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Datasets:
gxy1111
/
so100_soft_l

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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
9.73
frame_index
int64
0
292
episode_index
int64
0
29
index
int64
0
7.89k
task_index
int64
0
0
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[ 15.64453125, 149.501953125, 137.109375, 63.017578125, -45.52734375, 0 ]
[ 12.392578125, 161.015625, 150.029296875, 64.072265625, -57.392578125, 0.6224066615104675 ]
2.433333
73
0
73
0
[ 16.69921875, 145.810546875, 134.384765625, 63.017578125, -42.01171875, 0 ]
[ 13.623046875, 157.67578125, 147.041015625, 63.984375, -54.31640625, 0.6224066615104675 ]
2.466667
74
0
74
0
[ 17.666015625, 141.943359375, 131.484375, 63.017578125, -38.3203125, 0 ]
[ 14.94140625, 154.248046875, 144.052734375, 63.984375, -51.15234375, 0.6224066615104675 ]
2.5
75
0
75
0
[ 18.6328125, 137.724609375, 128.671875, 63.017578125, -34.541015625, 0 ]
[ 15.8203125, 150.908203125, 141.064453125, 63.984375, -47.8125, 0.6224066615104675 ]
2.533333
76
0
76
0
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[ 16.611328125, 147.392578125, 138.251953125, 63.984375, -44.296875, 0.6224066615104675 ]
2.566667
77
0
77
0
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[ 17.138671875, 143.61328125, 135.3515625, 63.984375, -40.95703125, 0.6224066615104675 ]
2.6
78
0
78
0
[ 20.390625, 125.244140625, 120.498046875, 62.138671875, -24.873046875, 0.7111111283302307 ]
[ 17.841796875, 139.5703125, 132.36328125, 63.896484375, -37.353515625, 0.6224066615104675 ]
2.633333
79
0
79
0
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[ 18.544921875, 135.3515625, 129.375, 63.544921875, -33.837890625, 0.6224066615104675 ]
2.666667
80
0
80
0
[ 21.26953125, 117.24609375, 114.9609375, 61.611328125, -19.51171875, 4.44444465637207 ]
[ 19.248046875, 131.220703125, 126.650390625, 63.017578125, -30.498046875, 0.6224066615104675 ]
2.7
81
0
81
0
[ 21.884765625, 113.37890625, 111.97265625, 61.5234375, -17.2265625, 6.577777862548828 ]
[ 19.775390625, 127.177734375, 123.92578125, 62.75390625, -27.333984375, 0.7607192397117615 ]
2.733333
82
0
82
0
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[ 20.302734375, 122.958984375, 121.201171875, 62.578125, -24.697265625, 2.1438450813293457 ]
2.766667
83
0
83
0
[ 23.90625, 105.732421875, 105.64453125, 60.8203125, -14.765625, 8.444443702697754 ]
[ 21.005859375, 118.916015625, 118.4765625, 62.40234375, -21.97265625, 3.803596258163452 ]
2.8
84
0
84
0
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[ 21.796875, 114.873046875, 115.48828125, 62.05078125, -19.3359375, 5.463347434997559 ]
2.833333
85
0
85
0
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[ 22.763671875, 110.830078125, 112.412109375, 61.5234375, -16.962890625, 6.639004707336426 ]
2.866667
86
0
86
0
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[ 23.90625, 106.787109375, 109.599609375, 60.732421875, -15.556640625, 7.95297384262085 ]
2.9
87
0
87
0
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[ 25.224609375, 103.271484375, 106.962890625, 59.677734375, -14.58984375, 9.612725257873535 ]
2.933333
88
0
88
0
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[ 26.455078125, 100.107421875, 104.501953125, 58.271484375, -13.623046875, 10.788381576538086 ]
2.966667
89
0
89
0
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[ 27.685546875, 97.55859375, 103.0078125, 56.42578125, -13.447265625, 11.964038848876953 ]
3
90
0
90
0
[ 32.080078125, 92.900390625, 97.822265625, 47.724609375, -15.8203125, 14.488889694213867 ]
[ 28.828125, 95.80078125, 102.12890625, 53.96484375, -13.447265625, 12.65560245513916 ]
3.033333
91
0
91
0
[ 32.6953125, 91.845703125, 97.55859375, 46.318359375, -17.138671875, 14.577777862548828 ]
[ 29.8828125, 94.306640625, 101.513671875, 51.767578125, -13.623046875, 13.13969612121582 ]
3.066667
92
0
92
0
[ 33.22265625, 91.0546875, 97.646484375, 45, -18.369140625, 14.577777862548828 ]
[ 30.76171875, 93.076171875, 101.07421875, 49.921875, -14.23828125, 13.485477447509766 ]
3.1
93
0
93
0
[ 33.662109375, 90.263671875, 97.734375, 44.47265625, -19.599609375, 14.755556106567383 ]
[ 31.552734375, 91.93359375, 100.634765625, 48.251953125, -15.205078125, 13.692946434020996 ]
3.133333
94
0
94
0
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[ 32.255859375, 90.791015625, 100.37109375, 47.021484375, -16.259765625, 13.900415420532227 ]
3.166667
95
0
95
0
[ 34.62890625, 88.9453125, 97.822265625, 43.9453125, -20.302734375, 16.44444465637207 ]
[ 32.87109375, 89.912109375, 100.37109375, 46.318359375, -17.40234375, 14.038727760314941 ]
3.2
96
0
96
0
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[ 33.310546875, 89.12109375, 100.37109375, 45.703125, -18.28125, 14.453665733337402 ]
3.233333
97
0
97
0
[ 35.419921875, 88.154296875, 98.525390625, 43.41796875, -21.09375, 18.133333206176758 ]
[ 33.662109375, 88.59375, 100.37109375, 45.17578125, -19.248046875, 15.076072692871094 ]
3.266667
98
0
98
0
[ 35.771484375, 87.71484375, 98.96484375, 42.978515625, -21.357421875, 18.577777862548828 ]
[ 34.013671875, 88.06640625, 100.37109375, 44.82421875, -19.775390625, 15.9059476852417 ]
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": 7890,
    "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,
                3
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            "names": [
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.channels": 3,
                "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
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        "index": {
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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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