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Datasets:
zijian2022
/
so100_test3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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observation.state
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 5.009765625, 122.51953125, 134.82421875, 32.16796875, -12.12890625, 1.0080645084381104 ]
[ 3.69140625, 124.27734375, 137.28515625, 35.33203125, -9.580078125, 0.16835017502307892 ]
2.4
72
0
72
0
[ 5.2734375, 121.640625, 134.6484375, 30.76171875, -13.0078125, 1.1088709831237793 ]
[ 3.955078125, 123.22265625, 136.93359375, 34.1015625, -10.37109375, 0.16835017502307892 ]
2.433333
73
0
73
0
[ 5.44921875, 120.849609375, 134.47265625, 29.443359375, -14.150390625, 1.1088709831237793 ]
[ 4.21875, 122.16796875, 136.40625, 32.783203125, -11.25, 0.16835017502307892 ]
2.466667
74
0
74
0
[ 5.537109375, 120.146484375, 134.296875, 28.388671875, -15.029296875, 1.1088709831237793 ]
[ 4.5703125, 121.11328125, 136.0546875, 31.376953125, -12.3046875, 0.16835017502307892 ]
2.5
75
0
75
0
[ 5.625, 119.619140625, 134.296875, 27.0703125, -16.259765625, 1.1088709831237793 ]
[ 4.658203125, 120.322265625, 135.87890625, 30.05859375, -13.271484375, 0.16835017502307892 ]
2.533333
76
0
76
0
[ 5.712890625, 119.1796875, 134.296875, 25.83984375, -17.490234375, 1.1088709831237793 ]
[ 4.658203125, 119.619140625, 135.791015625, 28.916015625, -14.150390625, 0.16835017502307892 ]
2.566667
77
0
77
0
[ 5.80078125, 118.828125, 134.208984375, 24.609375, -19.072265625, 1.1088709831237793 ]
[ 4.658203125, 119.091796875, 135.791015625, 27.685546875, -15.205078125, 0.16835017502307892 ]
2.6
78
0
78
0
[ 5.9765625, 118.388671875, 134.208984375, 23.115234375, -20.7421875, 1.1088709831237793 ]
[ 4.658203125, 118.564453125, 135.791015625, 26.3671875, -16.34765625, 0.16835017502307892 ]
2.633333
79
0
79
0
[ 6.15234375, 117.94921875, 134.208984375, 21.62109375, -22.412109375, 1.2096774578094482 ]
[ 4.658203125, 118.037109375, 135.791015625, 25.13671875, -17.578125, 0.16835017502307892 ]
2.666667
80
0
80
0
[ 6.328125, 117.509765625, 134.12109375, 20.478515625, -23.37890625, 1.2096774578094482 ]
[ 4.833984375, 117.509765625, 135.791015625, 23.73046875, -18.984375, 0.16835017502307892 ]
2.7
81
0
81
0
[ 6.50390625, 117.158203125, 134.033203125, 19.51171875, -24.521484375, 1.2096774578094482 ]
[ 5.2734375, 117.0703125, 135.791015625, 22.32421875, -20.56640625, 0.16835017502307892 ]
2.733333
82
0
82
0
[ 6.6796875, 116.806640625, 133.857421875, 18.80859375, -25.3125, 1.2096774578094482 ]
[ 5.537109375, 116.806640625, 135.791015625, 21.005859375, -21.884765625, 0.16835017502307892 ]
2.766667
83
0
83
0
[ 6.85546875, 116.54296875, 133.59375, 18.369140625, -26.279296875, 1.2096774578094482 ]
[ 5.712890625, 116.630859375, 135.703125, 20.0390625, -22.763671875, 0.16835017502307892 ]
2.8
84
0
84
0
[ 7.119140625, 116.279296875, 133.330078125, 17.666015625, -27.24609375, 1.3104838132858276 ]
[ 5.80078125, 116.103515625, 135.263671875, 19.16015625, -23.818359375, 0.16835017502307892 ]
2.833333
85
0
85
0
[ 7.294921875, 115.927734375, 133.06640625, 17.05078125, -27.7734375, 1.3104838132858276 ]
[ 5.888671875, 115.751953125, 135.087890625, 18.45703125, -24.873046875, 0.16835017502307892 ]
2.866667
86
0
86
0
[ 7.3828125, 115.6640625, 132.626953125, 16.787109375, -28.4765625, 1.3104838132858276 ]
