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Datasets:
gxy1111
/
so100_stick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
16.7
frame_index
int64
0
501
episode_index
int64
0
49
index
int64
0
16.4k
task_index
int64
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[ -7.998046875, 192.392578125, 177.451171875, 71.015625, -71.806640625, 7.745505332946777 ]
2.4
72
0
72
0
[ -9.931640625, 191.689453125, 176.396484375, 69.873046875, -68.818359375, 9.955554962158203 ]
[ -8.349609375, 192.392578125, 177.36328125, 71.015625, -71.103515625, 8.367911338806152 ]
2.433333
73
0
73
0
[ -10.283203125, 191.6015625, 175.95703125, 69.873046875, -68.291015625, 9.777777671813965 ]
[ -8.701171875, 192.392578125, 177.1875, 71.015625, -70.48828125, 9.128630638122559 ]
2.466667
74
0
74
0
[ -10.546875, 191.689453125, 175.693359375, 69.873046875, -67.8515625, 9.777777671813965 ]
[ -9.140625, 192.3046875, 177.01171875, 71.015625, -69.9609375, 9.26694393157959 ]
2.5
75
0
75
0
[ -10.810546875, 191.689453125, 175.341796875, 69.697265625, -67.412109375, 9.777777671813965 ]
[ -9.4921875, 192.216796875, 176.923828125, 71.015625, -69.345703125, 9.336099624633789 ]
2.533333
76
0
76
0
[ -10.986328125, 191.77734375, 175.25390625, 69.609375, -67.060546875, 9.955554962158203 ]
[ -9.755859375, 192.041015625, 176.923828125, 71.015625, -68.90625, 9.405256271362305 ]
2.566667
77
0
77
0
[ -11.25, 191.953125, 175.166015625, 69.609375, -67.060546875, 10.222222328186035 ]
[ -10.01953125, 192.041015625, 176.484375, 70.83984375, -68.466796875, 9.405256271362305 ]
2.6
78
0
78
0
[ -11.513671875, 192.216796875, 175.166015625, 69.345703125, -67.1484375, 10.40000057220459 ]
[ -10.283203125, 192.12890625, 176.1328125, 70.751953125, -68.115234375, 9.54356861114502 ]
2.633333
79
0
79
0
[ -11.689453125, 192.216796875, 175.078125, 68.90625, -67.1484375, 10.755555152893066 ]
[ -10.458984375, 192.12890625, 175.95703125, 70.751953125, -67.939453125, 9.820194244384766 ]
2.666667
80
0
80
0
[ -11.953125, 192.216796875, 174.90234375, 68.291015625, -67.060546875, 11.111111640930176 ]
[ -10.810546875, 192.12890625, 175.78125, 70.48828125, -67.8515625, 10.02766227722168 ]
2.7
81
0
81
0
[ -12.041015625, 192.216796875, 174.7265625, 67.587890625, -67.060546875, 11.733332633972168 ]
[ -11.07421875, 191.953125, 175.693359375, 70.13671875, -67.763671875, 10.23513126373291 ]
2.733333
82
0
82
0
[ -12.041015625, 192.041015625, 174.462890625, 66.796875, -66.884765625, 12.355555534362793 ]
[ -11.25, 191.77734375, 175.517578125, 69.697265625, -67.67578125, 10.580912590026855 ]
2.766667
83
0
83
0
[ -12.041015625, 191.6015625, 174.287109375, 65.56640625, -66.884765625, 12.800000190734863 ]
[ -11.42578125, 191.77734375, 175.25390625, 69.169921875, -67.67578125, 11.134162902832031 ]
2.8
84
0
84
0
[ -12.041015625, 190.810546875, 174.111328125, 64.072265625, -66.884765625, 13.95555591583252 ]
[ -11.513671875, 191.77734375, 175.078125, 68.466796875, -67.67578125, 11.549100875854492 ]
2.833333
85
0
85
0
[ -11.865234375, 189.66796875, 174.0234375, 62.314453125, -67.32421875, 14.755556106567383 ]
[ -11.513671875, 191.689453125, 174.814453125, 67.412109375, -67.67578125, 11.964038848876953 ]
2.866667
86
0
86
0
