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Datasets:
danaaubakirova
/
so100_task_4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
eval
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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16.8
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int64
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episode_index
int64
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int64
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task_index
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[ 1.142578125, 182.900390625, 169.541015625, 76.728515625, 86.923828125, 0.27624309062957764 ]
2.366667
71
0
71
0
[ 0.791015625, 183.1640625, 166.9921875, 77.16796875, 86.748046875, 0 ]
[ 1.142578125, 182.900390625, 169.541015625, 76.728515625, 86.923828125, 0.27624309062957764 ]
2.4
72
0
72
0
[ 0.791015625, 183.1640625, 166.728515625, 77.34375, 86.748046875, 0 ]
[ 1.142578125, 182.900390625, 169.453125, 76.728515625, 86.923828125, 0.27624309062957764 ]
2.433333
73
0
73
0
[ 0.791015625, 183.1640625, 166.46484375, 77.431640625, 86.748046875, 0 ]
[ 1.142578125, 182.900390625, 169.27734375, 76.904296875, 86.923828125, 0.27624309062957764 ]
2.466667
74
0
74
0
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[ 1.142578125, 182.900390625, 169.013671875, 77.080078125, 86.923828125, 0.27624309062957764 ]
2.5
75
0
75
0
[ 0.791015625, 182.548828125, 165.5859375, 77.607421875, 86.8359375, 0 ]
[ 1.142578125, 182.98828125, 168.837890625, 77.255859375, 86.923828125, 0.27624309062957764 ]
2.533333
76
0
76
0
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[ 1.142578125, 182.900390625, 168.486328125, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.566667
77
0
77
0
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[ 1.142578125, 182.8125, 168.134765625, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.6
78
0
78
0
[ 0.791015625, 179.560546875, 163.30078125, 77.431640625, 86.8359375, 0 ]
[ 1.142578125, 182.63671875, 167.783203125, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.633333
79
0
79
0
[ 0.791015625, 177.890625, 162.0703125, 77.34375, 86.8359375, 0 ]
[ 1.142578125, 181.7578125, 167.16796875, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.666667
80
0
80
0
[ 0.791015625, 175.869140625, 160.6640625, 77.16796875, 86.8359375, 0 ]
[ 1.142578125, 180.439453125, 166.376953125, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.7
81
0
81
0
[ 0.791015625, 173.408203125, 159.169921875, 76.81640625, 86.8359375, 0 ]
[ 1.142578125, 178.9453125, 165.322265625, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.733333
82
0
82
0
[ 0.791015625, 170.68359375, 157.412109375, 76.46484375, 86.8359375, 0 ]
[ 1.142578125, 177.451171875, 164.00390625, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.766667
83
0
83
0
[ 0.791015625, 167.87109375, 155.654296875, 76.11328125, 86.8359375, 0 ]
[ 1.142578125, 176.044921875, 162.59765625, 77.431640625, 86.923828125, 0.27624309062957764 ]
2.8
84
0
84
0
[ 0.791015625, 165.234375, 153.80859375, 75.849609375, 86.8359375, 0 ]
[ 1.142578125, 173.671875, 161.015625, 77.255859375, 86.923828125, 0.27624309062957764 ]
2.833333
85
0
85
0
[ 0.791015625, 162.7734375, 152.138671875, 75.5859375, 86.8359375, 0 ]
[ 1.142578125, 170.859375, 159.43359375, 76.904296875, 86.923828125, 0.27624309062957764 ]
2.866667
86
0
86
0
[ 0.791015625, 160.400390625, 150.556640625, 75.146484375, 86.8359375, 0 ]
[ 1.142578125, 167.87109375, 157.5, 76.640625, 86.923828125, 0.27624309062957764 ]
2.9
87
0
87
0
[ 0.791015625, 157.8515625, 149.0625, 74.70703125, 86.8359375, 0 ]
[ 1.142578125, 165.849609375, 156.09375, 76.376953125, 86.923828125, 0.27624309062957764 ]
2.933333
88
0
88
0
[ 0.703125, 155.390625, 147.568359375, 74.1796875, 86.8359375, 0 ]
[ 1.142578125, 163.564453125, 154.51171875, 75.9375, 86.923828125, 0.27624309062957764 ]
2.966667
89
0
89
0
[ 0.703125, 153.10546875, 146.25, 73.4765625, 86.8359375, 0 ]
[ 1.142578125, 160.927734375, 152.841796875, 75.498046875, 86.923828125, 0.27624309062957764 ]
3
90
0
90
0
[ 0.703125, 151.083984375, 145.1953125, 72.7734375, 86.8359375, 0 ]
[ 1.142578125, 158.466796875, 151.34765625, 75.05859375, 86.923828125, 0.27624309062957764 ]
3.033333
91
0
91
0
[ 0.703125, 149.326171875, 144.31640625, 71.982421875, 86.923828125, 0 ]
[ 1.142578125, 156.09375, 149.765625, 74.443359375, 86.923828125, 0.27624309062957764 ]
3.066667
92
0
92
0
[ 0.703125, 147.568359375, 143.61328125, 71.103515625, 87.01171875, 0 ]
[ 1.142578125, 153.720703125, 148.623046875, 73.828125, 86.923828125, 0.27624309062957764 ]
3.1
93
0
93
0
[ 0.703125, 145.458984375, 142.55859375, 70.400390625, 87.1875, 0 ]
[ 1.142578125, 151.69921875, 147.65625, 73.037109375, 86.923828125, 0.27624309062957764 ]
3.133333
94
0
94
0
[ 0.52734375, 142.646484375, 140.9765625, 69.78515625, 87.275390625, 0 ]
[ 1.142578125, 149.765625, 146.689453125, 72.333984375, 86.923828125, 0.27624309062957764 ]
3.166667
95
0
95
0
[ 0.439453125, 139.39453125, 138.8671875, 69.521484375, 87.5390625, 0 ]
[ 1.142578125, 147.83203125, 145.634765625, 71.630859375, 86.923828125, 0.27624309062957764 ]
3.2
96
0
96
0
[ 0.3515625, 135.703125, 136.318359375, 69.43359375, 87.626953125, 0 ]
[ 1.142578125, 145.546875, 144.31640625, 71.015625, 86.923828125, 0.27624309062957764 ]
3.233333
97
0
97
0
[ 0.3515625, 132.1875, 133.76953125, 69.43359375, 87.626953125, 0 ]
[ 0.87890625, 142.822265625, 142.646484375, 70.576171875, 87.099609375, 0.27624309062957764 ]
3.266667
98
0
98
0
[ 0.3515625, 128.84765625, 131.30859375, 69.521484375, 87.626953125, 0 ]
[ 0.615234375, 139.833984375, 140.712890625, 70.3125, 87.275390625, 0.27624309062957764 ]
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": 8754,
    "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.top": {
            "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
            }
        },
        "observation.images.wrist": {
            "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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