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Datasets:
aaronsu11
/
so100_instrument

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
12.4
frame_index
int64
0
372
episode_index
int64
0
124
index
int64
0
25.9k
task_index
int64
0
3
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0
[ -1.7578125, 136.93359375, 172.96875, -31.904296875, -175.60546875, 11.32264518737793 ]
[ -0.966796875, 140.009765625, 174.19921875, -26.19140625, -174.111328125, 7.415565490722656 ]
2.4
72
0
72
0
[ -1.93359375, 135.791015625, 172.705078125, -33.310546875, -176.1328125, 11.623246192932129 ]
[ -1.23046875, 138.603515625, 174.19921875, -28.212890625, -174.7265625, 8.149779319763184 ]
2.433333
73
0
73
0
[ -1.93359375, 134.6484375, 172.353515625, -34.8046875, -176.8359375, 11.623246192932129 ]
[ -1.318359375, 137.548828125, 174.19921875, -29.53125, -175.166015625, 9.471365928649902 ]
2.466667
74
0
74
0
[ -1.845703125, 133.41796875, 172.001953125, -36.123046875, -177.451171875, 11.623246192932129 ]
[ -1.494140625, 136.494140625, 174.19921875, -30.9375, -175.60546875, 10.71953010559082 ]
2.5
75
0
75
0
[ -1.7578125, 132.36328125, 171.5625, -37.353515625, -178.154296875, 11.623246192932129 ]
[ -1.58203125, 135.3515625, 174.19921875, -32.34375, -176.1328125, 10.792951583862305 ]
2.533333
76
0
76
0
[ -1.58203125, 131.396484375, 171.2109375, -38.408203125, -178.76953125, 11.7234468460083 ]
[ -1.58203125, 134.12109375, 174.19921875, -33.837890625, -176.748046875, 11.013216018676758 ]
2.566667
77
0
77
0
[ -1.494140625, 130.4296875, 170.771484375, -39.814453125, -179.47265625, 11.7234468460083 ]
[ -1.494140625, 132.890625, 174.111328125, -35.244140625, -177.5390625, 11.233480453491211 ]
2.6
78
0
78
0
[ -1.494140625, 129.287109375, 170.33203125, -41.044921875, -180.17578125, 11.7234468460083 ]
[ -1.494140625, 131.923828125, 173.935546875, -36.38671875, -177.978515625, 11.38032341003418 ]
2.633333
79
0
79
0
[ -1.40625, 128.3203125, 169.8046875, -42.1875, -180.615234375, 11.7234468460083 ]
[ -1.494140625, 130.95703125, 173.583984375, -37.705078125, -178.154296875, 11.453744888305664 ]
2.666667
80
0
80
0
[ -1.40625, 127.265625, 169.365234375, -43.330078125, -181.0546875, 11.7234468460083 ]
[ -1.494140625, 129.7265625, 173.056640625, -39.111328125, -178.330078125, 11.527166366577148 ]
2.7
81
0
81
0
[ -1.58203125, 125.947265625, 168.75, -44.6484375, -181.23046875, 11.7234468460083 ]
[ -1.494140625, 128.935546875, 172.6171875, -39.90234375, -178.330078125, 11.527166366577148 ]
2.733333
82
0
82
0
[ -1.669921875, 124.541015625, 168.134765625, -46.142578125, -181.494140625, 11.7234468460083 ]
[ -1.494140625, 127.880859375, 172.265625, -41.220703125, -178.330078125, 11.527166366577148 ]
2.766667
83
0
83
0
[ -1.669921875, 123.310546875, 167.607421875, -47.4609375, -181.93359375, 11.7234468460083 ]
[ -1.494140625, 126.650390625, 171.5625, -42.5390625, -178.330078125, 11.527166366577148 ]
2.8
84
0
84
0
[ -1.669921875, 122.16796875, 167.255859375, -48.69140625, -182.548828125, 11.7234468460083 ]
[ -1.494140625, 125.33203125, 171.03515625, -43.857421875, -178.330078125, 11.527166366577148 ]
2.833333
85
0
85
0
[ -1.494140625, 120.673828125, 166.9921875, -50.625, -183.251953125, 11.7234468460083 ]
