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Datasets:
hrhraj
/
act_dice_dataset_25514

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
act
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
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19.9
frame_index
int64
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596
episode_index
int64
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27.4k
task_index
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[ 0.087890625, 176.30859375, 169.189453125, 47.109375, -89.208984375, -0.06858710199594498 ]
2.266667
68
0
68
0
[ 1.845703125, 170.33203125, 166.2890625, 37.529296875, -88.9453125, -0.08291874080896378 ]
[ 0.439453125, 174.90234375, 169.189453125, 45.17578125, -89.208984375, -0.06858710199594498 ]
2.3
69
0
69
0
[ 2.109375, 168.92578125, 166.2890625, 34.98046875, -88.9453125, -0.08291874080896378 ]
[ 0.791015625, 173.408203125, 169.189453125, 43.06640625, -89.208984375, -0.06858710199594498 ]
2.333333
70
0
70
0
[ 2.373046875, 167.6953125, 166.2890625, 32.51953125, -88.9453125, -0.08291874080896378 ]
[ 1.142578125, 171.9140625, 169.189453125, 40.869140625, -89.208984375, -0.06858710199594498 ]
2.366667
71
0
71
0
[ 2.548828125, 166.552734375, 166.2890625, 30.05859375, -88.9453125, -0.08291874080896378 ]
[ 1.40625, 170.419921875, 169.189453125, 38.583984375, -89.208984375, -0.06858710199594498 ]
2.4
72
0
72
0
[ 2.8125, 165.498046875, 166.2890625, 27.59765625, -88.9453125, -0.08291874080896378 ]
[ 1.669921875, 169.013671875, 169.189453125, 36.2109375, -89.208984375, -0.06858710199594498 ]
2.433333
73
0
73
0
[ 2.98828125, 164.443359375, 166.2890625, 25.224609375, -88.9453125, -0.08291874080896378 ]
[ 1.93359375, 167.87109375, 169.189453125, 33.75, -89.208984375, -0.06858710199594498 ]
2.466667
74
0
74
0
[ 3.251953125, 163.388671875, 166.2890625, 22.939453125, -88.9453125, -0.08291874080896378 ]
[ 2.197265625, 166.728515625, 169.189453125, 31.2890625, -89.208984375, -0.06858710199594498 ]
2.5
75
0
75
0
[ 3.603515625, 162.333984375, 166.2890625, 20.478515625, -88.9453125, -0.08291874080896378 ]
[ 2.373046875, 165.5859375, 169.189453125, 28.916015625, -89.208984375, -0.06858710199594498 ]
2.533333
76
0
76
0
[ 3.955078125, 161.19140625, 166.2890625, 18.193359375, -88.9453125, -0.08291874080896378 ]
[ 2.548828125, 164.443359375, 169.189453125, 26.630859375, -89.208984375, -0.06858710199594498 ]
2.566667
77
0
77
0
[ 4.39453125, 159.9609375, 166.2890625, 15.908203125, -88.9453125, -0.08291874080896378 ]
[ 2.900390625, 163.30078125, 169.189453125, 24.2578125, -89.208984375, -0.06858710199594498 ]
2.6
78
0
78
0
[ 4.833984375, 158.642578125, 166.2890625, 13.623046875, -88.9453125, -0.08291874080896378 ]
[ 3.251953125, 162.158203125, 169.189453125, 21.884765625, -89.208984375, -0.06858710199594498 ]
2.633333
79
0
79
0
[ 5.2734375, 157.32421875, 166.2890625, 11.337890625, -88.9453125, -0.08291874080896378 ]
[ 3.603515625, 160.927734375, 169.189453125, 19.51171875, -89.208984375, -0.06858710199594498 ]
2.666667
80
0
80
0
[ 5.888671875, 155.91796875, 166.2890625, 9.140625, -88.9453125, -0.08291874080896378 ]
[ 4.04296875, 159.697265625, 169.189453125, 17.2265625, -89.208984375, -0.06858710199594498 ]
2.7
81
0
81
0
[ 6.50390625, 154.423828125, 166.2890625, 6.943359375, -88.9453125, -0.08291874080896378 ]
[ 4.482421875, 158.37890625, 169.189453125, 14.94140625, -89.208984375, -0.06858710199594498 ]
2.733333
82
0
82
0
[ 7.20703125, 152.9296875, 166.2890625, 4.74609375, -88.9453125, -0.08291874080896378 ]
[ 5.009765625, 157.060546875, 169.189453125, 12.65625, -89.208984375, -0.06858710199594498 ]
