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Datasets:
yuz1wan
/
so100_pickplace

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
13.8
frame_index
int64
0
414
episode_index
int64
0
29
index
int64
0
9.07k
task_index
int64
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[ 10.458984375, 119.53125, 125.5078125, 71.19140625, -17.75390625, 16.76528549194336 ]
2.466667
74
0
74
0
[ 12.12890625, 115.83984375, 115.6640625, 69.78515625, -17.75390625, 24.290781021118164 ]
[ 10.458984375, 118.212890625, 124.541015625, 71.015625, -17.75390625, 18.24457550048828 ]
2.5
75
0
75
0
[ 12.216796875, 113.994140625, 114.08203125, 69.78515625, -17.75390625, 24.290781021118164 ]
[ 10.458984375, 116.71875, 123.57421875, 70.6640625, -17.75390625, 19.625246047973633 ]
2.533333
76
0
76
0
[ 12.3046875, 112.5, 112.587890625, 69.78515625, -17.75390625, 24.379432678222656 ]
[ 10.72265625, 115.13671875, 122.51953125, 70.400390625, -17.75390625, 21.203155517578125 ]
2.566667
77
0
77
0
[ 12.3046875, 110.830078125, 110.91796875, 69.697265625, -17.9296875, 24.46808433532715 ]
[ 10.8984375, 113.466796875, 121.201171875, 70.224609375, -17.75390625, 22.189348220825195 ]
2.6
78
0
78
0
[ 12.3046875, 109.3359375, 109.16015625, 69.697265625, -18.017578125, 24.46808433532715 ]
[ 11.07421875, 111.884765625, 119.8828125, 70.048828125, -17.75390625, 22.781064987182617 ]
2.633333
79
0
79
0
[ 12.3046875, 108.017578125, 107.578125, 69.697265625, -18.017578125, 24.46808433532715 ]
[ 11.25, 110.21484375, 118.212890625, 70.048828125, -17.75390625, 23.1755428314209 ]
2.666667
80
0
80
0
[ 12.3046875, 106.611328125, 105.8203125, 69.697265625, -18.28125, 24.46808433532715 ]
[ 11.337890625, 108.720703125, 116.71875, 70.048828125, -17.841796875, 23.37278175354004 ]
2.7
81
0
81
0
[ 12.3046875, 105.1171875, 103.798828125, 69.697265625, -18.45703125, 24.46808433532715 ]
[ 11.337890625, 107.40234375, 115.224609375, 70.048828125, -17.841796875, 23.57002067565918 ]
2.733333
82
0
82
0
[ 12.3046875, 103.447265625, 101.689453125, 69.9609375, -18.544921875, 24.46808433532715 ]
[ 11.337890625, 105.99609375, 113.466796875, 70.048828125, -17.841796875, 23.668638229370117 ]
2.766667
83
0
83
0
[ 12.3046875, 101.865234375, 99.66796875, 69.9609375, -18.720703125, 24.46808433532715 ]
[ 11.337890625, 104.4140625, 111.533203125, 70.048828125, -17.841796875, 23.668638229370117 ]
2.8
84
0
84
0
[ 12.3046875, 100.1953125, 97.646484375, 69.9609375, -18.896484375, 24.46808433532715 ]
[ 11.337890625, 102.744140625, 109.6875, 70.048828125, -17.841796875, 23.668638229370117 ]
2.833333
85
0
85
0
[ 12.3046875, 98.4375, 95.44921875, 70.048828125, -19.16015625, 24.46808433532715 ]
[ 11.337890625, 101.07421875, 107.666015625, 70.048828125, -17.841796875, 23.668638229370117 ]
2.866667
86
0
86
0
[ 12.3046875, 96.943359375, 93.427734375, 70.048828125, -19.3359375, 24.46808433532715 ]
[ 11.337890625, 99.31640625, 105.908203125, 70.048828125, -17.841796875, 23.668638229370117 ]
2.9
87
0
87
0
[ 12.3046875, 95.712890625, 91.7578125, 70.3125, -19.423828125, 24.46808433532715 ]
[ 11.337890625, 97.646484375, 103.88671875, 70.13671875, -18.10546875, 23.668638229370117 ]
2.933333
88
0
88
0
[ 12.3046875, 94.5703125, 90.263671875, 70.6640625, -19.599609375, 24.46808433532715 ]
[ 11.337890625, 95.888671875, 101.865234375, 70.224609375, -18.45703125, 23.668638229370117 ]
2.966667
89
0
89
0
[ 12.3046875, 93.69140625, 88.857421875, 71.103515625, -19.775390625, 24.46808433532715 ]
[ 11.337890625, 94.306640625, 100.01953125, 70.224609375, -18.6328125, 23.668638229370117 ]
3
90
0
90
0
[ 12.3046875, 92.900390625, 87.802734375, 71.19140625, -20.0390625, 24.46808433532715 ]
[ 11.337890625, 93.076171875, 98.349609375, 70.224609375, -18.720703125, 23.668638229370117 ]
3.033333
91
0
91
0
[ 12.48046875, 92.28515625, 86.8359375, 71.455078125, -20.302734375, 25 ]
[ 11.337890625, 92.021484375, 96.767578125, 70.400390625, -18.720703125, 23.668638229370117 ]
3.066667
92
0
92
0
[ 12.568359375, 91.845703125, 85.95703125, 71.806640625, -20.390625, 25.443262100219727 ]
[ 11.337890625, 91.142578125, 95.185546875, 70.751953125, -19.072265625, 23.668638229370117 ]
3.1
93
0
93
0
[ 12.744140625, 91.318359375, 85.078125, 72.509765625, -20.56640625, 25.709218978881836 ]
[ 11.337890625, 90.439453125, 93.955078125, 70.751953125, -19.423828125, 24.0631160736084 ]
3.133333
94
0
94
0
[ 12.83203125, 90.966796875, 84.375, 72.94921875, -20.7421875, 26.507091522216797 ]
[ 11.337890625, 89.82421875, 92.724609375, 70.751953125, -19.6875, 24.45759391784668 ]
3.166667
95
0
95
0
[ 13.0078125, 90.87890625, 84.0234375, 73.037109375, -21.005859375, 26.86170196533203 ]
[ 11.337890625, 89.384765625, 91.7578125, 71.19140625, -19.6875, 24.65483283996582 ]
3.2
96
0
96
0
[ 13.095703125, 90.791015625, 83.84765625, 73.125, -21.005859375, 26.86170196533203 ]
[ 11.337890625, 88.76953125, 90.87890625, 71.71875, -19.775390625, 25.14792823791504 ]
3.233333
97
0
97
0
[ 13.271484375, 90.791015625, 83.671875, 73.30078125, -21.005859375, 27.9255313873291 ]
[ 11.513671875, 88.59375, 90.3515625, 72.24609375, -20.126953125, 25.44378662109375 ]
3.266667
98
0
98
0
[ 13.359375, 90.791015625, 83.49609375, 73.388671875, -21.26953125, 30.053192138671875 ]
[ 11.689453125, 88.59375, 89.912109375, 72.685546875, -20.478515625, 25.64102554321289 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 9068,
    "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": [
                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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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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.side": {
            "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",
            "shape": [
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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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