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Datasets:
sihyun77
/
sihyun_3_17_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100,tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
27.2
frame_index
int64
0
817
episode_index
int64
0
16
index
int64
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11.3k
task_index
int64
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[ 17.2265625, 109.072265625, 37.705078125, -46.142578125, -91.494140625, 13.58811092376709 ]
2.4
72
0
72
0
[ 17.40234375, 110.830078125, 41.484375, -47.109375, -91.7578125, 13.878327369689941 ]
[ 17.138671875, 109.599609375, 37.96875, -46.142578125, -91.23046875, 13.3757963180542 ]
2.433333
73
0
73
0
[ 17.314453125, 111.4453125, 41.923828125, -47.109375, -91.7578125, 13.593156814575195 ]
[ 17.138671875, 109.951171875, 38.49609375, -46.142578125, -91.142578125, 13.2342529296875 ]
2.466667
74
0
74
0
[ 17.314453125, 111.708984375, 42.36328125, -47.109375, -91.494140625, 13.21292781829834 ]
[ 17.138671875, 110.0390625, 38.84765625, -46.142578125, -91.142578125, 13.2342529296875 ]
2.5
75
0
75
0
[ 17.40234375, 111.884765625, 42.71484375, -47.109375, -91.318359375, 12.737642288208008 ]
[ 17.138671875, 110.7421875, 39.19921875, -46.142578125, -91.142578125, 13.2342529296875 ]
2.533333
76
0
76
0
[ 17.40234375, 111.97265625, 42.890625, -47.109375, -91.0546875, 12.1673002243042 ]
[ 17.138671875, 110.91796875, 39.7265625, -46.142578125, -91.142578125, 13.2342529296875 ]
2.566667
77
0
77
0
[ 17.40234375, 112.060546875, 42.978515625, -47.109375, -90.87890625, 11.121673583984375 ]
[ 17.138671875, 110.91796875, 39.990234375, -46.142578125, -91.142578125, 12.738853454589844 ]
2.6
78
0
78
0
[ 17.40234375, 112.1484375, 42.978515625, -47.109375, -90.791015625, 9.50570297241211 ]
[ 17.138671875, 111.005859375, 39.990234375, -46.23046875, -91.142578125, 12.314225196838379 ]
2.633333
79
0
79
0
[ 17.40234375, 112.1484375, 42.890625, -47.109375, -90.703125, 6.0836501121521 ]
[ 17.138671875, 111.533203125, 40.078125, -46.318359375, -90.703125, 11.748053550720215 ]
2.666667
80
0
80
0
[ 17.40234375, 112.1484375, 42.890625, -47.109375, -90.703125, 2.946768045425415 ]
[ 17.138671875, 111.708984375, 40.078125, -46.318359375, -90.439453125, 10.757253646850586 ]
2.7
81
0
81
0
[ 17.40234375, 112.1484375, 42.802734375, -47.109375, -90.615234375, -0.3802281320095062 ]
[ 17.138671875, 111.796875, 40.25390625, -46.318359375, -90.263671875, 8.987969398498535 ]
2.733333
82
0
82
0
[ 17.40234375, 112.1484375, 42.626953125, -47.109375, -90.3515625, -0.3802281320095062 ]
[ 17.138671875, 111.796875, 40.4296875, -46.318359375, -90.087890625, 6.723283767700195 ]
2.766667
83
0
83
0
[ 17.40234375, 112.1484375, 42.5390625, -47.021484375, -90.17578125, -0.3802281320095062 ]
[ 17.138671875, 111.97265625, 40.60546875, -46.318359375, -90.087890625, 4.600141525268555 ]
2.8
84
0
84
0
[ 17.40234375, 112.1484375, 42.451171875, -46.845703125, -89.912109375, -0.3802281320095062 ]
[ 17.138671875, 111.97265625, 40.60546875, -46.318359375, -90.087890625, 4.033970355987549 ]
2.833333
85
0
85
0
[ 17.40234375, 111.97265625, 42.36328125, -46.23046875, -89.736328125, -0.3802281320095062 ]
