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Datasets:
zonglin1104
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
29.3
frame_index
int64
0
878
episode_index
int64
0
1
index
int64
0
1.74k
task_index
int64
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2.4
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72
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[ -0.615234375, 189.140625, 176.044921875, 58.798828125, -0.615234375, 0.035765379667282104 ]
[ 0.17578125, 188.525390625, 176.572265625, 58.359375, 0.3515625, 0.572519063949585 ]
2.433333
73
0
73
0
[ -0.52734375, 189.140625, 175.869140625, 58.798828125, -0.615234375, -0.035765379667282104 ]
[ 0.17578125, 188.525390625, 176.572265625, 58.359375, 0.3515625, 0.572519063949585 ]
2.466667
74
0
74
0
[ -0.439453125, 189.140625, 175.60546875, 58.798828125, -0.703125, -0.14306151866912842 ]
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2.5
75
0
75
0
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2.533333
76
0
76
0
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[ 0.17578125, 188.525390625, 176.572265625, 58.359375, 0.17578125, 0.572519063949585 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
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[ 0.17578125, 188.525390625, 176.572265625, 58.7109375, 0.17578125, 0.572519063949585 ]
2.633333
79
0
79
0
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[ 0.17578125, 188.525390625, 176.572265625, 58.974609375, -0.263671875, 0.572519063949585 ]
2.666667
80
0
80
0
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[ 0.17578125, 188.525390625, 176.396484375, 59.58984375, -0.52734375, 0.572519063949585 ]
2.7
81
0
81
0
[ -0.439453125, 189.140625, 171.123046875, 63.984375, -2.373046875, -0.5364806652069092 ]
[ 0.17578125, 188.525390625, 176.044921875, 60.46875, -0.52734375, 0.572519063949585 ]
2.733333
82
0
82
0
[ -0.439453125, 189.140625, 170.15625, 65.0390625, -2.8125, -0.5364806652069092 ]
[ 0.17578125, 188.4375, 175.341796875, 61.435546875, -0.615234375, 0.572519063949585 ]
2.766667
83
0
83
0
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[ 0.17578125, 188.4375, 174.638671875, 62.138671875, -1.23046875, 0.572519063949585 ]
2.8
84
0
84
0
[ -0.439453125, 189.140625, 168.310546875, 66.09375, -3.251953125, -0.5722460746765137 ]
[ 0.17578125, 188.525390625, 173.583984375, 63.28125, -1.494140625, 0.572519063949585 ]
2.833333
85
0
85
0
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[ 0.17578125, 188.525390625, 172.705078125, 64.16015625, -2.109375, 0.572519063949585 ]
2.866667
86
0
86
0
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[ 0.17578125, 188.525390625, 171.73828125, 64.951171875, -2.373046875, 0.572519063949585 ]
2.9
87
0
87
0
[ -0.439453125, 189.140625, 166.11328125, 66.796875, -3.603515625, -0.6080114245414734 ]
[ 0.17578125, 188.525390625, 170.68359375, 65.390625, -2.548828125, 0.572519063949585 ]
2.933333
88
0
88
0
[ -0.439453125, 189.140625, 165.41015625, 67.587890625, -3.779296875, -0.6080114245414734 ]
[ 0.17578125, 188.525390625, 169.8046875, 65.56640625, -2.63671875, 0.572519063949585 ]
2.966667
89
0
89
0
[ -0.439453125, 189.052734375, 164.619140625, 68.466796875, -4.04296875, -0.6080114245414734 ]
[ 0.17578125, 188.525390625, 169.189453125, 65.830078125, -2.724609375, 0.572519063949585 ]
3
90
0
90
0
[ -0.52734375, 188.96484375, 163.828125, 69.2578125, -4.04296875, -0.6080114245414734 ]
[ 0.17578125, 188.525390625, 168.486328125, 66.62109375, -2.724609375, 0.572519063949585 ]
3.033333
91
0
91
0
[ -0.52734375, 188.61328125, 163.30078125, 69.43359375, -5.009765625, -0.6080114245414734 ]
[ 0.17578125, 188.525390625, 167.51953125, 67.412109375, -3.33984375, 0.572519063949585 ]
3.066667
92
0
92
0
[ -0.52734375, 188.26171875, 162.94921875, 69.43359375, -5.185546875, -0.6080114245414734 ]
[ 0.17578125, 188.26171875, 166.552734375, 68.203125, -3.603515625, 0.572519063949585 ]
3.1
93
0
93
0
[ -0.52734375, 187.3828125, 162.333984375, 69.43359375, -5.2734375, -0.6080114245414734 ]
[ 0.17578125, 188.173828125, 166.025390625, 68.5546875, -4.130859375, 0.572519063949585 ]
3.133333
94
0
94
0
[ -0.52734375, 185.9765625, 161.455078125, 69.345703125, -5.44921875, -0.6080114245414734 ]
[ 0.17578125, 188.0859375, 165.498046875, 68.73046875, -4.39453125, 0.572519063949585 ]
3.166667
95
0
95
0
[ -0.52734375, 183.955078125, 160.224609375, 69.345703125, -6.15234375, -0.6080114245414734 ]
[ 0.17578125, 188.0859375, 165.05859375, 68.90625, -4.482421875, 0.572519063949585 ]
3.2
96
0
96
0
[ -0.52734375, 181.40625, 158.466796875, 69.43359375, -6.85546875, -0.6080114245414734 ]
[ 0.17578125, 186.6796875, 164.267578125, 68.90625, -4.658203125, 0.572519063949585 ]
3.233333
97
0
97
0
[ -0.439453125, 178.681640625, 156.62109375, 69.43359375, -7.294921875, -0.6080114245414734 ]
[ 0.17578125, 184.39453125, 163.30078125, 68.90625, -5.185546875, 0.572519063949585 ]
3.266667
98
0
98
0
[ -0.439453125, 176.220703125, 154.599609375, 69.43359375, -7.822265625, -0.6080114245414734 ]
[ 0.17578125, 182.4609375, 162.24609375, 68.994140625, -5.537109375, 0.572519063949585 ]
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": 2,
    "total_frames": 1737,
    "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
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            "names": [
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                "video.codec": "vp9",
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                "has_audio": false
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        },
        "observation.images.phone": {
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "vp9",
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                "video.is_depth_map": false,
                "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": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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