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Datasets:
Odog16
/
so100_test_2.1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
custom-task
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.4
frame_index
int64
0
581
episode_index
int64
0
24
index
int64
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11.3k
task_index
int64
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[ -11.337890625, 85.78125, 58.53515625, 87.099609375, -50.625, 5.007051944732666 ]
2.366667
71
0
71
0
[ -18.6328125, 95.80078125, 61.962890625, 80.859375, -54.4921875, -0.49800798296928406 ]
[ -12.65625, 88.154296875, 59.501953125, 85.25390625, -51.6796875, 5.007051944732666 ]
2.4
72
0
72
0
[ -20.478515625, 95.80078125, 62.666015625, 79.8046875, -54.4921875, -0.49800798296928406 ]
[ -14.0625, 90.087890625, 60.64453125, 83.49609375, -52.55859375, 5.007051944732666 ]
2.433333
73
0
73
0
[ -22.1484375, 95.44921875, 63.45703125, 78.92578125, -54.66796875, -0.49800798296928406 ]
[ -15.556640625, 91.142578125, 60.908203125, 82.08984375, -52.998046875, 5.007051944732666 ]
2.466667
74
0
74
0
[ -23.291015625, 94.482421875, 64.16015625, 77.607421875, -54.31640625, -0.49800798296928406 ]
[ -17.666015625, 91.7578125, 61.875, 80.859375, -53.26171875, 5.007051944732666 ]
2.5
75
0
75
0
[ -24.169921875, 93.251953125, 64.775390625, 76.46484375, -54.052734375, -0.49800798296928406 ]
[ -19.423828125, 91.93359375, 62.841796875, 79.716796875, -53.4375, 5.007051944732666 ]
2.533333
76
0
76
0
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[ -20.830078125, 91.93359375, 63.720703125, 78.75, -53.525390625, 5.007051944732666 ]
2.566667
77
0
77
0
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[ -21.97265625, 91.845703125, 64.16015625, 77.6953125, -53.61328125, 5.007051944732666 ]
2.6
78
0
78
0
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[ -23.203125, 91.0546875, 65.0390625, 76.376953125, -53.26171875, 5.007051944732666 ]
2.633333
79
0
79
0
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[ -24.08203125, 90, 65.7421875, 74.8828125, -52.55859375, 5.007051944732666 ]
2.666667
80
0
80
0
[ -26.630859375, 85.25390625, 65.390625, 71.982421875, -48.69140625, 12.649401664733887 ]
[ -24.521484375, 88.505859375, 65.91796875, 74.00390625, -51.767578125, 5.007051944732666 ]
2.7
81
0
81
0
[ -27.158203125, 84.111328125, 64.951171875, 72.0703125, -48.427734375, 14.342630386352539 ]
[ -25.3125, 86.572265625, 65.91796875, 73.388671875, -50.44921875, 5.8533148765563965 ]
2.733333
82
0
82
0
[ -27.421875, 83.232421875, 64.423828125, 72.333984375, -47.548828125, 16.434263229370117 ]
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2.766667
83
0
83
0
[ -27.421875, 82.880859375, 64.16015625, 72.421875, -47.373046875, 17.231075286865234 ]
[ -26.279296875, 83.84765625, 66.005859375, 72.509765625, -48.955078125, 10.084626197814941 ]
2.8
84
0
84
0
[ -27.24609375, 82.705078125, 63.80859375, 72.685546875, -46.93359375, 17.928287506103516 ]
[ -26.103515625, 82.705078125, 66.005859375, 72.59765625, -47.98828125, 12.976021766662598 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -26.3671875, 81.474609375, 65.91796875, 72.59765625, -46.845703125, 15.514808654785156 ]
2.9
87
0
87
0
[ -26.19140625, 83.232421875, 63.28125, 74.443359375, -46.845703125, 23.306774139404297 ]
[ -26.279296875, 81.474609375, 65.91796875, 72.7734375, -46.58203125, 16.713682174682617 ]
2.933333
88
0
88
0
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[ -26.3671875, 81.5625, 65.830078125, 72.861328125, -46.40625, 18.476728439331055 ]
2.966667
89
0
89
0
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[ -26.279296875, 81.5625, 65.56640625, 73.388671875, -46.40625, 20.521862030029297 ]
3
90
0
90
0
[ -24.521484375, 85.078125, 62.314453125, 76.11328125, -46.669921875, 22.908367156982422 ]
[ -25.751953125, 81.5625, 65.390625, 73.65234375, -46.494140625, 22.00282096862793 ]
3.033333
91
0
91
0
[ -23.291015625, 86.044921875, 61.259765625, 77.87109375, -46.318359375, 21.912351608276367 ]
[ -25.48828125, 81.5625, 65.390625, 74.443359375, -46.669921875, 22.214385986328125 ]
3.066667
92
0
92
0
[ -21.62109375, 87.626953125, 60.556640625, 79.62890625, -46.142578125, 20.3187255859375 ]
[ -24.873046875, 81.5625, 65.126953125, 75.234375, -46.318359375, 21.93229866027832 ]
3.1
93
0
93
0
[ -19.51171875, 89.47265625, 60.1171875, 81.826171875, -45.791015625, 18.8247013092041 ]
[ -23.994140625, 81.9140625, 64.3359375, 76.11328125, -46.318359375, 21.509166717529297 ]
3.133333
94
0
94
0
[ -17.05078125, 91.669921875, 60.205078125, 84.19921875, -45.615234375, 17.928287506103516 ]
[ -22.763671875, 82.79296875, 63.544921875, 77.51953125, -46.142578125, 20.592384338378906 ]
3.166667
95
0
95
0
[ -13.974609375, 94.21875, 61.787109375, 85.341796875, -45.3515625, 17.330677032470703 ]
[ -21.09375, 84.19921875, 63.10546875, 79.27734375, -45.615234375, 19.464033126831055 ]
3.2
96
0
96
0
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[ -19.16015625, 86.220703125, 62.9296875, 81.38671875, -45.439453125, 18.335683822631836 ]
3.233333
97
0
97
0
[ -6.767578125, 98.26171875, 66.181640625, 85.95703125, -44.384765625, 17.52988052368164 ]
[ -16.875, 88.41796875, 62.9296875, 83.056640625, -45.087890625, 17.842029571533203 ]
3.266667
98
0
98
0
[ -2.724609375, 98.525390625, 67.236328125, 86.396484375, -43.154296875, 17.231075286865234 ]
[ -14.0625, 90.703125, 63.6328125, 83.583984375, -45.3515625, 17.55994415283203 ]
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": 11300,
    "total_tasks": 1,
    "total_videos": 50,
    "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.workspace": {
            "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",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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                640,
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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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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