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Datasets:
zaringleb
/
so100_cude_linear_and_2d_comb

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
0
8.93
frame_index
int64
0
268
episode_index
int64
0
99
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int64
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26.8k
task_index
int64
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69
0
[ -0.087890625, 115.576171875, 113.994140625, 53.349609375, -2.8125, -10.40391731262207 ]
[ -0.17578125, 125.595703125, 124.27734375, 50.888671875, -3.515625, -10.895883560180664 ]
2.333333
70
0
70
0
[ -0.52734375, 113.115234375, 111.97265625, 53.61328125, -2.28515625, -10.03671932220459 ]
[ -0.17578125, 122.255859375, 121.46484375, 51.767578125, -3.251953125, -10.653753280639648 ]
2.366667
71
0
71
0
[ -0.966796875, 110.830078125, 110.0390625, 54.4921875, -0.703125, -8.07833480834961 ]
[ -0.263671875, 118.916015625, 118.916015625, 52.294921875, -2.63671875, -10.532687187194824 ]
2.4
72
0
72
0
[ -1.142578125, 108.720703125, 108.544921875, 55.01953125, 0, -6.731945991516113 ]
[ -0.263671875, 115.83984375, 116.19140625, 52.470703125, -2.373046875, -10.411622047424316 ]
2.433333
73
0
73
0
[ -1.23046875, 106.69921875, 107.05078125, 55.546875, 1.23046875, -6.364749431610107 ]
[ -0.263671875, 113.203125, 114.169921875, 53.26171875, -1.494140625, -9.322033882141113 ]
2.466667
74
0
74
0
[ -1.23046875, 104.58984375, 105.29296875, 56.25, 1.669921875, -5.140758991241455 ]
[ -0.3515625, 110.654296875, 112.412109375, 54.052734375, -0.87890625, -7.86924934387207 ]
2.5
75
0
75
0
[ -0.966796875, 102.12890625, 103.359375, 57.48046875, 1.494140625, -3.3047735691070557 ]
[ -0.52734375, 108.193359375, 110.7421875, 54.404296875, -0.17578125, -7.142857551574707 ]
2.533333
76
0
76
0
[ -0.791015625, 99.66796875, 101.25, 58.7109375, 1.669921875, -0.9791921973228455 ]
[ -0.791015625, 105.908203125, 109.16015625, 55.1953125, 0.17578125, -6.295399188995361 ]
2.566667
77
0
77
0
[ -0.703125, 96.85546875, 98.701171875, 60.46875, 2.021484375, 2.3255813121795654 ]
[ -0.703125, 103.798828125, 107.05078125, 56.07421875, 0.3515625, -4.842615127563477 ]
2.6
78
0
78
0
[ -0.52734375, 93.955078125, 95.80078125, 62.138671875, 3.33984375, 7.3439412117004395 ]
[ -0.3515625, 101.513671875, 105.1171875, 56.953125, 0.615234375, -2.663438320159912 ]
2.633333
79
0
79
0
[ -0.439453125, 91.0546875, 92.900390625, 63.6328125, 4.04296875, 9.424724578857422 ]
[ -0.17578125, 98.701171875, 102.83203125, 58.359375, 1.23046875, -0.48426151275634766 ]
2.666667
80
0
80
0
[ -0.3515625, 88.330078125, 90.17578125, 64.86328125, 4.5703125, 11.260709762573242 ]
[ -0.17578125, 95.712890625, 100.1953125, 60.029296875, 2.197265625, 2.1791768074035645 ]
2.7
81
0
81
0
[ -0.3515625, 85.95703125, 87.451171875, 66.005859375, 4.74609375, 12.974296569824219 ]
[ -0.263671875, 92.98828125, 97.55859375, 61.34765625, 2.8125, 5.205811023712158 ]
2.733333
82
0
82
0
[ -0.3515625, 83.935546875, 85.078125, 66.97265625, 4.5703125, 13.219094276428223 ]
[ -0.439453125, 90.52734375, 94.921875, 62.40234375, 3.076171875, 7.7481842041015625 ]
2.766667
83
0
83
0
[ -0.439453125, 82.001953125, 82.880859375, 67.8515625, 4.482421875, 13.341493606567383 ]
[ -0.439453125, 87.71484375, 92.28515625, 63.896484375, 3.33984375, 9.564164161682129 ]
2.8
84
0
84
0
[ -0.703125, 80.15625, 80.947265625, 68.37890625, 4.482421875, 13.341493606567383 ]
