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Datasets:
gxy1111
/
so100_tape_l

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
9.33
frame_index
int64
0
280
episode_index
int64
0
29
index
int64
0
7.21k
task_index
int64
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[ -15.1171875, 112.587890625, 121.9921875, 59.58984375, -30.76171875, 10.44260025024414 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
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0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -19.951171875, 103.974609375, 112.412109375, 64.599609375, -24.08203125, 13.969572067260742 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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2.8
84
0
84
0
[ -22.060546875, 99.755859375, 107.138671875, 62.666015625, -22.5, 14.755556106567383 ]
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
[ -22.412109375, 97.91015625, 107.2265625, 60.8203125, -22.587890625, 14.04444408416748 ]
[ -21.357421875, 98.701171875, 111.708984375, 63.369140625, -22.939453125, 14.453665733337402 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -21.708984375, 97.470703125, 111.708984375, 62.314453125, -22.939453125, 14.453665733337402 ]
3
90
0
90
0
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[ -21.708984375, 96.85546875, 111.708984375, 61.611328125, -22.939453125, 14.453665733337402 ]
3.033333
91
0
91
0
[ -22.587890625, 95.80078125, 107.75390625, 58.095703125, -22.763671875, 12.177778244018555 ]
[ -21.708984375, 96.328125, 111.708984375, 60.908203125, -22.939453125, 14.177041053771973 ]
3.066667
92
0
92
0
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[ -21.708984375, 95.80078125, 111.708984375, 60.29296875, -22.939453125, 13.762103080749512 ]
3.1
93
0
93
0
[ -22.67578125, 95.185546875, 107.75390625, 57.12890625, -23.02734375, 8.533332824707031 ]
[ -21.708984375, 95.2734375, 111.708984375, 59.677734375, -22.939453125, 13.278009414672852 ]
3.133333
94
0
94
0
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[ -21.796875, 94.833984375, 111.708984375, 59.0625, -22.939453125, 12.378976821899414 ]
3.166667
95
0
95
0
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[ -21.884765625, 94.5703125, 111.708984375, 58.53515625, -22.939453125, 10.995850563049316 ]
3.2
96
0
96
0
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[ -21.97265625, 94.5703125, 111.708984375, 58.095703125, -22.939453125, 9.474411964416504 ]
3.233333
97
0
97
0
[ -22.939453125, 94.482421875, 108.6328125, 54.4921875, -23.73046875, 5.244444370269775 ]
[ -22.060546875, 94.482421875, 111.708984375, 57.48046875, -22.939453125, 8.367911338806152 ]
3.266667
98
0
98
0
[ -23.02734375, 94.130859375, 108.80859375, 53.96484375, -24.08203125, 4.44444465637207 ]
[ -22.060546875, 94.482421875, 111.708984375, 56.865234375, -22.939453125, 7.330567359924316 ]
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": 7211,
    "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",
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        "observation.images.wrist": {
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            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
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                "video.codec": "av1",
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "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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