[ -1.494140625, 124.013671875, 170.419921875, -45.263671875, -178.330078125, 11.527166366577148 ]
2.866667
86
0
86
0
[ -1.318359375, 119.267578125, 166.728515625, -52.294921875, -183.8671875, 11.7234468460083 ]
[ -1.494140625, 122.783203125, 169.892578125, -46.58203125, -178.76953125, 11.527166366577148 ]
2.9
87
0
87
0
[ -1.23046875, 117.59765625, 166.46484375, -54.052734375, -184.39453125, 11.7234468460083 ]
[ -1.58203125, 121.025390625, 169.453125, -48.779296875, -178.41796875, 11.527166366577148 ]
2.933333
88
0
88
0
[ -1.0546875, 116.19140625, 166.025390625, -55.37109375, -184.833984375, 11.7234468460083 ]
[ -1.494140625, 119.8828125, 169.189453125, -50.009765625, -178.505859375, 11.527166366577148 ]
2.966667
89
0
89
0
[ -0.87890625, 114.9609375, 165.498046875, -56.42578125, -185.185546875, 11.7234468460083 ]
[ -1.494140625, 118.564453125, 168.92578125, -51.50390625, -178.681640625, 11.527166366577148 ]
3
90
0
90
0
[ -0.703125, 113.642578125, 164.970703125, -57.568359375, -185.537109375, 11.7234468460083 ]
[ -1.494140625, 116.982421875, 168.3984375, -53.0859375, -178.505859375, 11.600587844848633 ]
3.033333
91
0
91
0
[ -0.615234375, 112.32421875, 164.619140625, -58.623046875, -185.80078125, 11.7234468460083 ]
[ -1.40625, 115.751953125, 167.958984375, -54.140625, -178.681640625, 11.600587844848633 ]
3.066667
92
0
92
0
[ -0.439453125, 111.4453125, 164.619140625, -59.501953125, -186.064453125, 11.7234468460083 ]
[ -1.142578125, 114.43359375, 167.51953125, -55.37109375, -178.681640625, 11.600587844848633 ]
3.1
93
0
93
0
[ -0.439453125, 110.478515625, 164.794921875, -60.556640625, -186.15234375, 11.7234468460083 ]
[ -0.703125, 113.115234375, 167.080078125, -56.513671875, -178.681640625, 11.600587844848633 ]
3.133333
94
0
94
0
[ -0.439453125, 109.51171875, 165.05859375, -61.69921875, -186.328125, 11.7234468460083 ]
[ -0.615234375, 111.97265625, 166.904296875, -57.568359375, -178.76953125, 11.600587844848633 ]
3.166667
95
0
95
0
[ -0.3515625, 108.544921875, 165.146484375, -62.578125, -186.416015625, 11.7234468460083 ]
[ -0.615234375, 111.005859375, 166.904296875, -58.623046875, -178.76953125, 11.600587844848633 ]
3.2
96
0
96
0
[ -0.263671875, 107.578125, 164.970703125, -63.28125, -186.50390625, 11.7234468460083 ]
[ -0.791015625, 109.775390625, 166.904296875, -59.94140625, -178.76953125, 11.600587844848633 ]
3.233333
97
0
97
0
[ -0.17578125, 106.787109375, 164.70703125, -63.896484375, -186.591796875, 12.72545051574707 ]
[ -0.87890625, 108.896484375, 166.904296875, -60.8203125, -178.76953125, 11.600587844848633 ]
3.266667
98
0
98
0
[ -0.087890625, 105.99609375, 164.619140625, -64.423828125, -186.591796875, 12.825651168823242 ]
[ -0.703125, 108.017578125, 166.81640625, -61.435546875, -178.76953125, 11.600587844848633 ]
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": 85,
    "total_frames": 20906,
    "total_tasks": 2,
    "total_videos": 170,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:85"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
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            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
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