[ -0.439453125, 84.990234375, 89.736328125, 64.775390625, 3.515625, 10.774818420410156 ]
2.833333
85
0
85
0
[ -1.142578125, 78.3984375, 79.189453125, 68.73046875, 4.306640625, 13.341493606567383 ]
[ -0.439453125, 82.96875, 87.451171875, 65.7421875, 3.603515625, 11.380145072937012 ]
2.866667
86
0
86
0
[ -1.494140625, 76.640625, 77.607421875, 68.818359375, 4.04296875, 13.341493606567383 ]
[ -0.439453125, 81.2109375, 84.990234375, 66.708984375, 3.603515625, 11.985471725463867 ]
2.9
87
0
87
0
[ -1.669921875, 74.794921875, 76.11328125, 69.08203125, 3.955078125, 12.851897239685059 ]
[ -0.52734375, 79.365234375, 82.880859375, 66.97265625, 3.603515625, 12.106537818908691 ]
2.933333
88
0
88
0
[ -1.7578125, 72.94921875, 74.443359375, 69.609375, 4.04296875, 12.607099533081055 ]
[ -0.52734375, 77.16796875, 81.03515625, 67.412109375, 3.603515625, 12.2276029586792 ]
2.966667
89
0
89
0
[ -1.93359375, 71.3671875, 73.212890625, 69.873046875, 3.8671875, 12.484700202941895 ]
[ -0.52734375, 74.970703125, 79.541015625, 68.115234375, 3.427734375, 12.2276029586792 ]
3
90
0
90
0
[ -1.93359375, 70.13671875, 72.24609375, 69.9609375, 3.8671875, 12.484700202941895 ]
[ -0.615234375, 72.94921875, 78.046875, 68.466796875, 3.427734375, 12.2276029586792 ]
3.033333
91
0
91
0
[ -2.021484375, 68.994140625, 71.279296875, 70.048828125, 4.04296875, 12.484700202941895 ]
[ -0.615234375, 71.279296875, 76.46484375, 68.466796875, 3.427734375, 12.2276029586792 ]
3.066667
92
0
92
0
[ -2.021484375, 67.939453125, 70.400390625, 70.13671875, 4.04296875, 12.484700202941895 ]
[ -0.615234375, 70.048828125, 75.322265625, 68.73046875, 3.427734375, 12.2276029586792 ]
3.1
93
0
93
0
[ -2.109375, 66.884765625, 69.521484375, 70.3125, 4.04296875, 12.484700202941895 ]
[ -0.966796875, 68.642578125, 74.00390625, 69.2578125, 3.515625, 12.2276029586792 ]
3.133333
94
0
94
0
[ -2.28515625, 66.09375, 68.73046875, 70.3125, 4.04296875, 12.484700202941895 ]
[ -1.23046875, 67.236328125, 72.861328125, 69.43359375, 3.69140625, 12.2276029586792 ]
3.166667
95
0
95
0
[ -2.373046875, 65.21484375, 67.8515625, 70.576171875, 4.130859375, 12.362300872802734 ]
[ -1.58203125, 66.09375, 71.982421875, 69.609375, 3.69140625, 12.2276029586792 ]
3.2
96
0
96
0
[ -2.373046875, 64.3359375, 67.060546875, 70.6640625, 3.955078125, 12.362300872802734 ]
[ -1.669921875, 65.654296875, 71.103515625, 69.609375, 3.69140625, 12.2276029586792 ]
3.233333
97
0
97
0
[ -2.4609375, 63.544921875, 66.4453125, 70.83984375, 3.8671875, 12.239901542663574 ]
[ -1.669921875, 65.126953125, 69.9609375, 69.609375, 3.69140625, 12.2276029586792 ]
3.266667
98
0
98
0
[ -2.4609375, 62.578125, 65.7421875, 71.19140625, 3.8671875, 12.239901542663574 ]
[ -1.40625, 64.16015625, 69.169921875, 69.43359375, 3.33984375, 12.2276029586792 ]
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": 100,
    "total_frames": 27116,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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.cam_high": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

First Episode Video (observation.images.cam_high)

First Frames Standard Deviation

This image shows the standard deviation across the first frame of all recorded episodes. Brighter areas indicate more variation between episodes.

First Frames Standard Deviation

Citation

BibTeX:

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