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Datasets:
gxy1111
/
so100_tape

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
9.87
frame_index
int64
0
296
episode_index
int64
0
49
index
int64
0
12.7k
task_index
int64
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[ -9.404296875, 149.150390625, 143.701171875, 64.6875, -42.626953125, 3.555555582046509 ]
[ -8.349609375, 166.46484375, 158.642578125, 64.86328125, -57.12890625, 1.7289074659347534 ]
2.5
75
0
75
0
[ -9.404296875, 144.66796875, 139.21875, 66.09375, -39.19921875, 4.622221946716309 ]
[ -8.96484375, 161.19140625, 154.423828125, 64.775390625, -53.525390625, 2.0055325031280518 ]
2.533333
76
0
76
0
[ -9.404296875, 140.185546875, 134.912109375, 67.587890625, -35.859375, 5.955555438995361 ]
[ -8.96484375, 156.796875, 150.1171875, 65.0390625, -49.658203125, 2.5587828159332275 ]
2.566667
77
0
77
0
[ -9.404296875, 135.791015625, 130.341796875, 69.43359375, -32.16796875, 7.8222222328186035 ]
[ -8.349609375, 152.490234375, 145.72265625, 65.56640625, -45.87890625, 3.457814931869507 ]
2.6
78
0
78
0
[ -9.404296875, 131.572265625, 125.859375, 71.54296875, -28.388671875, 10.755555152893066 ]
[ -8.26171875, 148.095703125, 141.328125, 66.62109375, -42.1875, 4.4260029792785645 ]
2.633333
79
0
79
0
[ -9.4921875, 127.96875, 121.9921875, 73.212890625, -24.873046875, 12.622221946716309 ]
[ -8.525390625, 143.701171875, 137.021484375, 67.939453125, -38.759765625, 5.809128761291504 ]
2.666667
80
0
80
0
[ -9.84375, 125.244140625, 118.740234375, 74.091796875, -22.1484375, 13.155555725097656 ]
[ -8.61328125, 139.04296875, 132.5390625, 69.609375, -35.15625, 7.745505332946777 ]
2.7
81
0
81
0
[ -10.37109375, 123.22265625, 116.19140625, 74.794921875, -19.86328125, 13.866665840148926 ]
[ -8.61328125, 134.47265625, 128.3203125, 71.279296875, -31.376953125, 9.889349937438965 ]
2.733333
82
0
82
0
[ -10.986328125, 121.552734375, 114.08203125, 75.05859375, -17.75390625, 14.133332252502441 ]
[ -9.052734375, 130.341796875, 124.716796875, 72.59765625, -27.94921875, 11.272476196289062 ]
2.766667
83
0
83
0
[ -11.77734375, 119.8828125, 112.236328125, 75.146484375, -15.908203125, 13.95555591583252 ]
[ -9.4921875, 126.650390625, 121.81640625, 73.388671875, -24.697265625, 12.102351188659668 ]
2.8
84
0
84
0
[ -12.744140625, 118.125, 110.478515625, 75.5859375, -14.326171875, 14.222222328186035 ]
[ -10.107421875, 123.662109375, 119.443359375, 74.091796875, -21.796875, 12.793914794921875 ]
2.833333
85
0
85
0
[ -13.53515625, 116.54296875, 108.80859375, 76.025390625, -13.0078125, 14.666666030883789 ]
[ -10.72265625, 121.11328125, 117.24609375, 74.53125, -19.3359375, 13.070540428161621 ]
2.866667
86
0
86
0
[ -14.326171875, 114.9609375, 107.40234375, 76.11328125, -11.337890625, 14.933332443237305 ]
[ -11.6015625, 119.091796875, 115.224609375, 74.8828125, -17.2265625, 13.416321754455566 ]
2.9
87
0
87
0
[ -15.029296875, 113.466796875, 105.908203125, 76.552734375, -9.755859375, 15.466666221618652 ]
[ -12.392578125, 117.24609375, 113.466796875, 75.322265625, -15.46875, 13.762103080749512 ]
2.933333
88
0
88
0
[ -15.732421875, 112.236328125, 104.58984375, 76.81640625, -9.052734375, 15.555556297302246 ]
[ -13.095703125, 115.400390625, 111.796875, 75.673828125, -13.798828125, 14.177041053771973 ]
2.966667
89
0
89
0
[ -16.34765625, 111.26953125, 103.7109375, 76.81640625, -8.349609375, 15.644444465637207 ]
[ -13.798828125, 113.73046875, 110.302734375, 76.025390625, -12.216796875, 14.591978073120117 ]
3
90
0
90
0
[ -16.962890625, 110.390625, 103.0078125, 76.728515625, -7.734375, 15.644444465637207 ]
[ -14.501953125, 112.236328125, 109.072265625, 76.376953125, -10.8984375, 14.799447059631348 ]
3.033333
91
0
91
0
[ -17.490234375, 109.423828125, 102.65625, 76.552734375, -7.55859375, 15.377778053283691 ]
[ -15.1171875, 111.005859375, 107.9296875, 76.46484375, -9.84375, 15.006916046142578 ]
3.066667
92
0
92
0
[ -18.017578125, 108.544921875, 102.568359375, 76.11328125, -7.294921875, 15.199999809265137 ]
[ -15.64453125, 109.951171875, 107.138671875, 76.46484375, -9.052734375, 15.076072692871094 ]
3.1
93
0
93
0
[ -18.369140625, 107.666015625, 102.744140625, 75.41015625, -7.03125, 15.022222518920898 ]
[ -16.34765625, 109.16015625, 106.69921875, 76.46484375, -8.4375, 15.076072692871094 ]
3.133333
94
0
94
0
[ -18.6328125, 106.962890625, 102.919921875, 74.619140625, -6.6796875, 14.755556106567383 ]
[ -16.875, 108.193359375, 106.34765625, 76.376953125, -8.0859375, 15.076072692871094 ]
3.166667
95
0
95
0
[ -18.80859375, 106.259765625, 103.0078125, 73.916015625, -6.416015625, 14.755556106567383 ]
[ -17.314453125, 107.2265625, 106.259765625, 76.025390625, -7.734375, 15.076072692871094 ]
3.2
96
0
96
0
[ -18.984375, 105.46875, 103.0078125, 73.125, -6.240234375, 14.577777862548828 ]
[ -17.666015625, 106.34765625, 106.259765625, 75.498046875, -7.470703125, 15.006916046142578 ]
3.233333
97
0
97
0
[ -19.16015625, 104.58984375, 102.919921875, 72.421875, -6.15234375, 14.311111450195312 ]
[ -17.9296875, 105.732421875, 106.259765625, 74.970703125, -7.119140625, 15.006916046142578 ]
3.266667
98
0
98
0
[ -19.3359375, 103.7109375, 102.65625, 71.806640625, -6.15234375, 14.222222328186035 ]
[ -18.193359375, 104.94140625, 106.259765625, 74.267578125, -6.85546875, 15.006916046142578 ]
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": 12680,
    "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": [
                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
            ],
            "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": {
                "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
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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