[ 6.240234375, 115.48828125, 134.82421875, 17.9296875, -25.6640625, 0.16835017502307892 ]
2.9
87
0
87
0
[ 7.646484375, 115.400390625, 132.1875, 16.787109375, -28.828125, 1.3104838132858276 ]
[ 6.50390625, 115.048828125, 134.560546875, 17.40234375, -26.3671875, 0.2525252401828766 ]
2.933333
88
0
88
0
[ 7.822265625, 115.224609375, 131.8359375, 16.69921875, -29.091796875, 1.3104838132858276 ]
[ 6.6796875, 114.78515625, 134.208984375, 16.875, -26.89453125, 0.2525252401828766 ]
2.966667
89
0
89
0
[ 7.998046875, 115.048828125, 131.396484375, 16.5234375, -29.091796875, 1.3104838132858276 ]
[ 6.6796875, 114.78515625, 133.857421875, 16.69921875, -27.421875, 0.2525252401828766 ]
3
90
0
90
0
[ 8.173828125, 114.697265625, 130.95703125, 16.34765625, -29.091796875, 1.3104838132858276 ]
[ 6.6796875, 114.78515625, 133.41796875, 16.611328125, -27.94921875, 0.2525252401828766 ]
3.033333
91
0
91
0
[ 8.4375, 114.169921875, 130.4296875, 15.8203125, -29.091796875, 1.3104838132858276 ]
[ 6.85546875, 114.521484375, 132.802734375, 16.611328125, -28.212890625, 0.2525252401828766 ]
3.066667
92
0
92
0
[ 8.701171875, 113.5546875, 130.166015625, 15.1171875, -29.00390625, 1.3104838132858276 ]
[ 7.294921875, 114.08203125, 132.275390625, 16.34765625, -28.388671875, 0.2525252401828766 ]
3.1
93
0
93
0
[ 9.052734375, 113.02734375, 129.55078125, 14.765625, -28.916015625, 1.3104838132858276 ]
[ 7.55859375, 113.5546875, 132.01171875, 15.8203125, -28.388671875, 0.2525252401828766 ]
3.133333
94
0
94
0
[ 9.404296875, 112.5, 128.84765625, 14.765625, -28.916015625, 1.3104838132858276 ]
[ 7.91015625, 112.939453125, 131.66015625, 15.380859375, -28.388671875, 0.2525252401828766 ]
3.166667
95
0
95
0
[ 9.66796875, 111.884765625, 128.232421875, 14.765625, -28.916015625, 1.3104838132858276 ]
[ 8.349609375, 112.412109375, 131.1328125, 14.94140625, -28.212890625, 0.2525252401828766 ]
3.2
96
0
96
0
[ 10.01953125, 111.357421875, 127.6171875, 14.765625, -28.740234375, 1.3104838132858276 ]
[ 8.525390625, 111.708984375, 130.517578125, 14.677734375, -28.037109375, 0.2525252401828766 ]
3.233333
97
0
97
0
[ 10.37109375, 110.830078125, 126.9140625, 14.677734375, -28.740234375, 1.3104838132858276 ]
[ 8.96484375, 111.005859375, 129.814453125, 14.501953125, -28.037109375, 0.2525252401828766 ]
3.266667
98
0
98
0
[ 10.810546875, 110.21484375, 126.38671875, 14.501953125, -28.740234375, 1.3104838132858276 ]
[ 9.228515625, 110.390625, 129.19921875, 14.501953125, -28.037109375, 0.2525252401828766 ]
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": 20,
    "total_frames": 5976,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": {
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            "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": [
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                640,
                3
            ],
            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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        },
        "observation.images.phone": {
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            "shape": [
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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": "h264",
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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": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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