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Datasets:
masato-ka
/
so100_table_assistant

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
896
episode_index
int64
0
49
index
int64
0
43.4k
task_index
int64
0
6
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[ -1.0546875, 186.416015625, 165.498046875, 41.572265625, 2.8125, -0.5780346393585205 ]
[ -1.23046875, 189.4921875, 174.111328125, 41.484375, 4.130859375, 0.08818341791629791 ]
2.333333
70
0
70
0
[ -0.87890625, 184.130859375, 163.30078125, 41.572265625, 2.548828125, -0.5780346393585205 ]
[ -1.23046875, 189.31640625, 172.529296875, 41.484375, 3.8671875, 0.08818341791629791 ]
2.366667
71
0
71
0
[ -0.703125, 181.142578125, 160.751953125, 41.396484375, 2.373046875, -0.5780346393585205 ]
[ -1.23046875, 188.349609375, 170.68359375, 41.484375, 3.427734375, 0.08818341791629791 ]
2.4
72
0
72
0
[ -0.439453125, 177.5390625, 157.763671875, 41.220703125, 2.197265625, -0.5780346393585205 ]
[ -1.23046875, 186.85546875, 168.57421875, 41.484375, 2.98828125, 0.08818341791629791 ]
2.433333
73
0
73
0
[ -0.263671875, 173.49609375, 154.248046875, 41.1328125, 2.109375, -0.5780346393585205 ]
[ -1.23046875, 185.09765625, 166.376953125, 41.484375, 2.724609375, 0.08818341791629791 ]
2.466667
74
0
74
0
[ -0.087890625, 168.662109375, 150.205078125, 41.1328125, 1.7578125, -0.5780346393585205 ]
[ -1.142578125, 182.724609375, 164.267578125, 41.484375, 2.548828125, 0.08818341791629791 ]
2.5
75
0
75
0
[ 0.439453125, 163.125, 145.458984375, 41.748046875, 1.142578125, -0.5780346393585205 ]
[ -1.142578125, 180.703125, 162.421875, 41.484375, 2.28515625, 0.08818341791629791 ]
2.533333
76
0
76
0
[ 1.142578125, 158.02734375, 140.537109375, 42.5390625, 0.17578125, -0.5780346393585205 ]
[ -0.87890625, 178.505859375, 158.90625, 41.66015625, 1.93359375, 0.08818341791629791 ]
2.566667
77
0
77
0
[ 2.109375, 153.984375, 136.93359375, 42.71484375, -1.23046875, -0.5780346393585205 ]
[ -0.3515625, 175.78125, 154.6875, 42.01171875, 1.40625, 0.08818341791629791 ]
2.6
78
0
78
0
[ 3.251953125, 150.99609375, 133.330078125, 43.330078125, -2.109375, -0.5780346393585205 ]
[ 0.263671875, 172.44140625, 150.205078125, 42.451171875, 0.52734375, 0.08818341791629791 ]
2.633333
79
0
79
0
[ 3.779296875, 149.150390625, 130.4296875, 43.857421875, -2.373046875, -0.5780346393585205 ]
[ 0.966796875, 167.431640625, 146.07421875, 42.978515625, -0.3515625, 0.08818341791629791 ]
2.666667
80
0
80
0
[ 4.5703125, 147.3046875, 127.265625, 44.912109375, -2.63671875, -0.5780346393585205 ]
[ 1.845703125, 162.421875, 141.943359375, 43.41796875, -1.142578125, 0.08818341791629791 ]
2.7
81
0
81
0
[ 5.44921875, 145.283203125, 124.453125, 45.52734375, -3.076171875, -0.5780346393585205 ]
[ 2.724609375, 158.115234375, 138.1640625, 43.9453125, -1.669921875, 0.08818341791629791 ]
2.733333
82
0
82
0
[ 6.416015625, 143.349609375, 121.46484375, 46.0546875, -4.130859375, -0.5780346393585205 ]
[ 3.427734375, 153.6328125, 134.560546875, 44.736328125, -2.109375, 0.08818341791629791 ]
2.766667
83
0
83
0
[ 7.470703125, 141.240234375, 118.4765625, 46.7578125, -5.537109375, -0.5780346393585205 ]
[ 4.21875, 150.205078125, 131.396484375, 45.3515625, -2.724609375, 0.08818341791629791 ]
2.8
