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Datasets:
masato-ka
/
so100_lego_sort

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
lego
sorting
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
898
episode_index
int64
0
50
index
int64
0
45.8k
task_index
int64
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[ 3.603515625, 154.599609375, 156.533203125, 42.626953125, 51.85546875, 0.09699321538209915 ]
[ -0.3515625, 156.708984375, 156.4453125, 46.142578125, 37.705078125, 0.8152173757553101 ]
2.433333
73
0
73
0
[ 4.833984375, 153.6328125, 156.884765625, 42.36328125, 54.404296875, 0.09699321538209915 ]
[ 0.17578125, 156.26953125, 156.533203125, 45.3515625, 40.95703125, 0.8152173757553101 ]
2.466667
74
0
74
0
[ 6.240234375, 152.40234375, 157.060546875, 41.748046875, 56.337890625, 0.09699321538209915 ]
[ 1.318359375, 155.56640625, 156.97265625, 44.47265625, 44.384765625, 0.8152173757553101 ]
2.5
75
0
75
0
[ 7.03125, 151.171875, 157.060546875, 41.044921875, 56.689453125, 0.09699321538209915 ]
[ 2.900390625, 154.599609375, 157.5, 43.857421875, 47.8125, 0.8152173757553101 ]
2.533333
76
0
76
0
[ 7.646484375, 150.1171875, 156.884765625, 40.517578125, 56.865234375, 0.09699321538209915 ]
[ 4.130859375, 153.896484375, 157.763671875, 43.505859375, 50.44921875, 0.8152173757553101 ]
2.566667
77
0
77
0
[ 8.173828125, 149.58984375, 156.62109375, 40.078125, 56.865234375, 0.09699321538209915 ]
[ 4.74609375, 153.10546875, 157.939453125, 42.802734375, 52.470703125, 0.8152173757553101 ]
2.6
78
0
78
0
[ 8.525390625, 149.150390625, 156.533203125, 39.638671875, 56.77734375, 0 ]
[ 5.185546875, 152.138671875, 157.939453125, 42.275390625, 54.052734375, 0.8152173757553101 ]
2.633333
79
0
79
0
[ 8.61328125, 149.0625, 156.357421875, 39.55078125, 57.3046875, -0.09699321538209915 ]
[ 5.80078125, 151.5234375, 157.939453125, 41.923828125, 55.01953125, 0.8152173757553101 ]
2.666667
80
0
80
0
[ 8.876953125, 148.7109375, 156.26953125, 39.638671875, 58.359375, -0.09699321538209915 ]
[ 6.767578125, 150.64453125, 157.939453125, 41.30859375, 55.634765625, 0.8152173757553101 ]
2.7
81
0
81
0
[ 9.052734375, 148.53515625, 156.181640625, 39.287109375, 59.0625, -0.09699321538209915 ]
[ 7.470703125, 149.853515625, 157.939453125, 40.78125, 56.07421875, 0.8152173757553101 ]
2.733333
82
0
82
0
[ 9.052734375, 148.53515625, 156.181640625, 38.935546875, 60.46875, -0.09699321538209915 ]
[ 7.822265625, 149.4140625, 157.939453125, 40.60546875, 56.337890625, 0.8152173757553101 ]
2.766667
83
0
83
0
[ 9.052734375, 148.53515625, 156.181640625, 38.671875, 62.314453125, 0 ]
[ 8.0859375, 149.326171875, 157.939453125, 40.517578125, 56.513671875, 0.8152173757553101 ]
2.8
84
0
84
0
[ 8.876953125, 148.53515625, 156.181640625, 38.3203125, 63.80859375, 0.872938871383667 ]
[ 8.173828125, 149.326171875, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
2.833333
85
0
85
0
[ 8.4375, 148.53515625, 156.26953125, 38.232421875, 65.91796875, 5.3346266746521 ]
[ 8.26171875, 149.23828125, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
2.866667
86
0
86
0
[ 7.998046875, 148.53515625, 156.357421875, 37.96875, 67.412109375, 7.95344352722168 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
2.9
87
0
87
0
[ 7.646484375, 148.447265625, 156.357421875, 37.705078125, 68.994140625, 11.251213073730469 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
2.933333
88
0
88
0
[ 7.20703125, 148.359375, 156.533203125, 37.529296875, 71.19140625, 15.90688705444336 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
2.966667
89
0
89
0
[ 6.6796875, 148.18359375, 156.796875, 37.177734375, 72.94921875, 19.30164909362793 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
3
90
0
90
0
[ 6.328125, 147.83203125, 157.060546875, 36.9140625, 74.619140625, 21.726478576660156 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
3.033333
91
0
91
0
[ 5.80078125, 147.392578125, 157.5, 36.5625, 76.728515625, 24.248302459716797 ]
[ 8.26171875, 149.150390625, 157.939453125, 40.4296875, 56.6015625, 0.8152173757553101 ]
3.066667
92
0
92
0
[ 5.44921875, 146.865234375, 157.8515625, 36.03515625, 78.486328125, 26.479145050048828 ]
[ 8.26171875, 148.7109375, 157.939453125, 39.7265625, 57.392578125, 1.1775362491607666 ]
3.1
93
0
93
0
[ 5.09765625, 146.42578125, 158.115234375, 35.5078125, 79.62890625, 28.516002655029297 ]
[ 7.646484375, 148.18359375, 157.939453125, 38.759765625, 59.677734375, 2.6268115043640137 ]
3.133333
94
0
94
0
[ 4.74609375, 146.07421875, 158.203125, 35.244140625, 81.123046875, 30.940834045410156 ]
[ 6.943359375, 148.0078125, 157.939453125, 38.3203125, 63.193359375, 6.340579509735107 ]
3.166667
95
0
95
0
[ 4.482421875, 145.546875, 158.203125, 35.244140625, 82.705078125, 32.880699157714844 ]
[ 6.240234375, 148.0078125, 157.939453125, 37.96875, 67.1484375, 10.960144996643066 ]
3.2
96
0
96
0
[ 4.306640625, 145.01953125, 158.203125, 35.33203125, 83.583984375, 33.75363540649414 ]
[ 6.15234375, 147.83203125, 157.939453125, 37.705078125, 70.13671875, 15.217391014099121 ]
3.233333
97
0
97
0
[ 4.21875, 144.580078125, 158.37890625, 35.33203125, 84.375, 34.23860549926758 ]
[ 6.240234375, 147.12890625, 158.291015625, 36.9140625, 72.421875, 19.021739959716797 ]
3.266667
98
0
98
0
[ 4.21875, 144.228515625, 158.466796875, 35.244140625, 84.55078125, 34.335594177246094 ]
[ 5.625, 146.07421875, 158.73046875, 36.38671875, 75.498046875, 23.188405990600586 ]
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": 31,
    "total_frames": 27865,
    "total_tasks": 1,
    "total_videos": 31,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:31"
    },
    "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"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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
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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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License:
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