012512207 ]
2.633333
79
0
79
0
[ 39.19921875, 135, 140.009765625, 48.515625, -62.490234375, 9.600000381469727 ]
[ 37.44140625, 137.98828125, 141.85546875, 54.140625, -65.654296875, 8.298755645751953 ]
2.666667
80
0
80
0
[ 39.814453125, 134.384765625, 140.009765625, 46.669921875, -61.34765625, 10.222222328186035 ]
[ 37.79296875, 136.845703125, 141.85546875, 52.470703125, -64.86328125, 8.644536972045898 ]
2.7
81
0
81
0
[ 40.60546875, 133.857421875, 140.009765625, 44.82421875, -60.029296875, 10.311111450195312 ]
[ 38.232421875, 135.791015625, 141.85546875, 50.80078125, -64.072265625, 9.197787284851074 ]
2.733333
82
0
82
0
[ 41.396484375, 133.41796875, 140.09765625, 42.890625, -59.150390625, 10.844444274902344 ]
[ 38.671875, 134.912109375, 141.85546875, 49.21875, -63.10546875, 9.612725257873535 ]
2.766667
83
0
83
0
[ 42.1875, 132.978515625, 140.2734375, 40.95703125, -58.53515625, 11.644444465637207 ]
[ 39.287109375, 134.208984375, 141.85546875, 47.4609375, -61.962890625, 9.889349937438965 ]
2.8
84
0
84
0
[ 42.890625, 132.5390625, 140.625, 38.935546875, -58.0078125, 11.911110877990723 ]
[ 39.990234375, 133.59375, 141.85546875, 45.615234375, -60.8203125, 10.304287910461426 ]
2.833333
85
0
85
0
[ 43.330078125, 131.8359375, 140.888671875, 37.265625, -57.744140625, 12.177778244018555 ]
[ 40.693359375, 133.06640625, 141.85546875, 43.681640625, -59.677734375, 10.926694869995117 ]
2.866667
86
0
86
0
[ 43.681640625, 131.044921875, 140.9765625, 35.947265625, -57.3046875, 12.355555534362793 ]
[ 41.396484375, 132.626953125, 141.85546875, 41.8359375, -58.974609375, 11.272476196289062 ]
2.9
87
0
87
0
[ 43.857421875, 129.990234375, 140.9765625, 35.068359375, -56.77734375, 12.44444465637207 ]
[ 42.099609375, 132.01171875, 141.85546875, 39.990234375, -58.623046875, 11.549100875854492 ]
2.933333
88
0
88
0
[ 43.857421875, 128.759765625, 140.80078125, 34.453125, -56.162109375, 12.44444465637207 ]
[ 42.5390625, 131.220703125, 141.85546875, 38.408203125, -58.271484375, 11.825726509094238 ]
2.966667
89
0
89
0
[ 43.681640625, 127.529296875, 140.537109375, 34.27734375, -55.810546875, 12.355555534362793 ]
[ 42.890625, 130.341796875, 141.85546875, 37.177734375, -57.83203125, 11.964038848876953 ]
3
90
0
90
0
[ 43.505859375, 126.298828125, 140.2734375, 34.189453125, -55.634765625, 12.177778244018555 ]
[ 43.06640625, 129.287109375, 141.85546875, 36.298828125, -57.216796875, 11.964038848876953 ]
3.033333
91
0
91
0
[ 43.330078125, 125.068359375, 140.009765625, 34.189453125, -55.1953125, 12 ]
[ 43.154296875, 128.14453125, 141.85546875, 35.771484375, -56.77734375, 11.964038848876953 ]
3.066667
92
0
92
0
[ 43.06640625, 124.013671875, 139.833984375, 34.189453125, -54.84375, 12 ]
[ 43.06640625, 127.001953125, 141.85546875, 35.419921875, -56.513671875, 11.964038848876953 ]
3.1
93
0
93
0
[ 42.71484375, 123.134765625, 139.74609375, 34.189453125, -54.66796875, 11.911110877990723 ]
[ 43.06640625, 125.859375, 141.85546875, 35.244140625, -56.6015625, 11.964038848876953 ]
3.133333
94
0
94
0
[ 42.275390625, 122.431640625, 139.74609375, 34.189453125, -54.404296875, 11.733332633972168 ]
[ 43.06640625, 124.62890625, 141.85546875, 35.068359375, -55.986328125, 11.964038848876953 ]
3.166667
95
0
95
0
[ 42.01171875, 121.9921875, 139.74609375, 34.189453125, -54.31640625, 11.733332633972168 ]
[ 43.06640625, 123.662109375, 141.85546875, 35.068359375, -55.634765625, 11.964038848876953 ]
3.2
96
0
96
0
[ 41.748046875, 121.728515625, 139.921875, 34.189453125, -54.404296875, 11.733332633972168 ]
[ 43.06640625, 122.783203125, 141.85546875, 35.068359375, -55.283203125, 11.964038848876953 ]
3.233333
97
0
97
0
[ 41.484375, 121.640625, 140.009765625, 34.189453125, -54.31640625, 12.088889122009277 ]
[ 42.978515625, 122.16796875, 141.85546875, 35.068359375, -55.107421875, 11.964038848876953 ]
3.266667
98
0
98
0
[ 41.1328125, 121.552734375, 140.185546875, 34.1015625, -54.228515625, 12.622221946716309 ]
[ 42.978515625, 121.81640625, 141.85546875, 35.068359375, -55.01953125, 11.964038848876953 ]
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": 21361,
    "total_tasks": 1,
    "total_videos": 100,
    "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": [
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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.eye": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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                640,
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            "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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