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Datasets:
sshh11
/
so100_test_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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
15
frame_index
int64
0
449
episode_index
int64
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2
index
int64
0
1.35k
task_index
int64
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2.466667
74
0
74
0
[ -1.494140625, 193.18359375, 176.8359375, 65.56640625, 2.109375, 1.953125 ]
[ -2.4609375, 192.65625, 176.044921875, 65.478515625, 0.615234375, 0.7849293947219849 ]
2.5
75
0
75
0
[ -1.494140625, 193.18359375, 176.8359375, 65.56640625, 2.197265625, 1.953125 ]
[ -1.93359375, 192.65625, 176.044921875, 65.478515625, 0.703125, 0.7849293947219849 ]
2.533333
76
0
76
0
[ -1.669921875, 193.18359375, 176.8359375, 65.56640625, 2.197265625, 1.953125 ]
[ -1.0546875, 192.65625, 176.044921875, 65.478515625, 1.23046875, 0.7849293947219849 ]
2.566667
77
0
77
0
[ -1.669921875, 193.18359375, 176.8359375, 65.56640625, 2.197265625, 2.05078125 ]
[ -0.87890625, 192.65625, 176.044921875, 65.478515625, 1.40625, 0.7849293947219849 ]
2.6
78
0
78
0
[ -1.669921875, 193.18359375, 176.8359375, 65.56640625, 2.197265625, 2.9296875 ]
[ -1.40625, 192.65625, 176.044921875, 65.478515625, 1.494140625, 0.7849293947219849 ]
2.633333
79
0
79
0
[ -1.669921875, 193.18359375, 176.8359375, 65.56640625, 2.28515625, 5.56640625 ]
[ -1.58203125, 192.65625, 176.044921875, 65.478515625, 1.58203125, 0.7849293947219849 ]
2.666667
80
0
80
0
[ -1.669921875, 193.18359375, 176.8359375, 65.56640625, 2.28515625, 7.8125 ]
[ -1.0546875, 192.65625, 176.044921875, 65.478515625, 1.7578125, 1.7268445491790771 ]
2.7
81
0
81
0
[ -1.7578125, 193.18359375, 176.8359375, 65.56640625, 2.197265625, 9.27734375 ]
[ -0.791015625, 192.65625, 176.044921875, 65.478515625, 1.7578125, 2.119309186935425 ]
2.733333
82
0
82
0
[ -2.197265625, 193.18359375, 176.8359375, 65.56640625, 1.845703125, 11.42578125 ]
[ -0.791015625, 192.65625, 176.044921875, 65.478515625, 1.7578125, 4.160125732421875 ]
2.766667
83
0
83
0
[ -2.548828125, 193.18359375, 176.8359375, 65.56640625, 1.494140625, 13.76953125 ]
[ -1.0546875, 192.65625, 176.044921875, 65.478515625, 1.7578125, 6.200942039489746 ]
2.8
84
0
84
0
[ -3.076171875, 193.18359375, 176.8359375, 65.56640625, 0.966796875, 16.2109375 ]
[ -1.40625, 192.65625, 176.044921875, 65.478515625, 1.494140625, 8.241758346557617 ]
2.833333
85
0
85
0
[ -3.779296875, 193.18359375, 176.8359375, 65.56640625, 0.439453125, 17.28515625 ]
[ -1.669921875, 192.65625, 176.044921875, 65.478515625, 1.318359375, 10.282574653625488 ]
2.866667
86
0
86
0
[ -4.5703125, 193.18359375, 176.8359375, 65.478515625, -0.263671875, 17.7734375 ]
[ -2.021484375, 192.65625, 176.044921875, 65.478515625, 0.966796875, 12.401884078979492 ]
2.9
87
0
87
0
[ -5.2734375, 193.18359375, 176.8359375, 65.478515625, -0.87890625, 18.84765625 ]
[ -2.373046875, 192.65625, 176.044921875, 65.478515625, 0.615234375, 14.285715103149414 ]
2.933333
88
0
88
0
[ -5.712890625, 193.18359375, 176.8359375, 65.478515625, -1.318359375, 20.21484375 ]
[ -2.8125, 192.65625, 176.044921875, 65.478515625, 0.615234375, 15.227629661560059 ]
2.966667
89
0
89
0
[ -5.9765625, 193.18359375, 176.8359375, 65.478515625, -1.669921875, 20.3125 ]
[ -3.8671875, 192.65625, 176.044921875, 65.478515625, 0.439453125, 16.4050235748291 ]
3
90
0
90
0
[ -5.9765625, 193.18359375, 176.8359375, 65.390625, -1.7578125, 20.41015625 ]
[ -4.658203125, 192.65625, 176.044921875, 65.478515625, -0.3515625, 17.817895889282227 ]
3.033333
91
0
91
0
[ -5.80078125, 193.18359375, 176.8359375, 65.302734375, -1.7578125, 20.5078125 ]
[ -4.306640625, 192.65625, 176.044921875, 65.478515625, -0.791015625, 18.602825164794922 ]
3.066667
92
0
92
0
[ -5.09765625, 193.18359375, 176.8359375, 64.951171875, -1.669921875, 20.80078125 ]
[ -3.955078125, 192.65625, 176.044921875, 65.478515625, -0.3515625, 18.995290756225586 ]
3.1
93
0
93
0
[ -4.482421875, 193.18359375, 177.01171875, 64.599609375, -1.669921875, 21.2890625 ]
[ -4.921875, 192.65625, 176.044921875, 65.478515625, -0.703125, 19.230770111083984 ]
3.133333
94
0
94
0
[ -4.306640625, 193.18359375, 177.01171875, 64.423828125, -2.109375, 21.77734375 ]
[ -5.009765625, 192.65625, 176.1328125, 64.951171875, -0.966796875, 19.46624755859375 ]
3.166667
95
0
95
0
[ -4.5703125, 193.18359375, 176.8359375, 64.423828125, -2.724609375, 22.265625 ]
[ -4.130859375, 193.095703125, 176.748046875, 64.775390625, -0.966796875, 20.172683715820312 ]
3.2
96
0
96
0
[ -5.185546875, 193.18359375, 176.396484375, 64.599609375, -3.1640625, 22.55859375 ]
[ -3.955078125, 192.744140625, 177.01171875, 64.775390625, -1.0546875, 20.486656188964844 ]
3.233333
97
0
97
0
[ -5.625, 193.18359375, 175.4296875, 65.0390625, -3.251953125, 23.6328125 ]
[ -4.39453125, 192.568359375, 177.01171875, 64.775390625, -1.494140625, 21.03610610961914 ]
3.266667
98
0
98
0
[ -5.80078125, 193.0078125, 174.287109375, 65.390625, -2.548828125, 25.5859375 ]
[ -4.74609375, 192.65625, 177.01171875, 64.775390625, -2.373046875, 21.428571701049805 ]
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": 3,
    "total_frames": 1348,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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