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cezarsolo
/
so100_data

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
49
index
int64
0
29.6k
task_index
int64
0
0
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[ 3.515625, 183.69140625, 166.81640625, 74.267578125, 174.0234375, 1.871101975440979 ]
2.5
75
0
75
0
[ 3.1640625, 186.6796875, 150.8203125, 73.564453125, 173.84765625, 0.09066183120012283 ]
[ 3.515625, 183.69140625, 165.9375, 74.267578125, 174.0234375, 1.871101975440979 ]
2.533333
76
0
76
0
[ 3.076171875, 185.44921875, 148.7109375, 73.564453125, 173.759765625, 0.09066183120012283 ]
[ 3.515625, 183.69140625, 164.794921875, 74.267578125, 174.0234375, 1.871101975440979 ]
2.566667
77
0
77
0
[ 3.076171875, 183.8671875, 146.6015625, 73.564453125, 173.671875, 0.09066183120012283 ]
[ 3.515625, 183.69140625, 163.388671875, 74.267578125, 174.0234375, 1.871101975440979 ]
2.6
78
0
78
0
[ 2.98828125, 181.93359375, 144.140625, 73.564453125, 173.232421875, 0.09066183120012283 ]
[ 3.515625, 183.69140625, 161.806640625, 74.267578125, 174.0234375, 1.871101975440979 ]
2.633333
79
0
79
0
[ 2.98828125, 179.560546875, 141.591796875, 73.65234375, 173.056640625, 0.09066183120012283 ]
[ 3.515625, 183.427734375, 159.873046875, 74.267578125, 174.0234375, 1.871101975440979 ]
2.666667
80
0
80
0
[ 2.98828125, 177.01171875, 139.04296875, 73.740234375, 172.79296875, 0.09066183120012283 ]
[ 3.515625, 183.1640625, 157.8515625, 74.267578125, 173.935546875, 1.871101975440979 ]
2.7
81
0
81
0
[ 2.98828125, 174.19921875, 136.142578125, 74.091796875, 172.44140625, 0.09066183120012283 ]
[ 3.515625, 182.373046875, 155.654296875, 74.267578125, 173.49609375, 1.871101975440979 ]
2.733333
82
0
82
0
[ 2.900390625, 171.38671875, 133.505859375, 74.443359375, 172.08984375, 0.09066183120012283 ]
[ 3.515625, 180.966796875, 153.28125, 74.267578125, 173.232421875, 1.871101975440979 ]
2.766667
83
0
83
0
[ 2.900390625, 168.57421875, 130.95703125, 74.8828125, 171.9140625, 0.09066183120012283 ]
[ 3.515625, 178.9453125, 150.732421875, 74.267578125, 172.96875, 1.871101975440979 ]
2.8
84
0
84
0
[ 2.548828125, 165.849609375, 128.583984375, 75.234375, 171.5625, 0.09066183120012283 ]
[ 3.515625, 176.748046875, 148.0078125, 74.267578125, 172.6171875, 1.871101975440979 ]
2.833333
85
0
85
0
[ 2.28515625, 163.30078125, 126.474609375, 75.498046875, 171.2109375, 0.09066183120012283 ]
[ 3.515625, 174.375, 145.458984375, 74.35546875, 172.265625, 1.871101975440979 ]
2.866667
86
0
86
0
[ 1.93359375, 160.83984375, 124.8046875, 75.849609375, 171.123046875, 0.09066183120012283 ]
[ 3.427734375, 171.73828125, 142.91015625, 74.619140625, 172.001953125, 1.871101975440979 ]
2.9
87
0
87
0
[ 1.40625, 158.37890625, 123.3984375, 75.849609375, 171.03515625, 0.09066183120012283 ]
[ 3.427734375, 169.189453125, 140.361328125, 74.970703125, 171.73828125, 1.871101975440979 ]
2.933333
88
0
88
0
[ 0.966796875, 156.09375, 122.16796875, 75.849609375, 170.68359375, 0.09066183120012283 ]
[ 2.900390625, 166.640625, 137.98828125, 75.234375, 171.474609375, 1.871101975440979 ]
2.966667
89
0
89
0
[ 0.615234375, 153.80859375, 121.025390625, 75.849609375, 170.595703125, 0.09066183120012283 ]
[ 2.373046875, 164.00390625, 135.791015625, 75.498046875, 171.298828125, 1.871101975440979 ]
3
90
0
90
0
[ 0.263671875, 151.875, 120.41015625, 75.849609375, 170.5078125, 0.09066183120012283 ]
[ 1.845703125, 161.54296875, 133.9453125, 75.5859375, 171.03515625, 1.871101975440979 ]
3.033333
91
0
91
0
[ -0.17578125, 149.94140625, 119.70703125, 75.849609375, 170.244140625, 0.09066183120012283 ]
[ 1.494140625, 158.994140625, 132.36328125, 75.673828125, 170.859375, 1.871101975440979 ]
3.066667
92
0
92
0
[ -0.439453125, 148.095703125, 119.267578125, 75.849609375, 170.15625, 0.09066183120012283 ]
[ 1.142578125, 156.62109375, 131.1328125, 75.673828125, 170.68359375, 1.871101975440979 ]
3.1
93
0
93
0
[ -0.791015625, 146.42578125, 119.091796875, 75.849609375, 170.15625, 0.09066183120012283 ]
[ 0.703125, 153.984375, 130.078125, 75.673828125, 170.5078125, 1.871101975440979 ]
3.133333
94
0
94
0
[ -1.23046875, 144.66796875, 118.65234375, 75.849609375, 169.892578125, 0.18132366240024567 ]
[ 0.3515625, 151.5234375, 129.111328125, 75.673828125, 170.419921875, 1.871101975440979 ]
3.166667
95
0
95
0
[ -1.494140625, 143.0859375, 118.212890625, 75.849609375, 169.716796875, 0.18132366240024567 ]
[ 0.263671875, 149.94140625, 128.671875, 75.673828125, 170.244140625, 1.871101975440979 ]
3.2
96
0
96
0
[ -1.58203125, 141.328125, 117.685546875, 75.849609375, 169.62890625, 0.18132366240024567 ]
[ -0.263671875, 148.7109375, 128.3203125, 75.673828125, 170.068359375, 1.871101975440979 ]
3.233333
97
0
97
0
[ -1.58203125, 139.482421875, 116.71875, 75.849609375, 169.541015625, 0.18132366240024567 ]
[ -0.52734375, 147.041015625, 127.79296875, 75.673828125, 169.892578125, 1.871101975440979 ]
3.266667
98
0
98
0
[ -1.58203125, 137.8125, 115.751953125, 75.849609375, 169.541015625, 0.18132366240024567 ]
[ -0.791015625, 144.755859375, 127.265625, 75.673828125, 169.8046875, 1.871101975440979 ]
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": 50,
    "total_frames": 29600,
    "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": {
            "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.perspective": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
29,600