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lt-s
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so100_train_move_six_blocks_tray_to_matching_dishes_flip

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Robotics
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Tabular
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Formats:
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10K - 100K
Tags:
LeRobot
so100
train
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Dask
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action
sequence
observation.state
sequence
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float32
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[ 2.8125, 129.111328125, 150.64453125, 51.328125, -66.97265625, 3.166227102279663 ]
[ 3.779296875, 129.375, 150.46875, 51.85546875, -67.060546875, 9.942481994628906 ]
2.4
72
0
72
0
[ 2.548828125, 129.111328125, 150.8203125, 51.591796875, -66.97265625, 1.4951627254486084 ]
[ 3.603515625, 129.287109375, 150.46875, 51.6796875, -67.060546875, 9.613804817199707 ]
2.433333
73
0
73
0
[ 2.373046875, 129.111328125, 150.908203125, 52.119140625, -67.060546875, 2.022867202758789 ]
[ 3.33984375, 129.287109375, 150.64453125, 51.591796875, -67.060546875, 8.62777328491211 ]
2.466667
74
0
74
0
[ 2.109375, 129.111328125, 150.99609375, 52.646484375, -67.412109375, 5.628847599029541 ]
[ 2.98828125, 129.375, 150.8203125, 51.416015625, -67.060546875, 7.88824987411499 ]
2.5
75
0
75
0
[ 1.93359375, 129.111328125, 150.99609375, 52.998046875, -67.5, 5.980650901794434 ]
[ 2.900390625, 129.375, 150.8203125, 51.416015625, -67.060546875, 7.88824987411499 ]
2.533333
76
0
76
0
[ 1.58203125, 129.19921875, 150.908203125, 53.525390625, -67.5, 4.749340057373047 ]
[ 2.63671875, 129.462890625, 150.8203125, 51.85546875, -67.1484375, 7.970418930053711 ]
2.566667
77
0
77
0
[ 1.0546875, 129.19921875, 150.205078125, 54.052734375, -66.796875, -0.08795074373483658 ]
[ 2.373046875, 129.90234375, 150.908203125, 52.294921875, -67.1484375, 8.381265640258789 ]
2.6
78
0
78
0
[ 0.703125, 128.935546875, 148.447265625, 55.458984375, -65.56640625, -0.08795074373483658 ]
[ 2.021484375, 129.90234375, 150.908203125, 52.822265625, -67.1484375, 8.381265640258789 ]
2.633333
79
0
79
0
[ 0, 128.232421875, 145.810546875, 57.744140625, -64.51171875, -0.08795074373483658 ]
[ 1.669921875, 129.638671875, 150.556640625, 53.26171875, -67.1484375, 7.970418930053711 ]
2.666667
80
0
80
0
[ -0.966796875, 127.265625, 142.20703125, 60.205078125, -62.841796875, -0.08795074373483658 ]
[ 1.23046875, 128.3203125, 149.23828125, 54.580078125, -66.62109375, 7.47740364074707 ]
2.7
81
0
81
0
[ -2.197265625, 125.771484375, 137.900390625, 62.666015625, -60.732421875, -0.17590148746967316 ]
[ 0.615234375, 127.705078125, 147.3046875, 56.25, -65.21484375, 7.395234107971191 ]
2.733333
82
0
82
0
[ -4.04296875, 123.134765625, 131.66015625, 65.56640625, -57.12890625, -0.17590148746967316 ]
[ -0.703125, 126.38671875, 142.998046875, 59.4140625, -63.6328125, 7.395234107971191 ]
2.766667
83
0
83
0
[ -6.328125, 119.091796875, 123.75, 66.796875, -51.767578125, -0.17590148746967316 ]
[ -1.58203125, 125.33203125, 140.2734375, 60.908203125, -62.2265625, 7.395234107971191 ]
2.8
84
0
84
0
[ -8.4375, 112.939453125, 113.90625, 66.4453125, -45.263671875, -0.17590148746967316 ]
