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Datasets:
AaronNewman
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
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< 1K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
1
index
int64
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task_index
int64
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71
0
[ 11.865234375, 192.041015625, 180.966796875, 51.416015625, 3.251953125, 0.0892857164144516 ]
[ 6.6796875, 191.77734375, 179.6484375, 52.3828125, -0.52734375, 0.6164383888244629 ]
2.4
72
0
72
0
[ 12.216796875, 192.041015625, 180.703125, 52.294921875, 3.1640625, 0.0892857164144516 ]
[ 7.646484375, 191.77734375, 179.6484375, 52.3828125, 0.17578125, 0.6164383888244629 ]
2.433333
73
0
73
0
[ 12.568359375, 192.041015625, 180.263671875, 53.26171875, 3.33984375, 0.0892857164144516 ]
[ 8.7890625, 191.77734375, 179.6484375, 52.294921875, 1.142578125, 0.6164383888244629 ]
2.466667
74
0
74
0
[ 12.83203125, 192.041015625, 179.736328125, 54.052734375, 2.98828125, 0.0892857164144516 ]
[ 9.66796875, 191.77734375, 179.6484375, 52.3828125, 1.7578125, 0.6164383888244629 ]
2.5
75
0
75
0
[ 12.919921875, 192.041015625, 179.12109375, 54.66796875, 2.28515625, 0.0892857164144516 ]
[ 10.458984375, 191.77734375, 179.6484375, 52.822265625, 2.021484375, 0.6164383888244629 ]
2.533333
76
0
76
0
[ 12.919921875, 192.041015625, 178.330078125, 55.458984375, 2.197265625, 0.0892857164144516 ]
[ 10.986328125, 191.77734375, 179.6484375, 53.4375, 1.93359375, 0.6164383888244629 ]
2.566667
77
0
77
0
[ 12.83203125, 192.041015625, 177.626953125, 55.986328125, 2.197265625, 0.0892857164144516 ]
[ 11.25, 191.77734375, 179.6484375, 53.876953125, 1.93359375, 0.6164383888244629 ]
2.6
78
0
78
0
[ 12.65625, 192.041015625, 176.66015625, 56.6015625, 1.58203125, 0.0892857164144516 ]
[ 11.42578125, 191.77734375, 179.208984375, 54.404296875, 1.93359375, 0.6164383888244629 ]
2.633333
79
0
79
0
[ 12.65625, 192.041015625, 175.60546875, 56.953125, 0.703125, 0.0892857164144516 ]
[ 11.513671875, 191.77734375, 178.857421875, 54.84375, 1.93359375, 0.6164383888244629 ]
2.666667
80
0
80
0
[ 12.65625, 192.041015625, 174.55078125, 57.48046875, 0.087890625, 0.0892857164144516 ]
[ 11.689453125, 191.77734375, 178.59375, 55.458984375, 1.58203125, 0.6164383888244629 ]
2.7
81
0
81
0
[ 12.568359375, 192.041015625, 173.583984375, 58.095703125, -0.439453125, 0.0892857164144516 ]
[ 11.689453125, 191.77734375, 178.41796875, 55.8984375, 0.966796875, 0.6164383888244629 ]
2.733333
82
0
82
0
[ 12.12890625, 192.041015625, 172.44140625, 58.88671875, -0.966796875, 0.0892857164144516 ]
[ 11.689453125, 191.77734375, 178.2421875, 56.513671875, 0.52734375, 0.6164383888244629 ]
2.766667
83
0
83
0
[ 11.689453125, 192.041015625, 171.474609375, 59.765625, -1.40625, 0.0892857164144516 ]
[ 11.689453125, 191.77734375, 177.890625, 57.3046875, 0.3515625, 0.6164383888244629 ]
2.8
84
0
84
0
[ 11.25, 192.041015625, 170.419921875, 60.380859375, -1.93359375, 0.0892857164144516 ]
[ 11.6015625, 191.77734375, 177.36328125, 57.744140625, 0.087890625, 0.6164383888244629 ]
2.833333
85
0
85
0
