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Datasets:
zaringleb
/
so100_cube_4_binary

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
8.93
frame_index
int64
0
268
episode_index
int64
0
29
index
int64
0
8.06k
task_index
int64
0
0
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[ 4.658203125, 107.841796875, 140.625, 46.494140625, -6.6796875, 17.485429763793945 ]
2.4
72
0
72
0
[ 4.306640625, 108.193359375, 139.833984375, 47.021484375, -7.55859375, 7.0991435050964355 ]
[ 4.5703125, 107.9296875, 140.537109375, 46.142578125, -6.6796875, 15.736885070800781 ]
2.433333
73
0
73
0
[ 4.306640625, 108.369140625, 139.658203125, 47.197265625, -7.55859375, 4.406364440917969 ]
[ 4.5703125, 107.9296875, 140.537109375, 46.58203125, -6.6796875, 14.07160758972168 ]
2.466667
74
0
74
0
[ 4.39453125, 108.720703125, 139.482421875, 47.548828125, -7.470703125, 0.36719706654548645 ]
[ 4.5703125, 107.9296875, 140.537109375, 46.7578125, -6.6796875, 13.072440147399902 ]
2.5
75
0
75
0
[ 4.482421875, 109.072265625, 139.130859375, 48.076171875, -7.294921875, -2.2031822204589844 ]
[ 4.5703125, 107.841796875, 140.537109375, 46.7578125, -6.6796875, 12.406328201293945 ]
2.533333
76
0
76
0
[ 4.482421875, 109.6875, 138.8671875, 48.8671875, -7.119140625, -3.1823747158050537 ]
[ 4.5703125, 107.841796875, 140.537109375, 47.021484375, -6.6796875, 11.740216255187988 ]
2.566667
77
0
77
0
[ 4.5703125, 110.91796875, 138.69140625, 49.74609375, -6.6796875, -4.773561477661133 ]
[ 4.5703125, 107.9296875, 140.537109375, 47.548828125, -6.6796875, 11.490425109863281 ]
2.6
78
0
78
0
[ 4.5703125, 112.587890625, 138.515625, 50.80078125, -6.15234375, -5.263157844543457 ]
[ 4.5703125, 107.9296875, 140.185546875, 47.8125, -6.6796875, 11.490425109863281 ]
2.633333
79
0
79
0
[ 4.5703125, 114.697265625, 138.1640625, 52.20703125, -5.361328125, -5.385556697845459 ]
[ 4.5703125, 108.193359375, 140.009765625, 48.603515625, -6.416015625, 11.407160758972168 ]
2.666667
80
0
80
0
[ 4.5703125, 116.89453125, 137.373046875, 53.876953125, -4.482421875, -5.630354881286621 ]
[ 4.5703125, 109.16015625, 139.921875, 49.658203125, -6.240234375, 11.407160758972168 ]
2.7
81
0
81
0
[ 4.833984375, 118.828125, 135.966796875, 56.25, -3.251953125, -6.487148284912109 ]
[ 4.5703125, 110.654296875, 139.921875, 50.9765625, -5.712890625, 11.407160758972168 ]
2.733333
82
0
82
0
[ 5.361328125, 120.41015625, 133.9453125, 59.0625, -2.021484375, -7.833537578582764 ]
[ 4.5703125, 112.32421875, 139.5703125, 52.3828125, -5.009765625, 11.407160758972168 ]
2.766667
83
0
83
0
[ 6.15234375, 121.376953125, 131.572265625, 62.2265625, -0.966796875, -8.567931175231934 ]
[ 4.5703125, 114.169921875, 138.33984375, 54.84375, -4.21875, 11.407160758972168 ]
2.8
84
0
84
0
[ 7.119140625, 122.080078125, 129.0234375, 65.654296875, 0.17578125, -8.567931175231934 ]
[ 4.658203125, 115.927734375, 136.845703125, 57.3046875, -3.33984375, 11.407160758972168 ]
2.833333
85
0
85
0
[ 8.4375, 122.16796875, 126.03515625, 69.2578125, 1.40625, -8.690330505371094 ]
