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Datasets:
zaringleb
/
so100_test_9

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
9.9
frame_index
int64
0
297
episode_index
int64
0
1
index
int64
0
595
task_index
int64
0
0
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[ 5.625, 100.810546875, 106.69921875, 78.662109375, 19.599609375, 36.47490692138672 ]
[ 4.306640625, 104.765625, 110.56640625, 78.134765625, 20.390625, 36.219818115234375 ]
2.4
72
0
72
0
[ 5.712890625, 98.7890625, 105.8203125, 78.57421875, 19.51171875, 35.985313415527344 ]
[ 4.306640625, 103.359375, 109.6875, 78.134765625, 19.775390625, 35.970027923583984 ]
2.433333
73
0
73
0
[ 5.712890625, 96.6796875, 104.94140625, 78.486328125, 19.248046875, 35.8629150390625 ]
[ 4.21875, 101.513671875, 108.544921875, 78.134765625, 19.423828125, 35.970027923583984 ]
2.466667
74
0
74
0
[ 5.80078125, 94.74609375, 104.150390625, 78.134765625, 18.896484375, 35.61811447143555 ]
[ 4.5703125, 99.404296875, 107.490234375, 78.134765625, 19.423828125, 35.553707122802734 ]
2.5
75
0
75
0
[ 5.888671875, 93.1640625, 103.447265625, 77.783203125, 18.6328125, 35.61811447143555 ]
[ 4.74609375, 97.3828125, 106.787109375, 78.134765625, 19.423828125, 35.387176513671875 ]
2.533333
76
0
76
0
[ 5.9765625, 92.021484375, 103.095703125, 77.431640625, 18.45703125, 35.25091552734375 ]
[ 4.833984375, 95.44921875, 106.259765625, 78.134765625, 18.80859375, 35.22064971923828 ]
2.566667
77
0
77
0
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[ 4.833984375, 93.8671875, 105.64453125, 77.6953125, 18.45703125, 35.22064971923828 ]
2.6
78
0
78
0
[ 6.50390625, 89.6484375, 102.3046875, 76.552734375, 17.841796875, 33.65972900390625 ]
[ 4.74609375, 92.63671875, 105.205078125, 77.255859375, 18.28125, 35.137386322021484 ]
2.633333
79
0
79
0
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[ 4.921875, 91.142578125, 104.501953125, 76.9921875, 18.193359375, 34.63780212402344 ]
2.666667
80
0
80
0
[ 7.03125, 87.099609375, 101.162109375, 75.849609375, 16.875, 32.55813980102539 ]
[ 5.361328125, 89.6484375, 103.88671875, 76.2890625, 17.578125, 33.9716911315918 ]
2.7
81
0
81
0
[ 7.20703125, 85.78125, 100.37109375, 75.5859375, 16.5234375, 32.55813980102539 ]
[ 5.888671875, 88.330078125, 103.447265625, 76.552734375, 17.490234375, 32.9725227355957 ]
2.733333
82
0
82
0
[ 7.470703125, 84.638671875, 99.404296875, 75.498046875, 16.259765625, 32.92533874511719 ]
[ 6.240234375, 87.275390625, 103.095703125, 75.673828125, 16.787109375, 32.639469146728516 ]
2.766667
83
0
83
0
[ 7.91015625, 83.583984375, 98.4375, 75.498046875, 15.99609375, 32.92533874511719 ]
[ 6.416015625, 85.95703125, 102.216796875, 75.5859375, 16.435546875, 32.472938537597656 ]
2.8
84
0
84
0
[ 8.4375, 82.880859375, 97.646484375, 75.498046875, 15.556640625, 32.92533874511719 ]
[ 6.591796875, 84.462890625, 101.337890625, 75.5859375, 16.435546875, 32.38967514038086 ]
2.833333
85
0
85
0
[ 8.876953125, 82.353515625, 96.85546875, 75.498046875, 15.1171875, 32.680538177490234 ]
[ 6.6796875, 83.3203125, 100.458984375, 75.41015625, 15.8203125, 32.223148345947266 ]
2.866667
86
0
86
0
[ 9.228515625, 81.9140625, 96.15234375, 75.5859375, 14.94140625, 32.43573760986328 ]
[ 7.03125, 82.265625, 99.580078125, 75.322265625, 15.46875, 32.223148345947266 ]
2.9
87
0
87
0
[ 9.580078125, 81.474609375, 95.537109375, 75.673828125, 14.765625, 32.31333923339844 ]
[ 7.470703125, 81.9140625, 98.876953125, 75.146484375, 15.29296875, 32.223148345947266 ]
2.933333
88
0
88
0
[ 9.755859375, 81.123046875, 94.921875, 75.76171875, 14.501953125, 32.190940856933594 ]
[ 8.0859375, 81.2109375, 98.26171875, 75.322265625, 14.765625, 32.223148345947266 ]
2.966667
89
0
89
0
[ 9.931640625, 80.68359375, 94.39453125, 75.76171875, 14.326171875, 32.068546295166016 ]
[ 8.701171875, 80.771484375, 97.470703125, 75.322265625, 14.501953125, 32.223148345947266 ]
3
90
0
90
0
[ 10.01953125, 80.33203125, 94.04296875, 75.76171875, 14.23828125, 31.70134735107422 ]
[ 8.701171875, 80.5078125, 96.6796875, 75.322265625, 14.4140625, 32.223148345947266 ]
3.033333
91
0
91
0
[ 10.107421875, 79.98046875, 93.779296875, 75.76171875, 14.23828125, 31.4565486907959 ]
[ 8.61328125, 80.15625, 96.15234375, 75.322265625, 14.23828125, 32.1398811340332 ]
3.066667
92
0
92
0
[ 10.107421875, 79.541015625, 93.427734375, 75.76171875, 14.23828125, 31.0893497467041 ]
[ 8.876953125, 79.716796875, 95.80078125, 75.234375, 14.150390625, 31.72356414794922 ]
3.1
93
0
93
0
[ 10.107421875, 79.013671875, 93.076171875, 75.76171875, 14.150390625, 30.722152709960938 ]
[ 9.404296875, 78.92578125, 95.361328125, 75.322265625, 14.150390625, 31.473770141601562 ]
3.133333
94
0
94
0
[ 10.01953125, 78.486328125, 92.900390625, 75.673828125, 14.150390625, 30.47735595703125 ]
[ 9.66796875, 78.75, 95.09765625, 75.234375, 14.23828125, 31.30724334716797 ]
3.166667
95
0
95
0
[ 9.931640625, 78.046875, 92.8125, 75.41015625, 14.150390625, 30.47735595703125 ]
[ 9.66796875, 78.662109375, 95.009765625, 75.322265625, 14.23828125, 30.724397659301758 ]
3.2
96
0
96
0
[ 9.755859375, 77.51953125, 92.724609375, 75.146484375, 14.150390625, 30.599754333496094 ]
[ 9.228515625, 77.958984375, 94.306640625, 75.322265625, 14.23828125, 30.4746036529541 ]
3.233333
97
0
97
0
[ 9.66796875, 77.080078125, 92.63671875, 74.970703125, 14.150390625, 30.844554901123047 ]
[ 9.052734375, 77.51953125, 94.04296875, 74.970703125, 14.150390625, 30.308076858520508 ]
3.266667
98
0
98
0
[ 9.4921875, 76.81640625, 92.63671875, 74.619140625, 14.150390625, 30.96695327758789 ]
[ 9.052734375, 77.080078125, 94.04296875, 75.322265625, 14.150390625, 30.224811553955078 ]
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": 2,
    "total_frames": 596,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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
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            "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
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            "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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