[ 10.72265625, 192.041015625, 169.62890625, 60.908203125, -2.548828125, 0.0892857164144516 ]
[ 11.42578125, 191.77734375, 176.66015625, 58.359375, -0.3515625, 0.6164383888244629 ]
2.866667
86
0
86
0
[ 10.1953125, 192.041015625, 169.1015625, 61.34765625, -3.251953125, 0.0892857164144516 ]
[ 11.162109375, 191.953125, 175.78125, 59.150390625, -0.615234375, 0.6164383888244629 ]
2.9
87
0
87
0
[ 9.66796875, 192.041015625, 168.92578125, 61.611328125, -3.779296875, 0.0892857164144516 ]
[ 10.72265625, 191.953125, 174.990234375, 59.677734375, -1.23046875, 0.6164383888244629 ]
2.933333
88
0
88
0
[ 9.228515625, 192.041015625, 168.92578125, 61.787109375, -4.130859375, 0.0892857164144516 ]
[ 10.283203125, 192.216796875, 174.375, 60.380859375, -1.93359375, 0.6164383888244629 ]
2.966667
89
0
89
0
[ 8.701171875, 192.041015625, 168.92578125, 61.875, -4.482421875, 0.0892857164144516 ]
[ 9.755859375, 192.216796875, 173.759765625, 60.732421875, -2.373046875, 0.6164383888244629 ]
3
90
0
90
0
[ 8.173828125, 192.041015625, 169.013671875, 61.875, -5.009765625, 0.0892857164144516 ]
[ 9.404296875, 192.216796875, 173.3203125, 60.8203125, -2.98828125, 0.6164383888244629 ]
3.033333
91
0
91
0
[ 7.646484375, 192.041015625, 169.189453125, 61.69921875, -5.361328125, 0.0892857164144516 ]
[ 8.96484375, 192.3046875, 173.14453125, 60.8203125, -3.33984375, 0.6164383888244629 ]
3.066667
92
0
92
0
[ 7.20703125, 192.041015625, 169.27734375, 61.611328125, -5.537109375, 0.0892857164144516 ]
[ 8.525390625, 192.3046875, 173.056640625, 60.8203125, -3.955078125, 0.6164383888244629 ]
3.1
93
0
93
0
[ 6.6796875, 192.041015625, 169.27734375, 61.5234375, -5.625, 0.0892857164144516 ]
[ 7.998046875, 192.3046875, 173.056640625, 60.8203125, -4.39453125, 0.6164383888244629 ]
3.133333
94
0
94
0
[ 6.328125, 192.041015625, 169.189453125, 61.34765625, -5.80078125, 0.0892857164144516 ]
[ 7.55859375, 192.392578125, 173.056640625, 60.8203125, -4.5703125, 0.6164383888244629 ]
3.166667
95
0
95
0
[ 6.15234375, 192.041015625, 169.189453125, 61.171875, -5.80078125, 0.0892857164144516 ]
[ 6.943359375, 192.392578125, 173.056640625, 60.8203125, -4.74609375, 0.6164383888244629 ]
3.2
96
0
96
0
[ 5.9765625, 192.041015625, 169.189453125, 60.99609375, -5.888671875, 0.0892857164144516 ]
[ 6.591796875, 192.392578125, 173.056640625, 60.8203125, -4.74609375, 0.6164383888244629 ]
3.233333
97
0
97
0
[ 5.888671875, 192.041015625, 169.1015625, 60.908203125, -5.712890625, 0.0892857164144516 ]
[ 6.240234375, 192.392578125, 173.056640625, 60.8203125, -4.74609375, 0.6164383888244629 ]
3.266667
98
0
98
0
[ 5.537109375, 192.041015625, 168.92578125, 60.8203125, -5.712890625, 0.0892857164144516 ]
[ 5.9765625, 192.392578125, 173.056640625, 60.8203125, -4.74609375, 0.6164383888244629 ]
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": 598,
    "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": [
                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
            }
        },
        "observation.images.phone": {
            "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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