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Datasets:
TzuShian
/
so100_250527

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
25.5
frame_index
int64
0
764
episode_index
int64
0
49
index
int64
0
32k
task_index
int64
0
0
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[ 2.8125, 188.0859375, 174.55078125, 55.01953125, 1.142578125, 0.5067567825317383 ]
2.466667
74
0
74
0
[ 4.04296875, 187.734375, 174.287109375, 56.42578125, 12.216796875, 0.09149131178855896 ]
[ 2.8125, 188.0859375, 174.55078125, 55.458984375, 2.724609375, 0.5067567825317383 ]
2.5
75
0
75
0
[ 4.04296875, 187.734375, 174.287109375, 56.42578125, 15.205078125, 0 ]
[ 2.900390625, 188.0859375, 174.55078125, 55.986328125, 5.185546875, 0.5067567825317383 ]
2.533333
76
0
76
0
[ 4.04296875, 187.734375, 174.287109375, 56.337890625, 17.9296875, 0 ]
[ 3.603515625, 188.0859375, 174.55078125, 56.162109375, 8.525390625, 0.5067567825317383 ]
2.566667
77
0
77
0
[ 3.955078125, 187.734375, 174.287109375, 56.162109375, 20.21484375, 0 ]
[ 4.130859375, 188.0859375, 174.55078125, 56.162109375, 12.216796875, 0.42229729890823364 ]
2.6
78
0
78
0
[ 3.8671875, 187.734375, 174.287109375, 55.8984375, 23.115234375, 0 ]
[ 3.955078125, 188.0859375, 174.55078125, 56.162109375, 15.908203125, 0.3378378450870514 ]
2.633333
79
0
79
0
[ 3.8671875, 187.734375, 174.287109375, 55.810546875, 25.224609375, 0 ]
[ 3.69140625, 188.0859375, 174.55078125, 56.162109375, 17.578125, 0.25337839126586914 ]
2.666667
80
0
80
0
[ 3.69140625, 187.734375, 174.19921875, 55.72265625, 27.24609375, 0 ]
[ 3.427734375, 188.0859375, 174.55078125, 56.162109375, 19.775390625, 0.1689189225435257 ]
2.7
81
0
81
0
[ 3.69140625, 187.734375, 174.19921875, 55.458984375, 30.498046875, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 56.162109375, 23.994140625, 0.1689189225435257 ]
2.733333
82
0
82
0
[ 3.69140625, 187.734375, 174.19921875, 55.01953125, 33.3984375, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 56.162109375, 26.015625, 0.1689189225435257 ]
2.766667
83
0
83
0
[ 3.69140625, 187.734375, 174.19921875, 54.84375, 37.08984375, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 55.810546875, 28.828125, 0.1689189225435257 ]
2.8
84
0
84
0
[ 3.69140625, 187.734375, 174.19921875, 54.66796875, 40.60546875, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 55.634765625, 31.552734375, 0.1689189225435257 ]
2.833333
85
0
85
0
[ 3.69140625, 187.734375, 174.19921875, 53.61328125, 43.76953125, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 55.458984375, 34.541015625, 0.1689189225435257 ]
2.866667
86
0
86
0
[ 3.515625, 187.734375, 174.19921875, 52.734375, 46.669921875, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 54.931640625, 37.529296875, 0.1689189225435257 ]
2.9
87
0
87
0
[ 3.515625, 187.734375, 174.19921875, 51.416015625, 50.009765625, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 54.228515625, 40.25390625, 0.1689189225435257 ]
2.933333
88
0
88
0
[ 3.515625, 187.734375, 174.19921875, 50.185546875, 52.734375, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 53.525390625, 42.71484375, 0.1689189225435257 ]
2.966667
89
0
89
0
[ 3.427734375, 187.734375, 174.19921875, 48.955078125, 55.37109375, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 52.3828125, 45.263671875, 0.1689189225435257 ]
3
90
0
90
0
[ 3.1640625, 187.734375, 174.19921875, 47.900390625, 58.798828125, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 51.328125, 48.33984375, 0.1689189225435257 ]
3.033333
91
0
91
0
[ 2.900390625, 187.734375, 174.19921875, 46.93359375, 61.69921875, -0.09149131178855896 ]
[ 3.427734375, 188.0859375, 174.55078125, 49.5703125, 53.4375, 0.1689189225435257 ]
3.066667
92
0
92
0
[ 2.724609375, 187.734375, 174.19921875, 45.703125, 64.86328125, -0.09149131178855896 ]
[ 3.515625, 188.0859375, 174.55078125, 47.98828125, 58.88671875, 0.1689189225435257 ]
3.1
93
0
93
0
[ 2.63671875, 187.734375, 174.19921875, 45.263671875, 68.5546875, -0.09149131178855896 ]
[ 3.33984375, 188.0859375, 174.55078125, 47.021484375, 60.8203125, 0.1689189225435257 ]
3.133333
94
0
94
0
[ 2.724609375, 187.734375, 174.19921875, 44.736328125, 70.3125, 0 ]
[ 2.724609375, 188.0859375, 174.55078125, 46.40625, 63.984375, 0.1689189225435257 ]
3.166667
95
0
95
0
[ 2.63671875, 186.943359375, 174.19921875, 43.857421875, 73.388671875, 0 ]
[ 2.373046875, 188.0859375, 174.55078125, 45.87890625, 66.884765625, 0.1689189225435257 ]
3.2
96
0
96
0
[ 2.109375, 185.625, 174.19921875, 42.5390625, 76.81640625, 0 ]
[ 2.724609375, 187.55859375, 174.55078125, 44.912109375, 70.3125, 0.1689189225435257 ]
3.233333
97
0
97
0
[ 1.669921875, 184.5703125, 174.19921875, 41.044921875, 79.453125, 0 ]
[ 2.900390625, 186.767578125, 174.55078125, 43.9453125, 72.158203125, 0.1689189225435257 ]
3.266667
98
0
98
0
[ 1.40625, 183.251953125, 174.19921875, 39.0234375, 81.650390625, 0.8234217762947083 ]
[ 2.28515625, 185.44921875, 174.55078125, 42.5390625, 75.76171875, 0.1689189225435257 ]
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": 50,
    "total_frames": 32038,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "shape": [
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            "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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