[ 5.2734375, 117.509765625, 135.087890625, 59.853515625, -2.197265625, 11.407160758972168 ]
2.866667
86
0
86
0
[ 9.755859375, 122.16796875, 123.310546875, 72.333984375, 2.373046875, -9.302325248718262 ]
[ 6.15234375, 118.65234375, 133.06640625, 62.578125, -1.318359375, 11.407160758972168 ]
2.9
87
0
87
0
[ 11.162109375, 121.904296875, 120.849609375, 74.970703125, 3.515625, -10.03671932220459 ]
[ 7.119140625, 119.35546875, 131.044921875, 66.181640625, -0.52734375, 11.407160758972168 ]
2.933333
88
0
88
0
[ 12.48046875, 121.552734375, 119.00390625, 76.81640625, 4.921875, -11.505507469177246 ]
[ 7.822265625, 119.70703125, 128.759765625, 68.818359375, 0.439453125, 11.407160758972168 ]
2.966667
89
0
89
0
[ 13.88671875, 121.2890625, 117.59765625, 78.486328125, 6.328125, -12.484700202941895 ]
[ 8.7890625, 119.70703125, 126.03515625, 71.279296875, 1.318359375, 11.407160758972168 ]
3
90
0
90
0
[ 15.380859375, 121.025390625, 116.89453125, 79.8046875, 7.998046875, -13.70868968963623 ]
[ 10.107421875, 119.794921875, 123.837890625, 73.30078125, 2.28515625, 11.407160758972168 ]
3.033333
91
0
91
0
[ 16.875, 120.76171875, 116.54296875, 80.771484375, 8.96484375, -13.953489303588867 ]
[ 11.6015625, 119.794921875, 122.080078125, 75.5859375, 3.69140625, 11.407160758972168 ]
3.066667
92
0
92
0
[ 18.544921875, 120.322265625, 116.3671875, 81.73828125, 9.755859375, -13.953489303588867 ]
[ 12.744140625, 119.794921875, 120.498046875, 76.640625, 4.921875, 11.407160758972168 ]
3.1
93
0
93
0
[ 20.390625, 120.146484375, 116.3671875, 82.705078125, 10.634765625, -14.198287010192871 ]
[ 13.974609375, 119.794921875, 119.443359375, 78.486328125, 5.888671875, 11.407160758972168 ]
3.133333
94
0
94
0
[ 22.32421875, 120.146484375, 116.54296875, 83.671875, 11.6015625, -14.687882423400879 ]
[ 15.64453125, 119.619140625, 118.916015625, 79.62890625, 7.119140625, 11.407160758972168 ]
3.166667
95
0
95
0
[ 24.2578125, 120.05859375, 116.71875, 83.84765625, 12.65625, -18.23745346069336 ]
[ 17.40234375, 119.53125, 118.65234375, 80.68359375, 8.173828125, 11.407160758972168 ]
3.2
96
0
96
0
[ 26.103515625, 119.8828125, 116.54296875, 84.111328125, 13.095703125, -20.440635681152344 ]
[ 19.3359375, 119.619140625, 118.564453125, 81.650390625, 9.140625, 11.407160758972168 ]
3.233333
97
0
97
0
[ 28.125, 119.53125, 116.015625, 84.7265625, 13.7109375, -23.378211975097656 ]
[ 21.26953125, 119.619140625, 118.4765625, 82.177734375, 10.283203125, 11.407160758972168 ]
3.266667
98
0
98
0
[ 30.146484375, 119.35546875, 115.576171875, 85.25390625, 14.4140625, -24.112607955932617 ]
[ 23.291015625, 119.1796875, 118.388671875, 82.96875, 11.25, 11.407160758972168 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 8059,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.cam_high": {
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            "names": [
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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