[ 17.138671875, 111.97265625, 40.60546875, -46.318359375, -90.087890625, 4.033970355987549 ]
2.866667
86
0
86
0
[ 17.40234375, 111.62109375, 42.275390625, -44.912109375, -89.47265625, -0.3802281320095062 ]
[ 17.138671875, 111.97265625, 40.60546875, -46.318359375, -89.736328125, 4.033970355987549 ]
2.9
87
0
87
0
[ 17.40234375, 109.951171875, 42.1875, -42.36328125, -89.384765625, -0.3802281320095062 ]
[ 17.138671875, 111.97265625, 40.60546875, -46.318359375, -89.384765625, 4.033970355987549 ]
2.933333
88
0
88
0
[ 17.314453125, 106.171875, 42.451171875, -36.38671875, -89.384765625, -0.3802281320095062 ]
[ 17.138671875, 111.796875, 40.693359375, -45.263671875, -89.12109375, 4.033970355987549 ]
2.966667
89
0
89
0
[ 17.138671875, 101.865234375, 43.41796875, -28.4765625, -89.6484375, -0.3802281320095062 ]
[ 17.138671875, 111.005859375, 40.78125, -44.033203125, -89.12109375, 4.033970355987549 ]
3
90
0
90
0
[ 16.875, 97.822265625, 44.6484375, -20.7421875, -90, -0.3802281320095062 ]
[ 17.138671875, 110.126953125, 40.95703125, -42.71484375, -89.12109375, 4.033970355987549 ]
3.033333
91
0
91
0
[ 16.5234375, 93.427734375, 46.23046875, -11.513671875, -90.52734375, -0.3802281320095062 ]
[ 17.138671875, 108.45703125, 41.396484375, -39.814453125, -89.12109375, 4.033970355987549 ]
3.066667
92
0
92
0
[ 15.99609375, 88.9453125, 47.724609375, -2.63671875, -90.3515625, -0.3802281320095062 ]
[ 16.962890625, 105.99609375, 41.923828125, -34.62890625, -89.384765625, 4.033970355987549 ]
3.1
93
0
93
0
[ 15.380859375, 84.375, 49.04296875, 6.15234375, -90.263671875, -0.3802281320095062 ]
[ 16.69921875, 102.83203125, 42.71484375, -28.388671875, -89.6484375, 4.033970355987549 ]
3.133333
94
0
94
0
[ 14.58984375, 79.98046875, 50.009765625, 13.0078125, -90.791015625, -0.3802281320095062 ]
[ 16.171875, 99.4921875, 43.59375, -21.708984375, -89.6484375, 4.033970355987549 ]
3.166667
95
0
95
0
[ 13.798828125, 75.5859375, 51.15234375, 20.654296875, -90.703125, -0.3802281320095062 ]
[ 15.732421875, 95.9765625, 44.47265625, -14.23828125, -89.82421875, 4.033970355987549 ]
3.2
96
0
96
0
[ 12.744140625, 72.0703125, 52.91015625, 28.037109375, -91.318359375, -0.3802281320095062 ]
[ 15.1171875, 92.548828125, 45.3515625, -7.20703125, -89.82421875, 4.033970355987549 ]
3.233333
97
0
97
0
[ 11.42578125, 68.5546875, 56.162109375, 37.08984375, -92.373046875, -0.3802281320095062 ]
[ 14.326171875, 88.41796875, 46.23046875, 0.966796875, -89.82421875, 4.033970355987549 ]
3.266667
98
0
98
0
[ 9.84375, 65.7421875, 60.1171875, 46.669921875, -92.98828125, -0.3802281320095062 ]
[ 13.447265625, 84.375, 47.109375, 8.4375, -90.17578125, 4.033970355987549 ]
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": 18,
    "total_frames": 12154,
    "total_tasks": 1,
    "total_videos": 36,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:18"
    },
    "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": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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",
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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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