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Datasets:
doujiangwang
/
so100_new_test_50_episode

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
1
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
49
index
int64
0
14.9k
task_index
int64
0
0
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[ 3.33984375, 178.41796875, 153.193359375, 75.05859375, 4.04296875, 0.8857395648956299 ]
2.433333
73
0
73
0
[ 3.8671875, 164.35546875, 136.93359375, 75.498046875, 4.833984375, -0.1826484054327011 ]
[ 3.251953125, 174.7265625, 150.556640625, 75.05859375, 4.130859375, 0.8857395648956299 ]
2.466667
74
0
74
0
[ 4.21875, 159.609375, 133.154296875, 76.025390625, 4.74609375, -0.1826484054327011 ]
[ 3.251953125, 171.123046875, 147.744140625, 75.05859375, 4.130859375, 0.8857395648956299 ]
2.5
75
0
75
0
[ 4.482421875, 154.3359375, 129.19921875, 77.080078125, 4.74609375, -0.1826484054327011 ]
[ 3.427734375, 167.080078125, 144.66796875, 75.146484375, 4.130859375, 0.8857395648956299 ]
2.533333
76
0
76
0
[ 4.833984375, 148.974609375, 125.15625, 78.92578125, 4.5703125, -0.1826484054327011 ]
[ 3.69140625, 162.59765625, 141.328125, 75.498046875, 4.130859375, 0.8857395648956299 ]
2.566667
77
0
77
0
[ 5.2734375, 143.349609375, 121.11328125, 81.298828125, 4.5703125, -0.1826484054327011 ]
[ 3.779296875, 157.8515625, 137.98828125, 76.2890625, 4.130859375, 0.8857395648956299 ]
2.6
78
0
78
0
[ 5.537109375, 138.076171875, 117.685546875, 83.408203125, 3.8671875, -0.1826484054327011 ]
[ 3.955078125, 152.40234375, 134.384765625, 76.9921875, 4.130859375, 0.8857395648956299 ]
2.633333
79
0
79
0
[ 5.625, 133.857421875, 115.224609375, 84.375, 1.318359375, -0.1826484054327011 ]
[ 4.306640625, 146.953125, 130.60546875, 78.046875, 3.8671875, 0.8857395648956299 ]
2.666667
80
0
80
0
[ 5.625, 130.78125, 114.08203125, 84.462890625, -2.109375, 0 ]
[ 4.482421875, 142.119140625, 126.826171875, 80.33203125, 3.427734375, 0.8857395648956299 ]
2.7
81
0
81
0
[ 5.625, 128.84765625, 113.818359375, 84.0234375, -5.712890625, 0.1826484054327011 ]
[ 4.658203125, 137.197265625, 123.310546875, 81.826171875, 2.021484375, 0.8857395648956299 ]
2.733333
82
0
82
0
[ 5.44921875, 127.265625, 113.818359375, 83.935546875, -9.755859375, 0.27397260069847107 ]
[ 4.833984375, 133.59375, 120.673828125, 82.177734375, -0.3515625, 0.8857395648956299 ]
2.766667
83
0
83
0
[ 5.2734375, 125.947265625, 113.818359375, 83.935546875, -11.513671875, 0.3652968108654022 ]
[ 4.833984375, 130.95703125, 118.828125, 82.705078125, -2.98828125, 0.8857395648956299 ]
2.8
84
0
84
0
[ 5.009765625, 124.98046875, 113.994140625, 83.935546875, -13.7109375, 0.456620991230011 ]
[ 4.74609375, 128.84765625, 117.685546875, 82.705078125, -5.9765625, 0.8857395648956299 ]
2.833333
85
0
85
0
[ 4.921875, 124.453125, 114.08203125, 83.935546875, -15.8203125, 0.456620991230011 ]
[ 4.5703125, 126.73828125, 117.0703125, 82.79296875, -8.349609375, 0.8857395648956299 ]
2.866667
86
0
86
0
[ 4.921875, 124.27734375, 114.169921875, 83.935546875, -16.083984375, 0.913241982460022 ]
[ 4.39453125, 125.419921875, 116.806640625, 82.79296875, -10.546875, 0.8857395648956299 ]
2.9
87
0
87
0
[ 5.009765625, 124.27734375, 114.2578125, 83.84765625, -16.435546875, 1.1872146129608154 ]
[ 4.21875, 124.8046875, 116.71875, 82.79296875, -12.392578125, 0.8857395648956299 ]
2.933333
88
0
88
0
[ 5.009765625, 124.27734375, 114.345703125, 83.759765625, -17.314453125, 1.2785388231277466 ]
[ 4.306640625, 124.453125, 116.71875, 82.79296875, -13.7109375, 0.8857395648956299 ]
2.966667
89
0
89
0
[ 4.833984375, 124.27734375, 114.43359375, 83.671875, -19.599609375, 1.2785388231277466 ]
[ 4.5703125, 124.189453125, 116.71875, 82.79296875, -14.58984375, 0.9743135571479797 ]
3
90
0
90
0
[ 4.482421875, 123.92578125, 114.521484375, 83.671875, -22.060546875, 0.913241982460022 ]
[ 4.5703125, 124.1015625, 116.71875, 82.79296875, -15.8203125, 0.9743135571479797 ]
3.033333
91
0
91
0
[ 4.39453125, 123.486328125, 114.521484375, 83.759765625, -24.345703125, 0.913241982460022 ]
[ 4.658203125, 123.75, 116.71875, 82.79296875, -17.666015625, 0.8857395648956299 ]
3.066667
92
0
92
0
[ 4.482421875, 123.046875, 114.521484375, 83.759765625, -25.400390625, 1.2785388231277466 ]
[ 4.482421875, 123.22265625, 116.71875, 82.79296875, -19.951171875, 0.7971656322479248 ]
3.1
93
0
93
0
[ 4.74609375, 122.34375, 114.521484375, 83.49609375, -25.576171875, 2.6484017372131348 ]
[ 3.955078125, 123.046875, 116.71875, 82.79296875, -21.708984375, 0.8857395648956299 ]
3.133333
94
0
94
0
[ 4.921875, 121.376953125, 114.521484375, 83.14453125, -25.751953125, 4.840182304382324 ]
[ 3.779296875, 122.783203125, 116.71875, 82.79296875, -22.8515625, 1.3286094665527344 ]
3.166667
95
0
95
0
[ 4.658203125, 120.322265625, 114.521484375, 82.6171875, -26.015625, 7.762557029724121 ]
[ 3.779296875, 122.080078125, 116.71875, 82.79296875, -23.37890625, 2.125775098800659 ]
3.2
96
0
96
0
[ 4.482421875, 118.740234375, 114.521484375, 82.001953125, -26.19140625, 9.863014221191406 ]
[ 3.779296875, 121.11328125, 116.71875, 82.79296875, -23.994140625, 3.2772367000579834 ]
3.233333
97
0
97
0
[ 4.39453125, 116.89453125, 114.521484375, 81.2109375, -26.54296875, 10.502283096313477 ]
[ 3.779296875, 119.794921875, 116.71875, 82.79296875, -24.609375, 5.3144378662109375 ]
3.266667
98
0
98
0
[ 4.306640625, 115.048828125, 114.521484375, 80.244140625, -27.0703125, 11.141552925109863 ]
[ 4.21875, 118.212890625, 116.71875, 82.705078125, -24.873046875, 7.085916519165039 ]
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": 50,
    "total_frames": 14950,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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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                3
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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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