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Datasets:
jccj
/
so100_block_in_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lerobot
so100
block_in_cup
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
17.5
frame_index
int64
0
526
episode_index
int64
0
49
index
int64
0
21.8k
task_index
int64
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71
0
71
0
[ -17.666015625, 190.810546875, 170.419921875, 73.037109375, -3.8671875, 17.740232467651367 ]
[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.5703125, 17.438920974731445 ]
2.4
72
0
72
0
[ -17.666015625, 190.810546875, 170.419921875, 73.037109375, -3.8671875, 17.740232467651367 ]
[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.306640625, 17.438920974731445 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.21875, 17.438920974731445 ]
2.5
75
0
75
0
[ -17.666015625, 190.8984375, 170.33203125, 72.94921875, -3.779296875, 17.740232467651367 ]
[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.21875, 17.438920974731445 ]
2.533333
76
0
76
0
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[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.130859375, 17.438920974731445 ]
2.566667
77
0
77
0
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[ -18.10546875, 190.458984375, 170.68359375, 73.037109375, -4.04296875, 17.438920974731445 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -18.10546875, 190.634765625, 170.68359375, 73.037109375, -4.04296875, 17.438920974731445 ]
2.666667
80
0
80
0
[ -18.720703125, 192.568359375, 170.244140625, 70.83984375, -3.779296875, 17.845829010009766 ]
[ -18.10546875, 190.8984375, 170.68359375, 73.037109375, -4.04296875, 17.438920974731445 ]
2.7
81
0
81
0
[ -18.720703125, 192.65625, 170.068359375, 69.697265625, -3.779296875, 17.845829010009766 ]
[ -18.10546875, 191.337890625, 170.68359375, 72.685546875, -4.04296875, 17.438920974731445 ]
2.733333
82
0
82
0
[ -18.720703125, 192.65625, 169.8046875, 68.466796875, -3.779296875, 17.845829010009766 ]
[ -18.28125, 191.865234375, 170.68359375, 71.982421875, -4.04296875, 17.438920974731445 ]
2.766667
83
0
83
0
[ -18.720703125, 192.65625, 169.453125, 67.32421875, -3.779296875, 17.845829010009766 ]
[ -18.45703125, 192.3046875, 170.68359375, 71.103515625, -4.04296875, 17.438920974731445 ]
2.8
84
0
84
0
[ -18.720703125, 192.65625, 169.189453125, 66.09375, -3.779296875, 17.845829010009766 ]
[ -18.6328125, 192.392578125, 170.68359375, 70.048828125, -4.04296875, 17.438920974731445 ]
2.833333
85
0
85
0
[ -18.720703125, 192.65625, 168.837890625, 64.951171875, -3.779296875, 17.845829010009766 ]
[ -18.720703125, 192.3046875, 170.68359375, 69.08203125, -4.04296875, 17.438920974731445 ]
2.866667
86
0
86
0
[ -18.720703125, 192.65625, 168.486328125, 63.896484375, -3.779296875, 17.845829010009766 ]
[ -18.720703125, 192.216796875, 170.68359375, 67.939453125, -4.04296875, 17.438920974731445 ]
2.9
87
0
87
0
[ -18.80859375, 192.65625, 168.22265625, 62.666015625, -3.69140625, 17.845829010009766 ]
[ -18.720703125, 192.216796875, 170.68359375, 66.884765625, -4.04296875, 17.438920974731445 ]
2.933333
88
0
88
0
[ -18.80859375, 192.65625, 167.87109375, 61.34765625, -3.69140625, 17.845829010009766 ]
[ -18.6328125, 192.392578125, 170.68359375, 65.830078125, -4.04296875, 17.438920974731445 ]
2.966667
89
0
89
0
[ -18.80859375, 192.65625, 167.34375, 59.853515625, -3.69140625, 17.845829010009766 ]
[ -18.544921875, 192.392578125, 170.68359375, 64.6875, -4.04296875, 17.438920974731445 ]
3
90
0
90
0
[ -18.80859375, 192.65625, 166.81640625, 58.359375, -3.69140625, 17.845829010009766 ]
[ -18.45703125, 192.392578125, 170.68359375, 63.45703125, -4.04296875, 17.438920974731445 ]
3.033333
91
0
91
0
[ -18.80859375, 192.65625, 166.11328125, 56.77734375, -3.69140625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 170.244140625, 62.05078125, -4.04296875, 17.438920974731445 ]
3.066667
92
0
92
0
[ -18.896484375, 192.568359375, 165.41015625, 55.283203125, -3.69140625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 169.716796875, 60.64453125, -4.04296875, 17.438920974731445 ]
3.1
93
0
93
0
[ -18.896484375, 192.568359375, 164.970703125, 53.96484375, -3.69140625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 169.1015625, 59.150390625, -4.04296875, 17.523168563842773 ]
3.133333
94
0
94
0
[ -18.896484375, 192.568359375, 164.70703125, 52.734375, -3.603515625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 168.486328125, 57.65625, -4.04296875, 17.60741424560547 ]
3.166667
95
0
95
0
[ -18.896484375, 192.48046875, 164.443359375, 51.6796875, -3.603515625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 167.87109375, 56.337890625, -4.04296875, 17.60741424560547 ]
3.2
96
0
96
0
[ -18.896484375, 192.48046875, 164.1796875, 50.888671875, -3.603515625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 167.51953125, 55.107421875, -4.04296875, 17.60741424560547 ]
3.233333
97
0
97
0
[ -18.896484375, 192.392578125, 164.091796875, 50.185546875, -3.603515625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 167.255859375, 53.876953125, -4.04296875, 17.691659927368164 ]
3.266667
98
0
98
0
[ -18.896484375, 192.392578125, 164.091796875, 49.5703125, -3.515625, 17.951425552368164 ]
[ -18.45703125, 192.3046875, 166.9921875, 52.91015625, -4.04296875, 17.691659927368164 ]
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": 21782,
    "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"
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            "info": {
                "video.height": 480,
                "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                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
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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