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lt-s
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so100_train_move_two_blocks_tray_to_matching_dishes_flip

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Robotics
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1K - 10K
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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10.6
frame_index
int64
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317
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int64
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[ 0.615234375, 99.755859375, 120.9375, 63.896484375, -7.3828125, 7.475813388824463 ]
[ 1.7578125, 101.6015625, 123.837890625, 64.072265625, -7.3828125, 11.092851638793945 ]
2.433333
73
0
73
0
[ 0.263671875, 98.876953125, 120.849609375, 63.6328125, -7.646484375, 5.804749011993408 ]
[ 1.0546875, 100.634765625, 123.134765625, 64.16015625, -7.822265625, 10.188989639282227 ]
2.466667
74
0
74
0
[ 0.087890625, 98.525390625, 120.849609375, 63.6328125, -7.734375, 4.133685111999512 ]
[ 0.703125, 99.931640625, 122.607421875, 64.16015625, -7.91015625, 10.024651527404785 ]
2.5
75
0
75
0
[ 0, 98.349609375, 120.76171875, 63.896484375, -7.91015625, 2.902374505996704 ]
[ 0.615234375, 99.228515625, 122.255859375, 64.16015625, -7.822265625, 9.44946575164795 ]
2.533333
76
0
76
0
[ -0.087890625, 98.26171875, 120.41015625, 64.51171875, -8.0859375, 2.022867202758789 ]
[ 0.703125, 98.7890625, 121.904296875, 64.16015625, -7.734375, 8.463435173034668 ]
2.566667
77
0
77
0
[ -0.087890625, 98.26171875, 119.53125, 65.654296875, -8.173828125, 1.6710642576217651 ]
[ 0.703125, 98.701171875, 121.728515625, 64.248046875, -7.646484375, 8.216927528381348 ]
2.6
78
0
78
0
[ -0.087890625, 98.26171875, 118.037109375, 67.587890625, -8.173828125, 1.5831135511398315 ]
[ 0.52734375, 98.4375, 121.201171875, 64.423828125, -7.822265625, 8.05258846282959 ]
2.633333
79
0
79
0
[ 0, 98.525390625, 116.103515625, 69.9609375, -8.0859375, 1.4951627254486084 ]
[ 0.3515625, 98.349609375, 120.498046875, 64.951171875, -7.91015625, 7.88824987411499 ]
2.666667
80
0
80
0
[ 0.17578125, 99.140625, 112.939453125, 73.388671875, -7.998046875, 1.4951627254486084 ]
[ 0.17578125, 98.26171875, 119.1796875, 66.62109375, -7.91015625, 7.88824987411499 ]
2.7
81
0
81
0
[ 0.703125, 99.31640625, 109.775390625, 76.376953125, -7.91015625, 1.4072118997573853 ]
[ 0.17578125, 98.26171875, 117.94921875, 67.939453125, -7.91015625, 7.88824987411499 ]
2.733333
82
0
82
0
[ 1.494140625, 99.404296875, 105.64453125, 79.8046875, -7.91015625, 1.4072118997573853 ]
[ 0.087890625, 98.26171875, 115.048828125, 70.48828125, -7.91015625, 7.88824987411499 ]
2.766667
83
0
83
0
[ 2.63671875, 99.228515625, 101.162109375, 82.79296875, -8.0859375, 1.4072118997573853 ]
[ 0.17578125, 98.26171875, 112.236328125, 73.125, -7.646484375, 7.88824987411499 ]
2.8
84
0
84
0
[ 4.482421875, 98.26171875, 95.009765625, 85.60546875, -8.525390625, 1.3192611932754517 ]
[ 1.23046875, 98.26171875, 106.259765625, 77.607421875, -8.0859375, 7.88824987411499 ]
2.833333
85
0
85
0
[ 5.80078125, 97.20703125, 90.966796875, 87.099609375, -9.404296875, 1.3192611932754517 ]
