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Datasets:
Cidoyi
/
so100_all_notes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
9.5
frame_index
int64
0
285
episode_index
int64
0
24
index
int64
0
7.13k
task_index
int64
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[ 0.615234375, 136.40625, 144.931640625, -6.328125, -75.5859375, 101.60000610351562 ]
2.4
72
0
72
0
[ 2.28515625, 138.1640625, 141.591796875, -7.822265625, -81.2109375, 101.42179870605469 ]
[ 0.966796875, 136.40625, 144.931640625, -6.328125, -77.080078125, 101.60000610351562 ]
2.433333
73
0
73
0
[ 2.4609375, 138.1640625, 141.6796875, -7.822265625, -82.6171875, 101.42179870605469 ]
[ 1.40625, 136.40625, 144.931640625, -6.328125, -78.134765625, 101.60000610351562 ]
2.466667
74
0
74
0
[ 2.4609375, 138.251953125, 141.767578125, -7.822265625, -87.36328125, 101.42179870605469 ]
[ 2.021484375, 136.40625, 144.931640625, -6.328125, -79.27734375, 101.60000610351562 ]
2.5
75
0
75
0
[ 2.197265625, 138.251953125, 141.85546875, -7.822265625, -94.833984375, 101.42179870605469 ]
[ 2.373046875, 136.40625, 144.931640625, -6.328125, -80.595703125, 101.60000610351562 ]
2.533333
76
0
76
0
[ 1.7578125, 138.251953125, 141.85546875, -7.822265625, -105.556640625, 101.61137390136719 ]
[ 2.4609375, 136.40625, 144.931640625, -6.328125, -81.826171875, 101.60000610351562 ]
2.566667
77
0
77
0
[ 1.58203125, 138.251953125, 142.03125, -7.734375, -116.3671875, 101.61137390136719 ]
[ 2.373046875, 136.40625, 144.931640625, -6.328125, -84.287109375, 101.60000610351562 ]
2.6
78
0
78
0
[ 1.669921875, 138.33984375, 142.03125, -7.734375, -125.68359375, 101.70616149902344 ]
[ 2.109375, 136.40625, 144.931640625, -6.328125, -88.154296875, 101.60000610351562 ]
2.633333
79
0
79
0
[ 1.93359375, 138.427734375, 141.943359375, -8.26171875, -132.626953125, 101.80094146728516 ]
[ 1.7578125, 136.40625, 144.931640625, -6.328125, -93.603515625, 101.60000610351562 ]
2.666667
80
0
80
0
[ 2.197265625, 138.603515625, 141.85546875, -10.634765625, -137.4609375, 101.80094146728516 ]
[ 1.40625, 136.40625, 144.931640625, -6.328125, -100.283203125, 101.60000610351562 ]
2.7
81
0
81
0
[ 2.109375, 138.603515625, 141.85546875, -12.3046875, -143.4375, 101.89573669433594 ]
[ 1.318359375, 136.40625, 144.931640625, -6.6796875, -107.578125, 101.60000610351562 ]
2.733333
82
0
82
0
[ 1.93359375, 138.603515625, 141.85546875, -13.447265625, -149.4140625, 101.89573669433594 ]
[ 1.40625, 136.40625, 144.931640625, -7.470703125, -114.78515625, 101.60000610351562 ]
2.766667
83
0
83
0
[ 1.7578125, 138.69140625, 141.85546875, -13.88671875, -153.10546875, 101.99052429199219 ]
[ 1.58203125, 136.40625, 144.931640625, -8.7890625, -122.431640625, 101.60000610351562 ]
2.8
84
0
84
0
[ 1.669921875, 138.8671875, 141.85546875, -13.88671875, -155.0390625, 102.0853042602539 ]
[ 1.845703125, 136.40625, 144.931640625, -10.107421875, -129.638671875, 101.60000610351562 ]
2.833333
85
0
85
0
[ 1.669921875, 139.04296875, 142.03125, -13.88671875, -156.708984375, 102.0853042602539 ]
[ 1.93359375, 136.40625, 144.931640625, -11.07421875, -136.494140625, 101.60000610351562 ]
2.866667
