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K1CH
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so100_test03

Tasks:
Robotics
Modalities:
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1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
0
1
index
int64
0
1.19k
task_index
int64
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[ -3.515625, 150.029296875, 91.318359375, 96.15234375, -3.69140625, -0.09165902435779572 ]
[ -2.63671875, 151.69921875, 100.283203125, 90.615234375, -3.33984375, 0.41152262687683105 ]
2.466667
74
0
74
0
[ -3.515625, 149.677734375, 90, 97.03125, -3.69140625, -0.09165902435779572 ]
[ -2.197265625, 151.259765625, 97.470703125, 92.109375, -3.33984375, 0.41152262687683105 ]
2.5
75
0
75
0
[ -3.515625, 149.501953125, 89.296875, 97.55859375, -3.8671875, -0.09165902435779572 ]
[ -2.373046875, 150.732421875, 95.361328125, 93.603515625, -3.33984375, 0.41152262687683105 ]
2.533333
76
0
76
0
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[ -3.076171875, 150.205078125, 93.779296875, 95.09765625, -3.33984375, 0.41152262687683105 ]
2.566667
77
0
77
0
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[ -3.1640625, 149.853515625, 92.548828125, 95.80078125, -3.33984375, 0.41152262687683105 ]
2.6
78
0
78
0
[ -3.251953125, 149.677734375, 88.76953125, 98.525390625, -4.04296875, -0.09165902435779572 ]
[ -3.076171875, 149.58984375, 91.494140625, 96.240234375, -3.33984375, 0.41152262687683105 ]
2.633333
79
0
79
0
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[ -2.900390625, 149.58984375, 90.791015625, 97.03125, -3.603515625, 0.41152262687683105 ]
2.666667
80
0
80
0
[ -3.251953125, 149.677734375, 88.9453125, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -2.63671875, 149.58984375, 90.439453125, 97.470703125, -3.69140625, 0.41152262687683105 ]
2.7
81
0
81
0
[ -3.427734375, 149.677734375, 88.857421875, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -2.63671875, 149.501953125, 90.263671875, 97.646484375, -3.779296875, 0.41152262687683105 ]
2.733333
82
0
82
0
[ -3.8671875, 149.58984375, 88.857421875, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -2.63671875, 149.501953125, 90.263671875, 97.822265625, -3.779296875, 0.41152262687683105 ]
2.766667
83
0
83
0
[ -4.39453125, 149.58984375, 88.857421875, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -2.63671875, 149.501953125, 90.263671875, 97.822265625, -3.779296875, 0.41152262687683105 ]
2.8
84
0
84
0
[ -5.185546875, 149.58984375, 88.9453125, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -2.900390625, 149.501953125, 90.263671875, 97.91015625, -3.779296875, 0.41152262687683105 ]
2.833333
85
0
85
0
[ -6.240234375, 149.58984375, 89.208984375, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -3.603515625, 149.501953125, 90.263671875, 97.91015625, -3.779296875, 0.41152262687683105 ]
2.866667
86
0
86
0
[ -7.822265625, 149.765625, 89.47265625, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -4.482421875, 149.501953125, 90.263671875, 97.91015625, -3.779296875, 0.41152262687683105 ]
2.9
87
0
87
0
[ -10.01953125, 149.94140625, 90, 98.701171875, -4.130859375, -0.09165902435779572 ]
[ -5.537109375, 149.501953125, 90.263671875, 97.91015625, -3.779296875, 0.41152262687683105 ]
2.933333
88
0
88
0
[ -12.744140625, 150.205078125, 90.439453125, 99.052734375, -4.130859375, -0.09165902435779572 ]
[ -6.767578125, 149.501953125, 90.263671875, 97.91015625, -3.779296875, 0.41152262687683105 ]
2.966667
89
0
89
0
[ -15.205078125, 150.29296875, 90.615234375, 99.140625, -4.130859375, -0.09165902435779572 ]
[ -8.7890625, 149.677734375, 90.52734375, 97.91015625, -3.779296875, 0.41152262687683105 ]
3
90
0
90
0
[ -17.40234375, 150.29296875, 90.615234375, 99.140625, -4.130859375, -0.09165902435779572 ]
[ -10.8984375, 149.765625, 90.52734375, 98.4375, -3.779296875, 0.3429355323314667 ]
3.033333
91
0
91
0
[ -19.248046875, 150.029296875, 90.615234375, 99.140625, -4.130859375, -0.09165902435779572 ]
[ -13.53515625, 149.853515625, 90.52734375, 98.61328125, -3.779296875, 0.3429355323314667 ]
3.066667
92
0
92
0
[ -20.654296875, 149.765625, 90.615234375, 99.140625, -4.130859375, -0.09165902435779572 ]
[ -15.8203125, 149.853515625, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.1
93
0
93
0
[ -21.97265625, 149.501953125, 90.615234375, 99.140625, -4.130859375, -0.09165902435779572 ]
[ -17.2265625, 149.765625, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.133333
94
0
94
0
[ -23.203125, 149.0625, 90.703125, 99.228515625, -4.130859375, -0.09165902435779572 ]
[ -18.6328125, 149.501953125, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.166667
95
0
95
0
[ -24.9609375, 148.798828125, 90.703125, 99.4921875, -4.21875, -0.09165902435779572 ]
[ -19.6875, 149.4140625, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.2
96
0
96
0
[ -26.982421875, 148.53515625, 90.52734375, 100.01953125, -4.21875, -0.09165902435779572 ]
[ -21.26953125, 149.150390625, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.233333
97
0
97
0
[ -28.916015625, 148.271484375, 90.439453125, 100.546875, -4.21875, -0.09165902435779572 ]
[ -23.115234375, 148.88671875, 90.52734375, 98.701171875, -3.779296875, 0.3429355323314667 ]
3.266667
98
0
98
0
[ -30.76171875, 148.095703125, 90.3515625, 101.07421875, -4.21875, -0.09165902435779572 ]
[ -24.697265625, 148.53515625, 90.52734375, 99.31640625, -3.779296875, 0.3429355323314667 ]
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": 2,
    "total_frames": 1192,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 640,
                "video.width": 480,
                "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": {
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            "shape": [
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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