84
0
84
0
[ 8.701171875, 139.130859375, 115.3125, 47.724609375, -7.470703125, -0.5780346393585205 ]
[ 5.009765625, 147.12890625, 128.408203125, 45.966796875, -3.603515625, 0.08818341791629791 ]
2.833333
85
0
85
0
[ 9.84375, 137.109375, 112.412109375, 47.900390625, -9.84375, -0.5780346393585205 ]
[ 5.888671875, 144.4921875, 125.595703125, 46.7578125, -4.921875, 0.08818341791629791 ]
2.866667
86
0
86
0
[ 10.986328125, 135.087890625, 109.599609375, 47.900390625, -12.392578125, -0.5780346393585205 ]
[ 6.943359375, 141.85546875, 122.87109375, 47.4609375, -6.416015625, 0.08818341791629791 ]
2.9
87
0
87
0
[ 12.12890625, 133.06640625, 106.875, 47.8125, -14.326171875, -0.48169559240341187 ]
[ 7.998046875, 139.658203125, 119.970703125, 47.724609375, -8.173828125, 0.08818341791629791 ]
2.933333
88
0
88
0
[ 13.271484375, 131.044921875, 104.150390625, 47.8125, -16.171875, -0.48169559240341187 ]
[ 9.140625, 137.724609375, 116.806640625, 47.724609375, -10.37109375, 0.08818341791629791 ]
2.966667
89
0
89
0
[ 14.23828125, 129.19921875, 101.6015625, 47.8125, -17.75390625, -0.48169559240341187 ]
[ 10.283203125, 135.791015625, 113.818359375, 47.724609375, -12.3046875, 0.08818341791629791 ]
3
90
0
90
0
[ 15.1171875, 127.529296875, 99.052734375, 47.8125, -18.984375, -0.38535645604133606 ]
[ 11.42578125, 133.59375, 110.91796875, 47.724609375, -14.0625, 0.08818341791629791 ]
3.033333
91
0
91
0
[ 15.99609375, 125.771484375, 96.591796875, 47.8125, -20.126953125, -0.38535645604133606 ]
[ 12.392578125, 131.484375, 108.193359375, 47.724609375, -15.8203125, 0.08818341791629791 ]
3.066667
92
0
92
0
[ 16.69921875, 124.1015625, 93.8671875, 47.8125, -21.181640625, 0.28901731967926025 ]
[ 13.447265625, 129.462890625, 105.556640625, 47.724609375, -17.314453125, 0.08818341791629791 ]
3.1
93
0
93
0
[ 17.40234375, 122.255859375, 91.23046875, 47.8125, -22.5, 3.757225275039673 ]
[ 14.326171875, 127.6171875, 103.095703125, 47.724609375, -18.544921875, 0.08818341791629791 ]
3.133333
94
0
94
0
[ 18.017578125, 120.5859375, 88.857421875, 47.8125, -24.345703125, 6.26204252243042 ]
[ 15.29296875, 125.68359375, 100.37109375, 47.724609375, -19.951171875, 0.35273367166519165 ]
3.166667
95
0
95
0
[ 18.6328125, 118.916015625, 86.484375, 47.8125, -25.751953125, 8.76685905456543 ]
[ 16.083984375, 123.837890625, 97.91015625, 47.724609375, -21.357421875, 1.763668417930603 ]
3.2
96
0
96
0
[ 19.248046875, 117.333984375, 84.462890625, 47.8125, -27.158203125, 11.65703296661377 ]
[ 16.787109375, 122.080078125, 95.44921875, 47.724609375, -22.763671875, 4.0564374923706055 ]
3.233333
97
0
97
0
[ 19.951171875, 115.6640625, 82.44140625, 47.8125, -28.4765625, 14.836223602294922 ]
[ 17.490234375, 120.322265625, 92.98828125, 47.724609375, -24.2578125, 6.261023044586182 ]
3.266667
98
0
98
0
[ 20.56640625, 113.90625, 80.5078125, 47.8125, -29.794921875, 17.05202293395996 ]
[ 18.193359375, 118.564453125, 90.615234375, 47.724609375, -25.6640625, 8.906525611877441 ]
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": 26243,
    "total_tasks": 4,
    "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.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.wrist.right": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
43,386