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Datasets:
allenchienxxx
/
so100_toy_bin

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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18.8
frame_index
int64
0
563
episode_index
int64
0
69
index
int64
0
39.1k
task_index
int64
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[ 5.44921875, 181.58203125, 174.90234375, 69.697265625, -93.427734375, 48.90304183959961 ]
2.466667
74
0
74
0
[ 6.15234375, 181.142578125, 174.462890625, 68.115234375, -105.205078125, 49.317562103271484 ]
[ 5.537109375, 181.58203125, 174.90234375, 69.521484375, -93.427734375, 48.973812103271484 ]
2.5
75
0
75
0
[ 6.15234375, 181.142578125, 174.462890625, 67.5, -105.380859375, 49.317562103271484 ]
[ 5.537109375, 181.58203125, 174.90234375, 69.43359375, -93.427734375, 48.973812103271484 ]
2.533333
76
0
76
0
[ 6.240234375, 181.142578125, 174.462890625, 66.796875, -105.8203125, 49.317562103271484 ]
[ 5.712890625, 181.58203125, 174.90234375, 69.43359375, -93.515625, 48.973812103271484 ]
2.566667
77
0
77
0
[ 6.416015625, 181.142578125, 174.462890625, 66.005859375, -105.732421875, 49.317562103271484 ]
[ 5.712890625, 181.58203125, 174.990234375, 68.994140625, -93.515625, 48.973812103271484 ]
2.6
78
0
78
0
[ 6.767578125, 181.142578125, 174.462890625, 65.56640625, -105.29296875, 49.317562103271484 ]
[ 5.80078125, 181.58203125, 174.990234375, 68.291015625, -93.515625, 48.973812103271484 ]
2.633333
79
0
79
0
[ 7.294921875, 181.142578125, 174.462890625, 65.7421875, -105.205078125, 49.317562103271484 ]
[ 6.064453125, 181.494140625, 174.990234375, 67.5, -93.515625, 48.973812103271484 ]
2.666667
80
0
80
0
[ 7.998046875, 181.142578125, 174.462890625, 66.09375, -105.1171875, 49.317562103271484 ]
[ 6.416015625, 181.494140625, 174.990234375, 67.060546875, -93.515625, 48.973812103271484 ]
2.7
81
0
81
0
[ 8.7890625, 181.142578125, 174.375, 66.533203125, -105.908203125, 49.317562103271484 ]
[ 6.6796875, 181.494140625, 174.990234375, 66.97265625, -93.515625, 48.973812103271484 ]
2.733333
82
0
82
0
[ 9.580078125, 181.142578125, 174.19921875, 66.533203125, -106.5234375, 49.317562103271484 ]
[ 7.3828125, 181.494140625, 174.990234375, 66.97265625, -93.515625, 48.973812103271484 ]
2.766667
83
0
83
0
[ 10.1953125, 181.142578125, 173.49609375, 66.796875, -107.138671875, 49.317562103271484 ]
[ 8.26171875, 181.494140625, 174.990234375, 66.884765625, -93.515625, 48.973812103271484 ]
2.8
84
0
84
0
[ 10.810546875, 181.142578125, 172.177734375, 67.763671875, -107.578125, 49.317562103271484 ]
[ 8.701171875, 181.494140625, 174.990234375, 66.884765625, -93.515625, 48.973812103271484 ]
2.833333
85
0
85
0
[ 10.986328125, 181.142578125, 170.859375, 68.90625, -107.666015625, 49.317562103271484 ]
[ 9.31640625, 181.494140625, 174.990234375, 66.884765625, -93.515625, 48.973812103271484 ]
2.866667
86
0
86
0
[ 11.07421875, 181.142578125, 169.189453125, 70.3125, -107.75390625, 49.317562103271484 ]
[ 9.931640625, 181.494140625, 174.638671875, 67.32421875, -93.515625, 48.973812103271484 ]
2.9
87
0
87
0
[ 11.07421875, 181.142578125, 167.783203125, 71.3671875, -107.75390625, 49.317562103271484 ]
[ 10.37109375, 181.142578125, 173.935546875, 67.939453125, -93.515625, 48.973812103271484 ]
2.933333
88
0
88
0
[ 10.8984375, 181.142578125, 166.552734375, 72.421875, -107.75390625, 49.317562103271484 ]
[ 10.546875, 181.0546875, 172.96875, 68.90625, -93.515625, 48.973812103271484 ]
2.966667
89
0
89
0
[ 10.634765625, 181.142578125, 165.41015625, 73.564453125, -107.75390625, 49.317562103271484 ]
[ 10.72265625, 180.791015625, 171.38671875, 70.13671875, -93.515625, 48.973812103271484 ]
3
90
0
90
0
[ 10.458984375, 181.142578125, 164.443359375, 74.53125, -107.75390625, 49.317562103271484 ]
[ 10.72265625, 181.318359375, 170.244140625, 71.19140625, -93.515625, 48.973812103271484 ]
3.033333
91
0
91
0
[ 10.283203125, 181.142578125, 163.4765625, 75.234375, -107.666015625, 49.317562103271484 ]
[ 10.546875, 181.40625, 169.013671875, 72.333984375, -93.515625, 48.973812103271484 ]
3.066667
92
0
92
0
[ 10.107421875, 181.0546875, 162.24609375, 75.9375, -107.490234375, 49.317562103271484 ]
[ 10.546875, 181.40625, 168.134765625, 73.30078125, -93.515625, 48.973812103271484 ]
3.1
93
0
93
0
[ 9.84375, 180.966796875, 161.19140625, 76.640625, -107.2265625, 49.317562103271484 ]
[ 10.546875, 181.40625, 167.080078125, 74.1796875, -93.515625, 48.973812103271484 ]
3.133333
94
0
94
0
[ 9.404296875, 180.439453125, 159.78515625, 77.34375, -106.69921875, 49.317562103271484 ]
[ 10.458984375, 181.40625, 165.9375, 74.970703125, -93.515625, 48.973812103271484 ]
3.166667
95
0
95
0
[ 9.052734375, 179.384765625, 158.37890625, 77.783203125, -106.34765625, 49.317562103271484 ]
[ 10.37109375, 181.40625, 164.970703125, 75.673828125, -93.515625, 48.973812103271484 ]
3.2
96
0
96
0
[ 8.4375, 177.1875, 156.26953125, 77.87109375, -105.380859375, 49.317562103271484 ]
[ 9.931640625, 181.0546875, 163.564453125, 76.552734375, -93.515625, 48.973812103271484 ]
3.233333
97
0
97
0
[ 7.734375, 174.0234375, 153.720703125, 77.783203125, -104.4140625, 49.317562103271484 ]
[ 9.404296875, 180.3515625, 162.0703125, 77.080078125, -93.427734375, 48.973812103271484 ]
3.266667
98
0
98
0
[ 6.767578125, 170.068359375, 150.46875, 77.431640625, -103.0078125, 49.317562103271484 ]
[ 8.96484375, 179.384765625, 160.927734375, 77.431640625, -93.515625, 48.973812103271484 ]
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": 10,
    "total_frames": 5560,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                "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"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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