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so100_test_4_20

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Robotics
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so100
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
373
episode_index
int64
0
19
index
int64
0
7.48k
task_index
int64
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[ -10.72265625, 66.09375, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
2.88
72
0
72
0
[ -11.953125, 72.509765625, 67.32421875, 76.640625, 6.767578125, 0.3972194492816925 ]
[ -10.810546875, 66.4453125, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
2.92
73
0
73
0
[ -12.041015625, 72.59765625, 67.32421875, 76.640625, 6.767578125, 0.3972194492816925 ]
[ -10.634765625, 66.97265625, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
2.96
74
0
74
0
[ -12.041015625, 72.59765625, 67.236328125, 76.640625, 6.767578125, 0.3972194492816925 ]
[ -10.458984375, 67.412109375, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3
75
0
75
0
[ -12.041015625, 72.685546875, 67.1484375, 76.640625, 6.767578125, 0.29791459441185 ]
[ -10.634765625, 67.587890625, 69.78515625, 75.849609375, 5.9765625, 1.3221989870071411 ]
3.04
76
0
76
0
[ -12.041015625, 72.7734375, 67.060546875, 76.728515625, 6.767578125, 0.29791459441185 ]
[ -11.162109375, 67.587890625, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.08
77
0
77
0
[ -12.041015625, 72.94921875, 66.97265625, 76.728515625, 6.767578125, 0.29791459441185 ]
[ -11.6015625, 67.587890625, 69.78515625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.12
78
0
78
0
[ -12.041015625, 73.125, 66.884765625, 76.81640625, 6.767578125, 0.29791459441185 ]
[ -11.689453125, 67.587890625, 69.697265625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.16
79
0
79
0
[ -12.041015625, 73.388671875, 66.884765625, 76.904296875, 6.767578125, 0.29791459441185 ]
[ -11.689453125, 67.587890625, 69.2578125, 75.849609375, 5.9765625, 1.3221989870071411 ]
3.2
80
0
80
0
[ -12.12890625, 73.4765625, 66.796875, 76.904296875, 6.767578125, 0.29791459441185 ]
[ -11.6015625, 67.67578125, 68.994140625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.24
81
0
81
0
[ -12.216796875, 73.65234375, 66.796875, 76.904296875, 6.767578125, 0.29791459441185 ]
[ -11.42578125, 67.939453125, 68.90625, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.28
82
0
82
0
[ -12.216796875, 73.828125, 66.796875, 76.904296875, 6.767578125, 0.29791459441185 ]
[ -11.42578125, 68.115234375, 68.818359375, 75.849609375, 5.9765625, 1.3221989870071411 ]
3.32
83
0
83
0
[ -12.3046875, 74.00390625, 66.796875, 76.9921875, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 68.115234375, 68.73046875, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.36
84
0
84
0
[ -12.392578125, 74.1796875, 66.796875, 76.9921875, 6.767578125, 0.19860972464084625 ]
[ -11.513671875, 68.115234375, 68.73046875, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.4
85
0
85
0
[ -12.392578125, 74.443359375, 66.796875, 77.080078125, 6.767578125, 0.19860972464084625 ]
[ -11.513671875, 68.37890625, 68.73046875, 75.849609375, 5.9765625, 1.3221989870071411 ]
3.44
86
0
86
0
[ -12.48046875, 74.70703125, 66.796875, 77.16796875, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 68.818359375, 68.73046875, 75.849609375, 5.888671875, 1.3221989870071411 ]
3.48
87
0
87
0
[ -12.48046875, 74.970703125, 66.796875, 77.255859375, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 69.345703125, 68.73046875, 76.46484375, 5.888671875, 1.3221989870071411 ]
3.52
88
0
88
0
[ -12.48046875, 75.322265625, 66.796875, 77.34375, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 69.521484375, 68.73046875, 76.640625, 6.15234375, 1.3221989870071411 ]
3.56
89
0
89
0
[ -12.568359375, 75.76171875, 66.796875, 77.431640625, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 69.521484375, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.6
90
0
90
0
[ -12.568359375, 76.11328125, 66.796875, 77.51953125, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 69.78515625, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.64
91
0
91
0
[ -12.568359375, 76.552734375, 66.796875, 77.51953125, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 70.048828125, 68.73046875, 76.728515625, 5.888671875, 1.3221989870071411 ]
3.68
92
0
92
0
[ -12.568359375, 76.9921875, 66.708984375, 77.6953125, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 70.6640625, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.72
93
0
93
0
[ -12.568359375, 77.51953125, 66.708984375, 77.87109375, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 71.103515625, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.76
94
0
94
0
[ -12.392578125, 78.046875, 66.62109375, 77.958984375, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 71.54296875, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.8
95
0
95
0
[ -12.3046875, 78.57421875, 66.62109375, 78.134765625, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 72.0703125, 68.73046875, 76.728515625, 5.9765625, 1.3221989870071411 ]
3.84
96
0
96
0
[ -12.041015625, 79.189453125, 66.533203125, 78.310546875, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 72.7734375, 68.73046875, 76.81640625, 5.9765625, 1.3221989870071411 ]
3.88
97
0
97
0
[ -11.865234375, 79.8046875, 66.533203125, 78.57421875, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 73.388671875, 68.73046875, 77.431640625, 5.888671875, 1.3221989870071411 ]
3.92
98
0
98
0
[ -11.513671875, 80.5078125, 66.533203125, 78.75, 6.767578125, 0.19860972464084625 ]
[ -11.42578125, 74.00390625, 68.73046875, 77.607421875, 6.15234375, 1.3221989870071411 ]
3.96
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": 7480,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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": [
                6
            ],
            "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.hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
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