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Datasets:
therarelab
/
hh_p34

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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sequence
observation.state
sequence
timestamp
float32
0
39.7
frame_index
int64
0
1.19k
episode_index
int64
0
2
index
int64
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1.48k
task_index
int64
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[ 10.37109375, 131.1328125, 129.90234375, -23.818359375, 32.34375, 12.408759117126465 ]
[ 9.66796875, 125.33203125, 130.341796875, -22.236328125, 30.849609375, 4.0329976081848145 ]
2.4
72
0
72
0
[ 10.37109375, 131.30859375, 130.4296875, -23.818359375, 32.6953125, 15.896187782287598 ]
[ 9.755859375, 125.68359375, 130.341796875, -22.1484375, 31.201171875, 6.141154766082764 ]
2.433333
73
0
73
0
[ 10.283203125, 131.396484375, 130.869140625, -23.818359375, 33.310546875, 19.54582405090332 ]
[ 9.755859375, 126.298828125, 130.4296875, -22.1484375, 31.46484375, 8.524290084838867 ]
2.466667
74
0
74
0
[ 10.107421875, 131.484375, 131.1328125, -23.90625, 34.453125, 23.114355087280273 ]
[ 9.580078125, 126.826171875, 130.95703125, -22.1484375, 31.728515625, 10.999083518981934 ]
2.5
75
0
75
0
[ 10.107421875, 131.484375, 131.484375, -24.08203125, 35.5078125, 26.76399040222168 ]
[ 9.404296875, 127.177734375, 131.396484375, -22.1484375, 32.255859375, 14.115489959716797 ]
2.533333
76
0
76
0
[ 10.01953125, 131.572265625, 131.8359375, -24.43359375, 37.001953125, 30.332523345947266 ]
[ 9.404296875, 127.353515625, 132.01171875, -22.1484375, 33.134765625, 17.323556900024414 ]
2.566667
77
0
77
0
[ 9.931640625, 131.66015625, 132.1875, -25.048828125, 38.935546875, 33.657745361328125 ]
[ 9.404296875, 127.44140625, 132.275390625, -22.1484375, 34.013671875, 20.714941024780273 ]
2.6
78
0
78
0
[ 9.84375, 131.66015625, 132.1875, -25.13671875, 40.25390625, 36.57745361328125 ]
[ 9.580078125, 127.44140625, 132.626953125, -22.1484375, 35.068359375, 24.106325149536133 ]
2.633333
79
0
79
0
[ 9.84375, 131.484375, 132.099609375, -25.13671875, 41.484375, 39.25385284423828 ]
[ 9.66796875, 127.44140625, 133.06640625, -22.412109375, 36.298828125, 27.31439208984375 ]
2.666667
80
0
80
0
[ 9.931640625, 131.396484375, 132.01171875, -25.13671875, 42.626953125, 41.93025207519531 ]
[ 9.580078125, 127.44140625, 133.2421875, -22.412109375, 37.6171875, 30.339139938354492 ]
2.7
81
0
81
0
[ 10.107421875, 131.30859375, 132.01171875, -25.13671875, 43.2421875, 44.201133728027344 ]
[ 9.404296875, 127.44140625, 133.330078125, -22.412109375, 38.935546875, 33.822181701660156 ]
2.733333
82
0
82
0
[ 10.283203125, 130.95703125, 132.099609375, -25.224609375, 43.330078125, 46.066505432128906 ]
[ 9.140625, 127.44140625, 133.330078125, -22.412109375, 39.990234375, 36.296974182128906 ]
2.766667
83
0
83
0
[ 10.458984375, 130.78125, 132.099609375, -25.3125, 43.41796875, 47.607460021972656 ]
[ 9.140625, 127.44140625, 133.330078125, -22.412109375, 40.95703125, 39.04674530029297 ]
2.8
84
0
84
0
[ 10.546875, 130.60546875, 132.099609375, -25.48828125, 43.59375, 48.74290084838867 ]
[ 9.31640625, 127.44140625, 133.330078125, -22.5, 41.572265625, 41.42988204956055 ]
2.833333
85
0
85
0
[ 10.72265625, 130.341796875, 131.923828125, -25.576171875, 43.857421875, 49.47282791137695 ]