2.766667
83
0
83
0
[ 7.91015625, 151.259765625, 166.2890625, 2.63671875, -88.9453125, -0.08291874080896378 ]
[ 5.537109375, 155.478515625, 169.189453125, 10.37109375, -89.208984375, -0.06858710199594498 ]
2.8
84
0
84
0
[ 8.525390625, 149.58984375, 166.2890625, 0.615234375, -88.9453125, -0.08291874080896378 ]
[ 6.15234375, 154.072265625, 169.189453125, 8.173828125, -89.208984375, -0.06858710199594498 ]
2.833333
85
0
85
0
[ 9.140625, 147.919921875, 166.2890625, -1.40625, -88.9453125, -0.08291874080896378 ]
[ 6.85546875, 152.578125, 169.189453125, 6.064453125, -89.208984375, -0.06858710199594498 ]
2.866667
86
0
86
0
[ 9.84375, 146.25, 166.2890625, -3.427734375, -88.9453125, -0.08291874080896378 ]
[ 7.470703125, 150.908203125, 169.189453125, 3.955078125, -89.208984375, -0.06858710199594498 ]
2.9
87
0
87
0
[ 10.634765625, 144.4921875, 166.2890625, -5.361328125, -88.9453125, -0.08291874080896378 ]
[ 8.173828125, 149.326171875, 169.189453125, 1.93359375, -89.208984375, -0.06858710199594498 ]
2.933333
88
0
88
0
[ 11.513671875, 142.822265625, 166.2890625, -7.03125, -88.9453125, -0.08291874080896378 ]
[ 8.7890625, 147.65625, 169.189453125, -0.17578125, -89.208984375, -0.06858710199594498 ]
2.966667
89
0
89
0
[ 12.392578125, 141.328125, 166.2890625, -8.61328125, -88.9453125, -0.08291874080896378 ]
[ 9.4921875, 145.986328125, 169.189453125, -2.109375, -89.208984375, -0.06858710199594498 ]
3
90
0
90
0
[ 13.359375, 139.658203125, 166.2890625, -10.01953125, -88.9453125, -0.08291874080896378 ]
[ 10.283203125, 144.228515625, 169.189453125, -3.955078125, -89.208984375, -0.06858710199594498 ]
3.033333
91
0
91
0
[ 14.23828125, 138.1640625, 166.2890625, -11.337890625, -88.9453125, -0.08291874080896378 ]
[ 11.25, 142.646484375, 169.189453125, -5.712890625, -89.208984375, -0.06858710199594498 ]
3.066667
92
0
92
0
[ 15.029296875, 136.7578125, 166.2890625, -12.568359375, -88.9453125, -0.08291874080896378 ]
[ 12.041015625, 141.064453125, 169.189453125, -7.294921875, -89.208984375, -0.06858710199594498 ]
3.1
93
0
93
0
[ 15.732421875, 135.52734375, 166.2890625, -13.623046875, -88.9453125, -0.08291874080896378 ]
[ 12.919921875, 139.482421875, 169.189453125, -8.876953125, -89.208984375, -0.06858710199594498 ]
3.133333
94
0
94
0
[ 16.259765625, 134.47265625, 166.2890625, -14.58984375, -88.9453125, -0.08291874080896378 ]
[ 13.7109375, 137.900390625, 169.189453125, -10.107421875, -89.208984375, -0.06858710199594498 ]
3.166667
95
0
95
0
[ 16.787109375, 133.59375, 166.2890625, -15.46875, -88.9453125, -0.08291874080896378 ]
[ 14.501953125, 136.494140625, 169.189453125, -11.25, -89.208984375, -0.06858710199594498 ]
3.2
96
0
96
0
[ 17.138671875, 132.71484375, 166.2890625, -16.171875, -88.9453125, -0.08291874080896378 ]
[ 15.1171875, 135.3515625, 169.189453125, -12.392578125, -89.208984375, -0.06858710199594498 ]
3.233333
97
0
97
0
[ 17.40234375, 131.8359375, 166.2890625, -16.875, -88.9453125, -0.08291874080896378 ]
[ 15.8203125, 134.296875, 169.189453125, -13.447265625, -89.208984375, -0.06858710199594498 ]
3.266667
98
0
98
0
[ 17.666015625, 131.044921875, 166.2890625, -17.490234375, -88.9453125, -0.08291874080896378 ]
[ 16.259765625, 133.330078125, 169.189453125, -14.326171875, -89.208984375, -0.06858710199594498 ]
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": 1,
    "total_frames": 597,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "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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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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