[ 1.93359375, 98.26171875, 104.94140625, 79.1015625, -7.55859375, 7.88824987411499 ]
2.866667
86
0
86
0
[ 7.294921875, 95.888671875, 87.01171875, 87.802734375, -10.1953125, 1.3192611932754517 ]
[ 2.63671875, 97.734375, 102.12890625, 81.298828125, -8.349609375, 7.88824987411499 ]
2.9
87
0
87
0
[ 8.96484375, 94.04296875, 83.14453125, 88.2421875, -11.162109375, 1.3192611932754517 ]
[ 3.515625, 96.50390625, 96.943359375, 82.177734375, -8.61328125, 7.88824987411499 ]
2.933333
88
0
88
0
[ 10.634765625, 91.58203125, 79.541015625, 88.154296875, -12.3046875, 1.3192611932754517 ]
[ 5.185546875, 95.185546875, 92.28515625, 85.166015625, -9.84375, 7.88824987411499 ]
2.966667
89
0
89
0
[ 12.3046875, 88.857421875, 75.9375, 87.36328125, -13.095703125, 1.3192611932754517 ]
[ 6.591796875, 93.955078125, 88.681640625, 86.30859375, -10.283203125, 7.88824987411499 ]
3
90
0
90
0
[ 13.88671875, 85.517578125, 72.421875, 86.220703125, -13.623046875, 1.3192611932754517 ]
[ 8.349609375, 91.845703125, 84.375, 85.869140625, -10.810546875, 7.88824987411499 ]
3.033333
91
0
91
0
[ 15.1171875, 82.177734375, 69.609375, 84.462890625, -14.150390625, 1.3192611932754517 ]
[ 10.37109375, 88.681640625, 80.15625, 87.01171875, -12.3046875, 7.88824987411499 ]
3.066667
92
0
92
0
[ 16.171875, 78.75, 67.5, 81.73828125, -15.029296875, 1.3192611932754517 ]
[ 12.216796875, 85.517578125, 76.728515625, 85.60546875, -12.392578125, 7.88824987411499 ]
3.1
93
0
93
0
[ 16.787109375, 75.9375, 66.181640625, 79.365234375, -15.908203125, 1.3192611932754517 ]
[ 13.53515625, 83.14453125, 74.1796875, 85.25390625, -13.0078125, 7.88824987411499 ]
3.133333
94
0
94
0
[ 17.2265625, 73.30078125, 65.302734375, 77.080078125, -16.962890625, 1.4072118997573853 ]
[ 14.58984375, 80.33203125, 71.89453125, 84.55078125, -14.4140625, 7.88824987411499 ]
3.166667
95
0
95
0
[ 17.40234375, 70.6640625, 64.51171875, 74.53125, -17.9296875, 1.4951627254486084 ]
[ 15.732421875, 76.640625, 69.609375, 81.298828125, -14.765625, 7.88824987411499 ]
3.2
96
0
96
0
[ 17.40234375, 68.5546875, 63.896484375, 72.7734375, -18.80859375, 1.8469657897949219 ]
[ 16.34765625, 74.091796875, 68.466796875, 80.244140625, -15.64453125, 7.88824987411499 ]
3.233333
97
0
97
0
[ 17.314453125, 66.884765625, 63.544921875, 71.103515625, -19.599609375, 2.28671932220459 ]
[ 16.787109375, 70.927734375, 67.412109375, 77.51953125, -17.2265625, 7.88824987411499 ]
3.266667
98
0
98
0
[ 16.962890625, 65.56640625, 63.45703125, 69.609375, -20.56640625, 3.166227102279663 ]
[ 16.875, 68.90625, 66.62109375, 75.05859375, -17.40234375, 7.88824987411499 ]
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": 4888,
    "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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            "info": {
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        "observation.images.right_cam": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "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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License:
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Size of downloaded dataset files:
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Number of rows:
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