[ 9.4921875, 127.44140625, 133.330078125, -22.5, 41.923828125, 43.446380615234375 ]
2.866667
86
0
86
0
[ 11.07421875, 129.990234375, 131.748046875, -25.6640625, 44.033203125, 49.7972412109375 ]
[ 9.84375, 127.44140625, 133.330078125, -22.5, 42.1875, 45.004581451416016 ]
2.9
87
0
87
0
[ 11.337890625, 129.638671875, 131.748046875, -26.455078125, 44.384765625, 49.7972412109375 ]
[ 10.107421875, 127.44140625, 133.330078125, -22.5, 42.626953125, 46.287811279296875 ]
2.933333
88
0
88
0
[ 11.513671875, 129.287109375, 132.1875, -27.861328125, 44.560546875, 49.553932189941406 ]
[ 10.1953125, 127.44140625, 133.330078125, -22.587890625, 43.06640625, 47.11274337768555 ]
2.966667
89
0
89
0
[ 11.6015625, 128.935546875, 132.978515625, -30.234375, 44.47265625, 49.391727447509766 ]
[ 10.1953125, 127.44140625, 133.330078125, -23.291015625, 43.330078125, 47.662696838378906 ]
3
90
0
90
0
[ 11.513671875, 128.759765625, 134.296875, -33.310546875, 44.384765625, 49.31062316894531 ]
[ 10.37109375, 127.44140625, 133.330078125, -24.169921875, 43.41796875, 48.02933120727539 ]
3.033333
91
0
91
0
[ 11.25, 128.583984375, 135.439453125, -36.2109375, 44.296875, 49.22951889038086 ]
[ 10.458984375, 127.265625, 133.59375, -25.83984375, 43.505859375, 48.30430603027344 ]
3.066667
92
0
92
0
[ 10.986328125, 128.408203125, 136.0546875, -37.705078125, 44.033203125, 49.553932189941406 ]
[ 10.634765625, 127.265625, 134.6484375, -28.037109375, 43.59375, 48.48762893676758 ]
3.1
93
0
93
0
[ 10.634765625, 128.408203125, 136.142578125, -37.880859375, 44.12109375, 49.7972412109375 ]
[ 10.634765625, 127.265625, 135.966796875, -30.41015625, 43.681640625, 48.57928466796875 ]
3.133333
94
0
94
0
[ 10.1953125, 128.408203125, 135.966796875, -37.880859375, 44.912109375, 49.959449768066406 ]
[ 10.72265625, 127.08984375, 136.669921875, -31.728515625, 43.76953125, 48.67094421386719 ]
3.166667
95
0
95
0
[ 9.931640625, 128.408203125, 135.791015625, -37.880859375, 45.703125, 49.959449768066406 ]
[ 10.546875, 127.08984375, 136.93359375, -32.51953125, 43.76953125, 48.67094421386719 ]
3.2
96
0
96
0
[ 9.755859375, 128.232421875, 135.703125, -37.880859375, 46.318359375, 49.959449768066406 ]
[ 10.1953125, 127.08984375, 136.93359375, -33.22265625, 43.857421875, 48.67094421386719 ]
3.233333
97
0
97
0
[ 9.580078125, 127.96875, 135.615234375, -37.880859375, 47.109375, 49.959449768066406 ]
[ 9.84375, 127.08984375, 136.93359375, -33.662109375, 44.384765625, 48.67094421386719 ]
3.266667
98
0
98
0
[ 9.404296875, 127.880859375, 135.615234375, -37.880859375, 48.1640625, 49.959449768066406 ]
[ 9.404296875, 127.001953125, 136.93359375, -34.1015625, 45.087890625, 48.67094421386719 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 1478,
    "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": {
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            "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.phone": {
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            "info": {
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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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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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