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liyitenga
/
so100_plus_test4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
test
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pandas
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xet
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sequence
observation.state
sequence
timestamp
float32
0
41
frame_index
int64
0
1.23k
episode_index
int64
0
0
index
int64
0
1.23k
task_index
int64
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[ -1.142578125, 190.634765625, 180.966796875, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.366667
71
0
71
0
[ -2.197265625, 195.380859375, 181.40625, 59.4140625, 2.373046875, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.966796875, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.4
72
0
72
0
[ -2.109375, 195.380859375, 181.142578125, 59.4140625, 2.548828125, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.966796875, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.433333
73
0
73
0
[ -2.109375, 195.380859375, 180.791015625, 59.501953125, 2.4609375, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.966796875, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.466667
74
0
74
0
[ -2.109375, 195.380859375, 180.439453125, 59.765625, 2.109375, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.966796875, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.5
75
0
75
0
[ -2.109375, 195.380859375, 179.912109375, 60.205078125, 1.7578125, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.87890625, 58.88671875, 2.197265625, 0.10504202544689178 ]
2.533333
76
0
76
0
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[ -1.142578125, 190.634765625, 180.439453125, 59.150390625, 1.93359375, 0.10504202544689178 ]
2.566667
77
0
77
0
[ -2.109375, 195.380859375, 179.296875, 60.46875, 0.791015625, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.3515625, 59.58984375, 1.494140625, 0.10504202544689178 ]
2.6
78
0
78
0
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[ -1.142578125, 190.634765625, 180.3515625, 59.58984375, 1.0546875, 0.10504202544689178 ]
2.633333
79
0
79
0
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[ -1.142578125, 190.634765625, 180.3515625, 59.58984375, 0.615234375, 0.10504202544689178 ]
2.666667
80
0
80
0
[ -1.7578125, 195.380859375, 179.033203125, 60.380859375, -0.263671875, -0.42016810178756714 ]
[ -1.142578125, 190.634765625, 180.3515625, 59.58984375, 0.52734375, 0.10504202544689178 ]
2.7
81
0
81
0
[ -1.669921875, 195.380859375, 179.033203125, 60.29296875, -0.3515625, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.3515625, 59.58984375, 0.439453125, 0.10504202544689178 ]
2.733333
82
0
82
0
[ -1.58203125, 195.380859375, 178.9453125, 60.29296875, -0.439453125, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.3515625, 59.58984375, 0.263671875, 0.10504202544689178 ]
2.766667
83
0
83
0
[ -1.58203125, 195.380859375, 178.9453125, 60.29296875, -0.615234375, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.263671875, 59.58984375, 0.263671875, 0.10504202544689178 ]
2.8
84
0
84
0
[ -1.40625, 195.380859375, 178.857421875, 59.94140625, -0.791015625, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.17578125, 59.58984375, 0.263671875, 0.10504202544689178 ]
2.833333
85
0
85
0
[ -0.966796875, 195.380859375, 178.9453125, 59.0625, -0.791015625, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.17578125, 59.4140625, 0.263671875, 0.10504202544689178 ]
2.866667
86
0
86
0
[ -0.703125, 195.380859375, 179.208984375, 58.0078125, -1.0546875, -0.42016810178756714 ]
[ -1.0546875, 190.634765625, 180.17578125, 59.326171875, 0.263671875, 0.10504202544689178 ]
2.9
87
0
87
0
[ -0.615234375, 195.380859375, 179.296875, 56.953125, -1.23046875, -0.42016810178756714 ]
[ -0.966796875, 190.634765625, 180.17578125, 59.23828125, -0.087890625, 0.10504202544689178 ]
2.933333
88
0
88
0
[ -0.615234375, 195.380859375, 179.47265625, 56.07421875, -1.318359375, -0.42016810178756714 ]
[ -0.791015625, 190.634765625, 180.17578125, 58.271484375, -0.439453125, 0.10504202544689178 ]
2.966667
89
0
89
0
[ -0.966796875, 195.46875, 179.384765625, 55.986328125, -1.93359375, -0.42016810178756714 ]
[ -0.703125, 190.634765625, 180.17578125, 57.392578125, -0.52734375, 0.10504202544689178 ]
3
90
0
90
0
[ -2.109375, 195.46875, 179.033203125, 55.986328125, -2.28515625, -0.42016810178756714 ]
[ -0.703125, 190.634765625, 180.17578125, 56.77734375, -0.52734375, 0.10504202544689178 ]
3.033333
91
0
91
0
[ -2.98828125, 195.46875, 178.59375, 56.07421875, -2.4609375, -0.42016810178756714 ]
[ -0.87890625, 190.634765625, 180.17578125, 56.162109375, -0.966796875, 0.10504202544689178 ]
3.066667
92
0
92
0
[ -3.515625, 195.46875, 177.890625, 56.689453125, -2.548828125, -0.42016810178756714 ]
[ -0.966796875, 190.634765625, 180.17578125, 56.25, -1.318359375, 0.10504202544689178 ]
3.1
93
0
93
0
[ -4.39453125, 195.46875, 177.36328125, 57.041015625, -2.4609375, -0.42016810178756714 ]
[ -1.40625, 190.634765625, 179.912109375, 56.25, -1.494140625, 0.10504202544689178 ]
3.133333
94
0
94
0
[ -4.921875, 195.46875, 177.01171875, 57.041015625, -2.373046875, -0.42016810178756714 ]
[ -2.197265625, 190.72265625, 179.912109375, 56.42578125, -1.58203125, 0.10504202544689178 ]
3.166667
95
0
95
0
[ -5.361328125, 195.46875, 176.396484375, 57.12890625, -1.58203125, -0.42016810178756714 ]
[ -3.603515625, 191.162109375, 179.912109375, 56.689453125, -1.58203125, 0.10504202544689178 ]
3.2
96
0
96
0
[ -5.80078125, 195.46875, 176.044921875, 57.12890625, -1.142578125, -0.5252100825309753 ]
[ -4.04296875, 191.42578125, 179.6484375, 56.77734375, -1.669921875, 0 ]
3.233333
97
0
97
0
[ -5.9765625, 195.46875, 175.60546875, 57.3046875, -1.0546875, -0.5252100825309753 ]
[ -4.482421875, 191.513671875, 179.47265625, 56.77734375, -1.142578125, 0.10504202544689178 ]
3.266667
98
0
98
0
[ -5.9765625, 195.380859375, 174.55078125, 58.18359375, -0.966796875, -0.5252100825309753 ]
[ -4.482421875, 191.513671875, 179.296875, 56.77734375, -1.142578125, 0.10504202544689178 ]
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": 1,
    "total_frames": 1231,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.top": {
            "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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