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Datasets:
pfung
/
so100_test6G

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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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21.5
frame_index
int64
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646
episode_index
int64
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29
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int64
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task_index
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[ 0.263671875, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.433333
73
0
73
0
[ -1.40625, 189.755859375, 178.505859375, 76.904296875, -74.619140625, 1.633705973625183 ]
[ 0, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.466667
74
0
74
0
[ -1.40625, 189.755859375, 178.505859375, 76.904296875, -74.619140625, 1.633705973625183 ]
[ -0.3515625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.5
75
0
75
0
[ -1.318359375, 189.755859375, 178.505859375, 76.904296875, -74.53125, 1.633705973625183 ]
[ -0.52734375, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.533333
76
0
76
0
[ -1.318359375, 189.755859375, 178.505859375, 76.904296875, -74.53125, 1.633705973625183 ]
[ -0.615234375, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.566667
77
0
77
0
[ -1.318359375, 189.755859375, 178.505859375, 76.81640625, -74.35546875, 1.633705973625183 ]
[ -0.703125, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.6
78
0
78
0
[ -1.23046875, 189.755859375, 178.505859375, 76.81640625, -73.4765625, 1.633705973625183 ]
[ -0.791015625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.633333
79
0
79
0
[ -1.142578125, 189.755859375, 178.505859375, 76.640625, -73.212890625, 2.0636284351348877 ]
[ -0.791015625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.666667
80
0
80
0
[ -1.142578125, 189.755859375, 178.505859375, 76.025390625, -73.125, 3.095442771911621 ]
[ -0.791015625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.7
81
0
81
0
[ -1.142578125, 189.755859375, 178.505859375, 75.05859375, -72.94921875, 3.4393808841705322 ]
[ -0.791015625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.7832647562026978 ]
2.733333
82
0
82
0
[ -0.87890625, 189.755859375, 178.505859375, 73.828125, -72.59765625, 3.5253655910491943 ]
[ -0.791015625, 189.140625, 178.59375, 75.76171875, -73.65234375, 1.9890259504318237 ]
2.766667
83
0
83
0
[ -0.615234375, 189.755859375, 178.505859375, 72.7734375, -72.421875, 3.5253655910491943 ]
[ -0.703125, 189.140625, 178.59375, 75.673828125, -73.212890625, 2.4691357612609863 ]
2.8
84
0
84
0
[ -0.52734375, 189.755859375, 178.2421875, 72.158203125, -72.333984375, 3.6113500595092773 ]
[ -0.615234375, 189.140625, 178.59375, 75.05859375, -72.861328125, 2.7434842586517334 ]
2.833333
85
0
85
0
[ -0.439453125, 189.755859375, 177.802734375, 71.71875, -71.982421875, 3.8693037033081055 ]
[ -0.52734375, 189.140625, 178.59375, 74.1796875, -72.509765625, 2.7434842586517334 ]
2.866667
86
0
86
0
[ -0.439453125, 189.755859375, 177.1875, 71.19140625, -71.54296875, 4.127256870269775 ]
[ -0.3515625, 189.140625, 178.59375, 73.65234375, -72.24609375, 2.7434842586517334 ]
2.9
87
0
87
0
[ -0.439453125, 189.755859375, 176.396484375, 70.48828125, -70.83984375, 4.299225807189941 ]
[ -0.17578125, 189.140625, 178.59375, 73.037109375, -71.806640625, 2.7434842586517334 ]
2.933333
88
0
88
0
[ -0.439453125, 189.755859375, 175.517578125, 69.345703125, -69.697265625, 4.471195220947266 ]
[ 0, 189.140625, 178.59375, 72.509765625, -71.3671875, 3.0178327560424805 ]
2.966667
89
0
89
0
[ -0.439453125, 189.755859375, 174.55078125, 67.67578125, -67.67578125, 4.643164157867432 ]
[ -0.087890625, 189.140625, 178.59375, 71.89453125, -70.83984375, 3.3607680797576904 ]
3
90
0
90
0
[ -0.439453125, 189.755859375, 173.49609375, 65.7421875, -64.86328125, 5.073086738586426 ]
[ -0.087890625, 189.140625, 178.505859375, 71.19140625, -70.048828125, 3.5665295124053955 ]
3.033333
91
0
91
0
[ -0.263671875, 189.755859375, 172.44140625, 63.896484375, -61.69921875, 6.362854480743408 ]
[ 0, 189.140625, 178.505859375, 70.224609375, -69.08203125, 3.7722907066345215 ]
3.066667
92
0
92
0
[ -0.17578125, 189.755859375, 171.474609375, 62.138671875, -58.447265625, 8.512468338012695 ]
[ 0, 189.052734375, 178.330078125, 68.818359375, -67.5, 4.183813571929932 ]
3.1
93
0
93
0
[ -0.17578125, 189.755859375, 170.419921875, 60.556640625, -54.84375, 10.40412712097168 ]
[ 0, 189.052734375, 177.978515625, 67.236328125, -65.302734375, 4.801097393035889 ]
3.133333
94
0
94
0
[ -0.17578125, 189.755859375, 169.189453125, 59.4140625, -51.328125, 12.20980167388916 ]
[ 0, 189.052734375, 177.451171875, 65.7421875, -62.841796875, 5.144032955169678 ]
3.166667
95
0
95
0
[ -0.263671875, 189.755859375, 167.958984375, 58.53515625, -48.251953125, 13.241616249084473 ]
[ 0, 189.052734375, 176.748046875, 64.423828125, -60.205078125, 6.65294885635376 ]
3.2
96
0
96
0
[ -0.439453125, 189.755859375, 166.728515625, 57.919921875, -45.439453125, 14.101462364196777 ]
[ 0, 189.052734375, 176.044921875, 62.9296875, -57.216796875, 8.299039840698242 ]
3.233333
97
0
97
0
[ -0.87890625, 189.755859375, 165.5859375, 57.568359375, -43.2421875, 15.735167503356934 ]
[ 0, 188.96484375, 175.078125, 61.69921875, -54.228515625, 9.876543045043945 ]
3.266667
98
0
98
0
[ -1.23046875, 189.755859375, 164.443359375, 57.12890625, -40.4296875, 16.93895149230957 ]
[ 0, 188.876953125, 173.84765625, 60.556640625, -51.15234375, 11.316872596740723 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 16476,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.cam_high": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.cam_wrist": {
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            "names": [
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                "channels"
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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