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Datasets:
sihyun77
/
so100_realtest4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100,tutorial
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.4
frame_index
int64
0
582
episode_index
int64
0
4
index
int64
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1.94k
task_index
int64
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[ 8.876953125, 52.646484375, 78.75, 82.353515625, -108.984375, 27.583026885986328 ]
[ 5.9765625, 49.921875, 71.54296875, 81.73828125, -105.29296875, 20.923076629638672 ]
2.433333
73
0
73
0
[ 9.404296875, 53.349609375, 79.453125, 82.353515625, -109.423828125, 27.583026885986328 ]
[ 6.50390625, 50.537109375, 72.0703125, 81.73828125, -105.99609375, 22 ]
2.466667
74
0
74
0
[ 10.107421875, 54.140625, 80.419921875, 82.353515625, -109.775390625, 27.859777450561523 ]
[ 7.03125, 51.6796875, 73.037109375, 81.73828125, -106.69921875, 24.384614944458008 ]
2.5
75
0
75
0
[ 10.634765625, 54.66796875, 81.2109375, 82.353515625, -109.951171875, 28.13652992248535 ]
[ 7.91015625, 52.734375, 73.828125, 81.73828125, -107.314453125, 25.46154022216797 ]
2.533333
76
0
76
0
[ 11.07421875, 55.1953125, 82.08984375, 82.177734375, -110.0390625, 29.612546920776367 ]
[ 8.96484375, 53.61328125, 74.794921875, 81.73828125, -107.578125, 26.153846740722656 ]
2.566667
77
0
77
0
[ 11.865234375, 55.546875, 82.6171875, 81.5625, -110.654296875, 29.612546920776367 ]
[ 9.84375, 54.228515625, 75.9375, 81.73828125, -108.017578125, 27.230770111083984 ]
2.6
78
0
78
0
[ 12.65625, 55.634765625, 82.705078125, 80.68359375, -111.4453125, 29.612546920776367 ]
[ 10.283203125, 54.755859375, 76.728515625, 81.73828125, -108.369140625, 27.923076629638672 ]
2.633333
79
0
79
0
[ 14.0625, 55.72265625, 82.6171875, 79.365234375, -113.466796875, 29.612546920776367 ]
[ 10.634765625, 54.84375, 77.255859375, 81.2109375, -108.720703125, 28.46154022216797 ]
2.666667
80
0
80
0
[ 15.380859375, 55.810546875, 82.529296875, 78.310546875, -114.9609375, 29.612546920776367 ]
[ 11.337890625, 54.84375, 77.34375, 80.68359375, -108.984375, 28.69230842590332 ]
2.7
81
0
81
0
[ 16.5234375, 55.986328125, 82.529296875, 77.16796875, -116.982421875, 29.612546920776367 ]
[ 12.744140625, 54.931640625, 77.34375, 79.892578125, -108.984375, 28.69230842590332 ]
2.733333
82
0
82
0
[ 17.490234375, 56.07421875, 82.529296875, 75.9375, -118.740234375, 29.612546920776367 ]
[ 14.150390625, 55.01953125, 77.34375, 79.1015625, -108.984375, 28.69230842590332 ]
2.766667
83
0
83
0
[ 18.28125, 56.337890625, 82.705078125, 74.70703125, -120.05859375, 29.612546920776367 ]
[ 15.29296875, 55.1953125, 77.34375, 78.22265625, -109.16015625, 28.69230842590332 ]
2.8
84
0
84
0
[ 18.896484375, 56.6015625, 82.705078125, 72.94921875, -121.201171875, 29.612546920776367 ]
[ 16.083984375, 55.810546875, 77.34375, 76.728515625, -109.16015625, 28.69230842590332 ]
2.833333
85
0
85
0
[ 19.423828125, 56.77734375, 82.705078125, 71.3671875, -122.16796875, 29.612546920776367 ]
[ 16.611328125, 55.986328125, 77.34375, 75.5859375, -109.16015625, 28.69230842590332 ]
2.866667
86
0
86
0
[ 20.0390625, 57.041015625, 82.705078125, 70.224609375, -123.22265625, 29.612546920776367 ]
[ 17.138671875, 56.07421875, 77.34375, 74.443359375, -109.16015625, 28.69230842590332 ]
2.9
87
0
87
0
[ 20.91796875, 57.392578125, 82.705078125, 68.5546875, -125.068359375, 29.612546920776367 ]
[ 18.369140625, 56.42578125, 77.34375, 72.59765625, -109.16015625, 28.69230842590332 ]
2.933333
88
0
88
0
[ 21.796875, 57.65625, 82.705078125, 67.32421875, -126.5625, 29.981550216674805 ]
[ 19.51171875, 56.953125, 77.34375, 71.279296875, -109.16015625, 28.69230842590332 ]
2.966667
89
0
89
0
[ 22.412109375, 57.744140625, 82.705078125, 66.181640625, -127.353515625, 33.94833755493164 ]
[ 19.951171875, 57.041015625, 77.34375, 70.048828125, -109.16015625, 28.69230842590332 ]
3
90
0
90
0
[ 22.8515625, 57.744140625, 82.705078125, 65.654296875, -128.14453125, 33.94833755493164 ]
[ 20.126953125, 57.041015625, 77.34375, 68.994140625, -109.16015625, 28.69230842590332 ]
3.033333
91
0
91
0
[ 23.115234375, 57.744140625, 82.705078125, 65.21484375, -129.0234375, 33.94833755493164 ]
[ 20.478515625, 57.041015625, 77.34375, 68.115234375, -109.16015625, 29.538461685180664 ]
3.066667
92
0
92
0
[ 23.37890625, 57.65625, 82.705078125, 64.775390625, -129.90234375, 33.94833755493164 ]
[ 21.357421875, 57.12890625, 77.34375, 66.884765625, -109.16015625, 31.23076820373535 ]
3.1
93
0
93
0
[ 23.73046875, 57.48046875, 82.705078125, 64.599609375, -131.220703125, 34.040592193603516 ]
[ 22.32421875, 57.12890625, 77.34375, 66.26953125, -109.16015625, 32 ]
3.133333
94
0
94
0
[ 23.90625, 57.392578125, 82.705078125, 64.51171875, -131.923828125, 34.40959548950195 ]
[ 22.763671875, 57.12890625, 77.34375, 65.654296875, -109.16015625, 32.38461685180664 ]
3.166667
95
0
95
0
[ 24.2578125, 57.216796875, 82.705078125, 64.423828125, -132.5390625, 34.77859878540039 ]
[ 22.763671875, 57.12890625, 77.34375, 65.302734375, -109.16015625, 32.92307662963867 ]
3.2
96
0
96
0
[ 24.78515625, 57.041015625, 82.705078125, 64.248046875, -133.59375, 36.992618560791016 ]
[ 22.587890625, 57.12890625, 77.34375, 65.126953125, -109.16015625, 33.38461685180664 ]
3.233333
97
0
97
0
[ 25.224609375, 56.865234375, 82.705078125, 63.984375, -134.47265625, 38.1918830871582 ]
[ 22.67578125, 57.12890625, 77.34375, 64.951171875, -109.16015625, 33.61538314819336 ]
3.266667
98
0
98
0
[ 25.751953125, 56.689453125, 82.705078125, 63.544921875, -135.439453125, 38.1918830871582 ]
[ 23.291015625, 57.12890625, 77.34375, 64.86328125, -109.16015625, 34.846153259277344 ]
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": 5,
    "total_frames": 1945,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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"
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            "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
            }
        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "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
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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