86
0
86
0
[ 1.669921875, 139.130859375, 142.119140625, -13.53515625, -158.73046875, 102.0853042602539 ]
[ 2.021484375, 136.40625, 144.931640625, -11.689453125, -142.91015625, 101.60000610351562 ]
2.9
87
0
87
0
[ 1.669921875, 139.130859375, 142.119140625, -13.53515625, -159.697265625, 102.0853042602539 ]
[ 2.021484375, 136.40625, 144.931640625, -12.12890625, -147.744140625, 101.60000610351562 ]
2.933333
88
0
88
0
[ 1.669921875, 139.21875, 142.119140625, -13.53515625, -160.13671875, 102.0853042602539 ]
[ 1.93359375, 136.494140625, 144.931640625, -12.216796875, -151.69921875, 101.60000610351562 ]
2.966667
89
0
89
0
[ 1.669921875, 139.21875, 142.119140625, -13.095703125, -161.54296875, 102.0853042602539 ]
[ 1.845703125, 136.7578125, 144.931640625, -12.3046875, -154.51171875, 101.60000610351562 ]
3
90
0
90
0
[ 1.669921875, 139.306640625, 142.119140625, -12.744140625, -162.0703125, 102.0853042602539 ]
[ 1.845703125, 136.93359375, 144.931640625, -12.3046875, -156.181640625, 101.60000610351562 ]
3.033333
91
0
91
0
[ 1.669921875, 139.482421875, 142.119140625, -12.744140625, -162.861328125, 102.0853042602539 ]
[ 1.845703125, 137.109375, 144.931640625, -12.3046875, -158.02734375, 101.60000610351562 ]
3.066667
92
0
92
0
[ 1.669921875, 139.5703125, 142.03125, -12.744140625, -164.53125, 102.0853042602539 ]
[ 1.845703125, 137.197265625, 144.931640625, -12.3046875, -159.43359375, 101.60000610351562 ]
3.1
93
0
93
0
[ 1.58203125, 139.833984375, 142.119140625, -12.392578125, -165.05859375, 102.0853042602539 ]
[ 1.845703125, 137.373046875, 144.931640625, -12.3046875, -160.6640625, 101.60000610351562 ]
3.133333
94
0
94
0
[ 1.494140625, 140.2734375, 141.943359375, -11.25, -165.146484375, 102.2748794555664 ]
[ 1.845703125, 137.548828125, 144.931640625, -12.3046875, -161.982421875, 101.60000610351562 ]
3.166667
95
0
95
0
[ 1.23046875, 140.625, 142.03125, -9.755859375, -166.46484375, 102.46444702148438 ]
[ 1.845703125, 137.900390625, 144.931640625, -12.041015625, -163.564453125, 101.60000610351562 ]
3.2
96
0
96
0
[ 1.142578125, 140.712890625, 142.03125, -9.228515625, -167.958984375, 102.46444702148438 ]
[ 1.845703125, 138.1640625, 144.931640625, -11.513671875, -164.091796875, 101.60000610351562 ]
3.233333
97
0
97
0
[ 1.0546875, 140.537109375, 141.943359375, -9.052734375, -169.1015625, 102.46444702148438 ]
[ 1.845703125, 138.515625, 144.931640625, -10.546875, -165.05859375, 101.760009765625 ]
3.266667
98
0
98
0
[ 1.0546875, 140.185546875, 141.85546875, -9.140625, -170.595703125, 102.46444702148438 ]
[ 1.845703125, 138.69140625, 144.931640625, -9.84375, -166.201171875, 101.91999816894531 ]
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": 25,
    "total_frames": 7129,
    "total_tasks": 1,
    "total_videos": 25,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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.keyboard_camera": {
            "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": "h264",
                "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
        }
    }
}

Citation

BibTeX:

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