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Datasets:
therarelab
/
hh_p13

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
1.83
frame_index
int64
0
55
episode_index
int64
0
2
index
int64
0
81
task_index
int64
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74
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.4
12
2
75
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.433333
13
2
76
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.466667
14
2
77
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.5
15
2
78
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.533333
16
2
79
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.566667
17
2
80
0
[ -1.142578125, 190.01953125, 169.62890625, 66.09375, 107.05078125, 68.64111328125 ]
[ -1.142578125, 189.580078125, 172.6171875, 65.830078125, 107.2265625, 66.94078826904297 ]
0.6
18
2
81
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 82,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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.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
            }
        },
        "observation.images.phone": {
            "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
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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