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Datasets:
Jiangeng
/
so100_413

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
16.6
frame_index
int64
0
498
episode_index
int64
0
49
index
int64
0
17.9k
task_index
int64
0
0
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2.433333
73
0
73
0
[ 14.677734375, 140.625, 129.375, 47.98828125, -17.138671875, -0.10152284801006317 ]
[ 14.23828125, 145.634765625, 134.912109375, 48.69140625, -16.083984375, 0.597907304763794 ]
2.466667
74
0
74
0
[ 14.58984375, 138.955078125, 128.056640625, 47.98828125, -17.578125, -0.10152284801006317 ]
[ 14.23828125, 143.701171875, 133.681640625, 48.603515625, -16.435546875, 0.597907304763794 ]
2.5
75
0
75
0
[ 14.58984375, 137.109375, 126.474609375, 48.1640625, -18.10546875, -0.10152284801006317 ]
[ 14.23828125, 141.85546875, 132.451171875, 48.603515625, -16.69921875, 0.597907304763794 ]
2.533333
76
0
76
0
[ 14.58984375, 135.3515625, 124.8046875, 48.33984375, -18.45703125, -0.10152284801006317 ]
[ 14.23828125, 139.921875, 131.044921875, 48.603515625, -17.138671875, 0.597907304763794 ]
2.566667
77
0
77
0
[ 14.58984375, 133.76953125, 123.22265625, 48.603515625, -18.896484375, -0.10152284801006317 ]
[ 14.23828125, 137.900390625, 129.638671875, 48.603515625, -17.490234375, 0.597907304763794 ]
2.6
78
0
78
0
[ 14.677734375, 132.1875, 121.728515625, 48.603515625, -19.423828125, -0.10152284801006317 ]
[ 14.23828125, 135.966796875, 128.056640625, 48.603515625, -17.9296875, 0.597907304763794 ]
2.633333
79
0
79
0
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[ 14.23828125, 134.208984375, 126.474609375, 48.603515625, -18.369140625, 0.597907304763794 ]
2.666667
80
0
80
0
[ 15.1171875, 128.49609375, 118.65234375, 48.603515625, -20.830078125, -0.10152284801006317 ]
[ 14.23828125, 132.5390625, 124.98046875, 48.603515625, -18.984375, 0.597907304763794 ]
2.7
81
0
81
0
[ 15.29296875, 126.73828125, 116.982421875, 48.779296875, -21.4453125, -0.10152284801006317 ]
[ 14.326171875, 130.693359375, 123.310546875, 48.603515625, -19.51171875, 0.597907304763794 ]
2.733333
82
0
82
0
[ 15.46875, 124.892578125, 115.3125, 49.130859375, -22.5, -0.10152284801006317 ]
[ 14.4140625, 129.111328125, 121.81640625, 48.603515625, -20.126953125, 0.597907304763794 ]
2.766667
83
0
83
0
[ 15.64453125, 123.046875, 113.642578125, 49.5703125, -23.203125, -0.10152284801006317 ]
[ 14.765625, 127.265625, 120.146484375, 48.779296875, -20.830078125, 0.597907304763794 ]
2.8
84
0
84
0
[ 15.99609375, 121.201171875, 111.4453125, 50.625, -23.642578125, -0.10152284801006317 ]
[ 14.94140625, 125.33203125, 118.4765625, 49.130859375, -21.62109375, 0.597907304763794 ]
2.833333
85
0
85
0
[ 16.171875, 119.267578125, 109.423828125, 51.6796875, -24.43359375, -0.10152284801006317 ]
[ 15.205078125, 123.22265625, 116.71875, 49.658203125, -22.32421875, 0.597907304763794 ]
2.866667
86
0
86
0
[ 16.5234375, 117.333984375, 107.40234375, 52.3828125, -24.78515625, -0.10152284801006317 ]
[ 15.46875, 121.376953125, 114.9609375, 50.361328125, -22.939453125, 0.597907304763794 ]
2.9
87
0
87
0
[ 16.962890625, 115.6640625, 105.64453125, 52.91015625, -25.3125, -0.10152284801006317 ]
[ 15.64453125, 119.35546875, 112.939453125, 51.15234375, -23.5546875, 0.597907304763794 ]
2.933333
88
0
88
0
[ 17.314453125, 113.818359375, 103.974609375, 53.173828125, -25.83984375, -0.10152284801006317 ]
[ 15.99609375, 117.421875, 110.91796875, 51.943359375, -24.169921875, 0.597907304763794 ]
2.966667
89
0
89
0
[ 17.666015625, 112.060546875, 102.216796875, 53.61328125, -26.455078125, -0.10152284801006317 ]
[ 16.259765625, 115.576171875, 109.072265625, 52.55859375, -24.697265625, 0.597907304763794 ]
3
90
0
90
0
[ 18.017578125, 110.390625, 100.458984375, 54.052734375, -27.0703125, -0.10152284801006317 ]
[ 16.69921875, 113.642578125, 107.138671875, 53.0859375, -25.3125, 0.597907304763794 ]
3.033333
91
0
91
0
[ 18.369140625, 108.720703125, 98.61328125, 54.580078125, -27.0703125, -0.10152284801006317 ]
[ 17.05078125, 111.97265625, 105.556640625, 53.4375, -25.83984375, 0.597907304763794 ]
3.066667
92
0
92
0
[ 18.80859375, 107.05078125, 96.591796875, 55.1953125, -27.0703125, -0.10152284801006317 ]
[ 17.40234375, 110.302734375, 103.7109375, 53.876953125, -26.279296875, 0.597907304763794 ]
3.1
93
0
93
0
[ 19.16015625, 105.380859375, 94.5703125, 55.810546875, -27.24609375, -0.10152284801006317 ]
[ 17.75390625, 108.45703125, 101.865234375, 54.4921875, -26.54296875, 0.597907304763794 ]
3.133333
94
0
94
0
[ 19.51171875, 103.798828125, 92.724609375, 56.25, -27.333984375, -0.10152284801006317 ]
[ 18.10546875, 106.69921875, 99.931640625, 55.01953125, -26.71875, 0.597907304763794 ]
3.166667
95
0
95
0
[ 19.86328125, 102.041015625, 90.791015625, 56.953125, -27.59765625, -0.10152284801006317 ]
[ 18.544921875, 105.1171875, 98.0859375, 55.546875, -26.806640625, 0.597907304763794 ]
3.2
96
0
96
0
[ 20.126953125, 100.634765625, 89.208984375, 57.392578125, -27.94921875, -0.10152284801006317 ]
[ 18.896484375, 103.359375, 96.064453125, 56.07421875, -27.0703125, 0.597907304763794 ]
3.233333
97
0
97
0
[ 20.478515625, 99.052734375, 87.5390625, 58.0078125, -28.125, -0.10152284801006317 ]
[ 19.248046875, 101.513671875, 93.955078125, 56.689453125, -27.333984375, 0.597907304763794 ]
3.266667
98
0
98
0
[ 20.7421875, 97.294921875, 85.4296875, 59.0625, -28.388671875, -0.10152284801006317 ]
[ 19.599609375, 100.01953125, 92.4609375, 57.216796875, -27.509765625, 0.597907304763794 ]
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": 50,
    "total_frames": 17851,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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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.wrist_left": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "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",
            "shape": [
                1
            ],
            "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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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.11 MB
Number of rows:
17,851