[ -11.865234375, 188.349609375, 174.0234375, 60.205078125, -67.763671875, 15.733332633972168 ]
[ -11.42578125, 191.6015625, 174.638671875, 66.26953125, -67.67578125, 12.724759101867676 ]
2.9
87
0
87
0
[ -11.865234375, 186.85546875, 174.111328125, 57.65625, -67.939453125, 16.799999237060547 ]
[ -11.42578125, 191.337890625, 174.55078125, 64.86328125, -67.67578125, 13.554634094238281 ]
2.933333
88
0
88
0
[ -11.953125, 185.44921875, 174.287109375, 55.107421875, -68.115234375, 17.600000381469727 ]
[ -11.513671875, 190.1953125, 174.55078125, 63.10546875, -67.67578125, 14.384510040283203 ]
2.966667
89
0
89
0
[ -12.216796875, 184.130859375, 174.375, 52.646484375, -67.939453125, 18.577777862548828 ]
[ -11.513671875, 188.26171875, 174.55078125, 60.99609375, -67.67578125, 15.421854019165039 ]
3
90
0
90
0
[ -12.744140625, 183.1640625, 174.7265625, 50.09765625, -67.32421875, 19.55555534362793 ]
[ -11.513671875, 186.767578125, 174.55078125, 58.798828125, -67.67578125, 16.25172996520996 ]
3.033333
91
0
91
0
[ -13.18359375, 182.4609375, 175.341796875, 47.548828125, -66.97265625, 20 ]
[ -11.513671875, 185.80078125, 174.55078125, 56.513671875, -67.67578125, 17.289073944091797 ]
3.066667
92
0
92
0
[ -13.53515625, 181.318359375, 176.044921875, 44.560546875, -66.62109375, 20.9777774810791 ]
[ -11.689453125, 184.5703125, 174.55078125, 54.052734375, -67.67578125, 18.1881046295166 ]
3.1
93
0
93
0
[ -13.7109375, 180.087890625, 176.66015625, 41.572265625, -66.533203125, 21.600000381469727 ]
[ -12.216796875, 183.603515625, 174.55078125, 51.591796875, -67.67578125, 18.879669189453125 ]
3.133333
94
0
94
0
[ -13.7109375, 178.681640625, 177.099609375, 38.49609375, -66.357421875, 22.400001525878906 ]
[ -12.65625, 182.8125, 174.55078125, 49.04296875, -67.67578125, 19.64038848876953 ]
3.166667
95
0
95
0
[ -13.447265625, 176.748046875, 177.099609375, 35.33203125, -66.09375, 23.19999885559082 ]
[ -12.919921875, 181.494140625, 175.078125, 46.40625, -67.67578125, 20.47026252746582 ]
3.2
96
0
96
0
[ -13.18359375, 174.814453125, 177.099609375, 32.51953125, -66.005859375, 24 ]
[ -13.0078125, 180.17578125, 175.693359375, 43.41796875, -67.5, 21.230981826782227 ]
3.233333
97
0
97
0
[ -13.18359375, 172.880859375, 176.923828125, 30.322265625, -66.4453125, 24.266666412353516 ]
[ -13.0078125, 178.76953125, 176.044921875, 40.4296875, -67.1484375, 22.06085777282715 ]
3.266667
98
0
98
0
[ -13.18359375, 171.38671875, 176.8359375, 28.828125, -66.796875, 24.35555648803711 ]
[ -13.0078125, 176.923828125, 176.1328125, 37.44140625, -66.97265625, 22.75242042541504 ]
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": 16389,
    "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
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            "names": [
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            "info": {
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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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                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "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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Number of rows:
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