[ -3.427734375, 121.2890625, 132.5390625, 63.6328125, -59.150390625, 7.395234107971191 ]
2.833333
85
0
85
0
[ -9.66796875, 107.578125, 106.259765625, 65.654296875, -40.693359375, -0.17590148746967316 ]
[ -5.361328125, 118.4765625, 126.826171875, 65.56640625, -55.107421875, 7.395234107971191 ]
2.866667
86
0
86
0
[ -10.546875, 99.66796875, 97.294921875, 63.28125, -36.123046875, -0.17590148746967316 ]
[ -7.998046875, 110.7421875, 115.048828125, 64.6875, -47.4609375, 7.395234107971191 ]
2.9
87
0
87
0
[ -10.8984375, 94.833984375, 92.900390625, 61.69921875, -34.892578125, -0.17590148746967316 ]
[ -8.701171875, 107.2265625, 110.478515625, 66.005859375, -44.912109375, 7.395234107971191 ]
2.933333
88
0
88
0
[ -10.986328125, 90.966796875, 89.736328125, 60.380859375, -34.189453125, -0.17590148746967316 ]
[ -8.96484375, 103.798828125, 105.99609375, 65.126953125, -42.71484375, 7.395234107971191 ]
2.966667
89
0
89
0
[ -10.8984375, 87.451171875, 87.275390625, 58.623046875, -33.92578125, -0.17590148746967316 ]
[ -9.4921875, 98.26171875, 99.580078125, 62.75390625, -39.0234375, 7.395234107971191 ]
3
90
0
90
0
[ -10.546875, 84.55078125, 85.60546875, 56.77734375, -33.837890625, -0.17590148746967316 ]
[ -9.931640625, 94.130859375, 96.064453125, 62.666015625, -37.6171875, 7.395234107971191 ]
3.033333
91
0
91
0
[ -10.107421875, 81.826171875, 84.111328125, 55.01953125, -33.75, -0.17590148746967316 ]
[ -10.37109375, 90.087890625, 93.076171875, 60.99609375, -36.298828125, 7.395234107971191 ]
3.066667
92
0
92
0
[ -9.140625, 77.783203125, 81.5625, 53.0859375, -33.3984375, -0.17590148746967316 ]
[ -10.634765625, 84.814453125, 89.208984375, 58.359375, -34.8046875, 7.395234107971191 ]
3.1
93
0
93
0
[ -8.701171875, 75.76171875, 80.68359375, 52.294921875, -34.013671875, 1.0554089546203613 ]
[ -10.634765625, 82.001953125, 87.36328125, 56.953125, -34.892578125, 7.395234107971191 ]
3.133333
94
0
94
0
[ -8.26171875, 74.091796875, 80.33203125, 51.240234375, -34.892578125, 4.661389350891113 ]
[ -9.755859375, 77.783203125, 84.462890625, 54.66796875, -34.27734375, 7.395234107971191 ]
3.166667
95
0
95
0
[ -7.998046875, 73.212890625, 80.244140625, 51.240234375, -36.123046875, 9.410730361938477 ]
[ -9.228515625, 76.201171875, 83.84765625, 53.876953125, -34.365234375, 7.395234107971191 ]
3.2
96
0
96
0
[ -7.822265625, 72.7734375, 80.771484375, 51.240234375, -38.056640625, 18.645557403564453 ]
[ -8.26171875, 73.65234375, 82.96875, 52.55859375, -34.453125, 8.134757995605469 ]
3.233333
97
0
97
0
[ -7.822265625, 72.861328125, 81.123046875, 51.50390625, -38.935546875, 22.8671932220459 ]
[ -8.173828125, 72.861328125, 82.880859375, 52.20703125, -35.419921875, 10.024651527404785 ]
3.266667
98
0
98
0
[ -7.734375, 73.564453125, 81.9140625, 52.20703125, -39.814453125, 23.746702194213867 ]
[ -8.349609375, 72.509765625, 82.880859375, 52.03125, -37.08984375, 13.393590927124023 ]
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": 20,
    "total_frames": 11246,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
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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.center_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_cam": {
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            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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