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Datasets:
rfruit
/
so100_test

Tasks:
Robotics
Modalities:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -6.6796875, 193.623046875, 178.9453125, 77.87109375, -80.33203125, 2.1113243103027344 ]
2.433333
73
0
73
0
[ -7.03125, 190.107421875, 176.572265625, 77.431640625, -80.595703125, 1.5522875785827637 ]
[ -6.6796875, 193.359375, 178.59375, 77.87109375, -80.33203125, 2.1113243103027344 ]
2.466667
74
0
74
0
[ -7.03125, 188.4375, 175.166015625, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 192.392578125, 178.505859375, 77.87109375, -80.15625, 2.1113243103027344 ]
2.5
75
0
75
0
[ -7.119140625, 186.943359375, 173.935546875, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 190.986328125, 177.71484375, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.533333
76
0
76
0
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[ -6.767578125, 189.755859375, 176.923828125, 77.87109375, -80.15625, 2.1113243103027344 ]
2.566667
77
0
77
0
[ -7.119140625, 184.130859375, 171.826171875, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 187.998046875, 176.220703125, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.6
78
0
78
0
[ -7.03125, 183.076171875, 170.771484375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 186.85546875, 175.4296875, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.633333
79
0
79
0
[ -6.6796875, 182.197265625, 169.716796875, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 185.625, 174.55078125, 77.87109375, -80.15625, 2.1113243103027344 ]
2.666667
80
0
80
0
[ -6.50390625, 181.40625, 168.486328125, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 184.306640625, 173.49609375, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.7
81
0
81
0
[ -6.50390625, 180.703125, 167.255859375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 183.427734375, 172.44140625, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.733333
82
0
82
0
[ -6.50390625, 180, 165.76171875, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 182.548828125, 171.474609375, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.766667
83
0
83
0
[ -6.50390625, 179.296875, 164.1796875, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 181.58203125, 169.98046875, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.8
84
0
84
0
[ -6.50390625, 178.59375, 162.59765625, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 180.87890625, 168.75, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.833333
85
0
85
0
[ -6.50390625, 177.71484375, 160.83984375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 180.087890625, 167.255859375, 77.87109375, -80.244140625, 2.1113243103027344 ]
2.866667
86
0
86
0
[ -6.50390625, 176.748046875, 159.43359375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 179.384765625, 165.673828125, 77.87109375, -80.068359375, 2.1113243103027344 ]
2.9
87
0
87
0
[ -6.50390625, 175.60546875, 158.02734375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 178.41796875, 164.091796875, 77.87109375, -80.15625, 2.1113243103027344 ]
2.933333
88
0
88
0
[ -6.50390625, 174.462890625, 156.533203125, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 177.5390625, 162.59765625, 77.87109375, -80.15625, 2.1113243103027344 ]
2.966667
89
0
89
0
[ -6.50390625, 173.056640625, 155.21484375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 176.572265625, 161.19140625, 77.87109375, -80.15625, 2.1113243103027344 ]
3
90
0
90
0
[ -6.50390625, 171.5625, 153.984375, 77.34375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 174.814453125, 159.08203125, 77.87109375, -79.98046875, 2.1113243103027344 ]
3.033333
91
0
91
0
[ -6.50390625, 170.068359375, 152.75390625, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 174.462890625, 158.5546875, 77.87109375, -79.98046875, 2.1113243103027344 ]
3.066667
92
0
92
0
[ -6.416015625, 168.486328125, 151.435546875, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 172.880859375, 157.236328125, 77.87109375, -80.33203125, 2.1113243103027344 ]
3.1
93
0
93
0
[ -6.416015625, 166.728515625, 150.1171875, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 171.123046875, 155.91796875, 77.87109375, -80.068359375, 2.1113243103027344 ]
3.133333
94
0
94
0
[ -6.416015625, 164.970703125, 148.447265625, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 169.62890625, 154.599609375, 77.87109375, -80.244140625, 2.1113243103027344 ]
3.166667
95
0
95
0
[ -6.416015625, 163.30078125, 146.865234375, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 167.958984375, 153.017578125, 77.87109375, -80.068359375, 2.1113243103027344 ]
3.2
96
0
96
0
[ -6.416015625, 161.630859375, 145.107421875, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 166.201171875, 151.611328125, 77.87109375, -80.15625, 2.1113243103027344 ]
3.233333
97
0
97
0
[ -6.50390625, 159.9609375, 143.349609375, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 164.619140625, 150.1171875, 77.87109375, -80.244140625, 2.1113243103027344 ]
3.266667
98
0
98
0
[ -6.591796875, 158.291015625, 141.6796875, 77.255859375, -80.595703125, 1.5522875785827637 ]
[ -6.767578125, 162.861328125, 148.447265625, 77.87109375, -80.33203125, 2.1113243103027344 ]
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": "so101",
    "total_episodes": 2,
    "total_frames": 1776,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.laptop": {
            "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,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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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",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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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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