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Datasets:
gxy1111
/
so100_soft2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
13.8
frame_index
int64
0
414
episode_index
int64
0
29
index
int64
0
9.14k
task_index
int64
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0
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[ 15.380859375, 167.958984375, 158.73046875, 67.763671875, -38.671875, 5.255878448486328 ]
2.5
75
0
75
0
[ 24.169921875, 153.369140625, 147.041015625, 64.599609375, -30.76171875, 8.355555534362793 ]
[ 17.2265625, 165.234375, 156.97265625, 67.236328125, -36.9140625, 6.016597747802734 ]
2.533333
76
0
76
0
[ 26.103515625, 149.58984375, 144.84375, 63.896484375, -29.53125, 8.533332824707031 ]
[ 19.072265625, 162.333984375, 155.0390625, 66.708984375, -35.33203125, 6.56984806060791 ]
2.566667
77
0
77
0
[ 28.037109375, 145.810546875, 142.55859375, 63.017578125, -28.30078125, 8.711111068725586 ]
[ 20.830078125, 158.994140625, 153.10546875, 66.181640625, -33.662109375, 7.261411190032959 ]
2.6
78
0
78
0
[ 29.8828125, 141.943359375, 140.185546875, 62.40234375, -27.333984375, 9.066666603088379 ]
[ 22.763671875, 155.56640625, 150.99609375, 65.56640625, -32.255859375, 7.607192516326904 ]
2.633333
79
0
79
0
[ 31.728515625, 138.1640625, 137.724609375, 61.787109375, -26.455078125, 9.688889503479004 ]
[ 24.609375, 151.962890625, 148.798828125, 64.86328125, -31.025390625, 7.883817672729492 ]
2.666667
80
0
80
0
[ 33.57421875, 135, 135.52734375, 61.171875, -25.83984375, 10.40000057220459 ]
[ 26.455078125, 148.271484375, 146.513671875, 64.16015625, -29.794921875, 8.229598999023438 ]
2.7
81
0
81
0
[ 35.244140625, 131.748046875, 133.2421875, 60.732421875, -25.576171875, 10.844444274902344 ]
[ 28.30078125, 144.404296875, 144.140625, 63.544921875, -28.740234375, 8.644536972045898 ]
2.733333
82
0
82
0
[ 36.826171875, 128.14453125, 130.869140625, 60.556640625, -25.400390625, 11.288888931274414 ]
[ 30.234375, 140.537109375, 141.85546875, 62.841796875, -27.685546875, 9.405256271362305 ]
2.766667
83
0
83
0
[ 38.408203125, 124.365234375, 128.49609375, 60.556640625, -25.048828125, 11.911110877990723 ]
[ 31.9921875, 136.669921875, 139.658203125, 62.314453125, -26.982421875, 9.889349937438965 ]
2.8
84
0
84
0
[ 39.814453125, 121.11328125, 126.298828125, 60.380859375, -24.521484375, 12.533333778381348 ]
[ 33.75, 133.154296875, 137.28515625, 61.962890625, -26.71875, 10.304287910461426 ]
2.833333
85
0
85
0
[ 41.30859375, 118.65234375, 124.8046875, 59.765625, -23.642578125, 13.688889503479004 ]
[ 35.419921875, 129.462890625, 135, 61.787109375, -26.455078125, 10.650069236755371 ]
2.866667
86
0
86
0
[ 42.5390625, 116.806640625, 123.75, 58.88671875, -22.8515625, 15.022222518920898 ]
[ 36.9140625, 125.771484375, 132.71484375, 61.5234375, -25.927734375, 11.134162902832031 ]
2.9
87
0
87
0
[ 43.505859375, 115.3125, 123.22265625, 57.83203125, -22.5, 15.911110877990723 ]
[ 38.3203125, 122.255859375, 130.517578125, 61.083984375, -25.224609375, 11.964038848876953 ]
2.933333
88
0
88
0
[ 44.208984375, 113.994140625, 122.783203125, 57.041015625, -22.1484375, 17.155555725097656 ]
[ 39.814453125, 119.267578125, 128.935546875, 60.380859375, -24.697265625, 13.001383781433105 ]
2.966667
89
0
89
0
[ 44.82421875, 112.8515625, 122.51953125, 56.25, -21.533203125, 18.577777862548828 ]
[ 41.044921875, 116.89453125, 127.96875, 59.501953125, -23.994140625, 13.900415420532227 ]
3
90
0
90
0
[ 45.3515625, 111.708984375, 122.431640625, 55.283203125, -21.005859375, 19.0222225189209 ]
[ 42.275390625, 115.048828125, 127.265625, 58.7109375, -23.5546875, 14.937760353088379 ]
3.033333
91
0
91
0
[ 45.703125, 110.654296875, 122.34375, 54.404296875, -20.56640625, 19.644445419311523 ]
[ 43.154296875, 113.466796875, 126.650390625, 57.919921875, -23.02734375, 16.25172996520996 ]
3.066667
92
0
92
0
[ 46.0546875, 109.599609375, 122.34375, 53.4375, -19.951171875, 20.355554580688477 ]
[ 43.857421875, 112.1484375, 126.298828125, 57.041015625, -22.5, 17.358230590820312 ]
3.1
93
0
93
0
[ 46.494140625, 108.6328125, 122.255859375, 52.470703125, -19.3359375, 20.53333282470703 ]
[ 44.384765625, 110.91796875, 126.03515625, 56.162109375, -21.97265625, 18.11894989013672 ]
3.133333
94
0
94
0
[ 46.669921875, 107.75390625, 122.080078125, 51.50390625, -18.984375, 20.355554580688477 ]
[ 44.6484375, 109.775390625, 125.859375, 55.37109375, -21.4453125, 18.81051254272461 ]
3.166667
95
0
95
0
[ 46.845703125, 107.05078125, 121.9921875, 50.625, -18.369140625, 20.266666412353516 ]
[ 45, 108.6328125, 125.68359375, 54.404296875, -20.91796875, 19.22545051574707 ]
3.2
96
0
96
0
[ 46.93359375, 106.435546875, 121.81640625, 49.833984375, -17.578125, 20.266666412353516 ]
[ 45.3515625, 107.578125, 125.68359375, 53.525390625, -20.390625, 19.432918548583984 ]
3.233333
97
0
97
0
[ 46.93359375, 106.083984375, 121.728515625, 49.130859375, -16.69921875, 20.355554580688477 ]
[ 45.703125, 106.875, 125.771484375, 52.55859375, -19.6875, 19.571231842041016 ]
3.266667
98
0
98
0
[ 46.7578125, 105.8203125, 121.728515625, 48.427734375, -15.908203125, 20.53333282470703 ]
[ 45.966796875, 106.171875, 125.771484375, 51.767578125, -19.248046875, 19.571231842041016 ]
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": 30,
    "total_frames": 9136,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
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                640,
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            "names": [
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                "video.pix_fmt": "yuv420p",
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        "observation.images.wrist": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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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License:
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