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Datasets:
kantine
/
kapla_tower_3_expert

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
kapla
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
Dataset Viewer
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action
sequence
observation.state
sequence
timestamp
float32
0
39.8
frame_index
int64
0
1.19k
episode_index
int64
0
14
index
int64
0
17.9k
task_index
int64
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[ -64.775390625, 182.8125, 160.400390625, 74.091796875, -25.83984375, 9.94371509552002 ]
[ -69.345703125, 189.404296875, 168.486328125, 74.794921875, -28.564453125, 7.652685642242432 ]
2.4
72
0
72
0
[ -63.017578125, 181.318359375, 158.115234375, 74.70703125, -24.9609375, 10.881800651550293 ]
[ -67.939453125, 187.3828125, 166.640625, 74.619140625, -27.59765625, 8.314937591552734 ]
2.433333
73
0
73
0
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[ -66.796875, 185.537109375, 164.619140625, 74.619140625, -26.806640625, 9.050772666931152 ]
2.466667
74
0
74
0
[ -58.623046875, 177.1875, 152.75390625, 76.2890625, -23.994140625, 11.726078987121582 ]
[ -65.302734375, 183.779296875, 162.685546875, 74.794921875, -26.015625, 9.860191345214844 ]
2.5
75
0
75
0
[ -56.162109375, 175.517578125, 150.29296875, 77.51953125, -23.818359375, 12.0075044631958 ]
[ -63.45703125, 182.109375, 160.400390625, 75.05859375, -25.224609375, 10.375275611877441 ]
2.533333
76
0
76
0
[ -53.4375, 173.935546875, 148.0078125, 78.3984375, -23.73046875, 12.195121765136719 ]
[ -61.435546875, 180.087890625, 157.939453125, 75.76171875, -24.78515625, 10.890360832214355 ]
2.566667
77
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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[ -54.31640625, 174.7265625, 150.732421875, 78.57421875, -24.345703125, 12.141280174255371 ]
2.666667
80
0
80
0
[ -40.693359375, 169.27734375, 143.7890625, 80.33203125, -26.3671875, 13.977485656738281 ]
[ -51.6796875, 173.14453125, 148.974609375, 79.365234375, -24.521484375, 12.582781791687012 ]
2.7
81
0
81
0
[ -37.177734375, 168.75, 143.7890625, 80.244140625, -27.333984375, 14.258912086486816 ]
[ -48.8671875, 171.826171875, 147.65625, 79.62890625, -25.13671875, 12.877115249633789 ]
2.733333
82
0
82
0
[ -33.75, 168.22265625, 143.7890625, 80.15625, -28.388671875, 14.258912086486816 ]
[ -45.703125, 170.859375, 146.953125, 79.892578125, -25.6640625, 13.392200469970703 ]
2.766667
83
0
83
0
[ -30.322265625, 167.958984375, 143.7890625, 80.244140625, -29.619140625, 14.446529388427734 ]
[ -42.5390625, 170.068359375, 146.513671875, 79.98046875, -26.279296875, 13.68653392791748 ]
2.8
84
0
84
0
[ -27.158203125, 167.51953125, 143.7890625, 80.15625, -30.9375, 14.634146690368652 ]
[ -39.111328125, 169.365234375, 146.25, 80.068359375, -27.509765625, 13.9072847366333 ]
2.833333
85
0
85
0
[ -23.642578125, 166.9921875, 143.7890625, 79.892578125, -32.080078125, 14.727954864501953 ]
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2.866667
86
0
86
0
[ -20.390625, 166.201171875, 143.701171875, 79.716796875, -33.310546875, 15.009381294250488 ]
[ -32.34375, 168.310546875, 145.986328125, 80.068359375, -29.70703125, 14.275202751159668 ]
2.9
87
0
87
0
[ -17.2265625, 165.146484375, 143.4375, 79.541015625, -34.541015625, 15.572232246398926 ]
[ -29.00390625, 167.783203125, 145.986328125, 80.068359375, -30.673828125, 14.495952606201172 ]
2.933333
88
0
88
0
[ -13.798828125, 163.828125, 143.0859375, 79.365234375, -35.419921875, 16.510318756103516 ]
[ -25.751953125, 167.080078125, 145.986328125, 80.068359375, -31.728515625, 14.716703414916992 ]
2.966667
89
0
89
0
[ -10.634765625, 162.333984375, 142.55859375, 79.013671875, -36.38671875, 16.88555335998535 ]
[ -22.32421875, 166.201171875, 145.8984375, 80.068359375, -33.134765625, 15.158205032348633 ]
3
90
0
90
0
[ -7.470703125, 160.576171875, 142.119140625, 78.75, -37.529296875, 16.97936248779297 ]
[ -18.896484375, 165.05859375, 145.546875, 80.068359375, -34.1015625, 15.820456504821777 ]
3.033333
91
0
91
0
[ -4.5703125, 158.73046875, 141.591796875, 78.22265625, -38.3203125, 17.917448043823242 ]
[ -15.732421875, 163.828125, 145.01953125, 79.8046875, -34.98046875, 16.188373565673828 ]
3.066667
92
0
92
0
[ -1.7578125, 156.796875, 140.888671875, 77.255859375, -38.84765625, 18.480300903320312 ]
[ -12.48046875, 162.421875, 144.4921875, 79.453125, -36.2109375, 16.556291580200195 ]
3.1
93
0
93
0
[ 0.791015625, 154.3359375, 140.185546875, 76.376953125, -39.462890625, 18.667917251586914 ]
[ -9.228515625, 160.751953125, 143.96484375, 78.92578125, -37.08984375, 17.144960403442383 ]
3.133333
94
0
94
0
[ 3.251953125, 151.875, 139.21875, 75.498046875, -40.078125, 19.04315185546875 ]
[ -6.240234375, 158.5546875, 143.349609375, 78.22265625, -37.79296875, 17.733627319335938 ]
3.166667
95
0
95
0
[ 5.537109375, 149.501953125, 138.33984375, 74.35546875, -40.341796875, 19.230770111083984 ]
[ -3.33984375, 156.533203125, 142.646484375, 77.431640625, -38.49609375, 18.101545333862305 ]
3.2
96
0
96
0
[ 7.646484375, 147.216796875, 137.373046875, 73.212890625, -40.693359375, 18.667917251586914 ]
[ -0.615234375, 154.51171875, 141.85546875, 76.640625, -39.111328125, 18.469463348388672 ]
3.233333
97
0
97
0
[ 9.4921875, 144.580078125, 136.142578125, 72.333984375, -41.30859375, 18.386491775512695 ]
[ 1.93359375, 152.314453125, 140.9765625, 75.673828125, -39.55078125, 18.61663055419922 ]
3.266667
98
0
98
0
[ 11.337890625, 142.119140625, 135, 71.103515625, -41.66015625, 18.19887351989746 ]
[ 4.306640625, 149.94140625, 140.09765625, 74.70703125, -40.078125, 18.61663055419922 ]
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": 15,
    "total_frames": 17925,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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.logitech_1": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.logitech_2": {
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            "names": [
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                "channels"
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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