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Datasets:
chmadran
/
so100_home_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.2
frame_index
int64
0
426
episode_index
int64
0
49
index
int64
0
17.8k
task_index
int64
0
0
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[ 11.42578125, 132.71484375, 126.474609375, 85.341796875, -4.39453125, 1.611772894859314 ]
2.6
78
0
78
0
[ 11.865234375, 115.224609375, 93.33984375, 98.4375, -15.029296875, 0.20283974707126617 ]
[ 11.42578125, 127.880859375, 120.498046875, 88.330078125, -5.185546875, 1.2613874673843384 ]
2.633333
79
0
79
0
[ 12.041015625, 113.291015625, 93.427734375, 98.26171875, -17.841796875, 0.20283974707126617 ]
[ 11.42578125, 124.27734375, 114.43359375, 90.615234375, -6.6796875, 1.121233344078064 ]
2.666667
80
0
80
0
[ 12.568359375, 111.26953125, 93.427734375, 98.173828125, -20.0390625, 0.20283974707126617 ]
[ 11.6015625, 121.201171875, 108.984375, 92.724609375, -8.61328125, 1.0511562824249268 ]
2.7
81
0
81
0
[ 13.095703125, 109.423828125, 93.603515625, 98.173828125, -21.533203125, 0.20283974707126617 ]
[ 11.6015625, 118.916015625, 104.94140625, 94.74609375, -10.283203125, 1.0511562824249268 ]
2.733333
82
0
82
0
[ 14.23828125, 108.017578125, 93.955078125, 98.173828125, -23.642578125, 0.10141987353563309 ]
[ 11.6015625, 117.421875, 102.216796875, 96.064453125, -11.42578125, 1.0511562824249268 ]
2.766667
83
0
83
0
[ 15.556640625, 106.611328125, 94.482421875, 96.767578125, -24.873046875, 0.10141987353563309 ]
[ 11.6015625, 116.71875, 100.634765625, 96.943359375, -11.865234375, 1.0511562824249268 ]
2.8
84
0
84
0
[ 16.875, 105.556640625, 95.537109375, 94.306640625, -26.103515625, 0.10141987353563309 ]
[ 11.953125, 115.83984375, 99.404296875, 97.998046875, -12.65625, 1.0511562824249268 ]
2.833333
85
0
85
0
[ 18.193359375, 104.326171875, 96.15234375, 92.28515625, -26.982421875, 0.10141987353563309 ]
[ 12.744140625, 113.994140625, 98.4375, 97.998046875, -14.58984375, 1.0511562824249268 ]
2.866667
86
0
86
0
[ 19.248046875, 103.7109375, 97.3828125, 90, -27.7734375, 0.10141987353563309 ]
[ 13.7109375, 111.4453125, 97.822265625, 97.998046875, -17.138671875, 1.0511562824249268 ]
2.9
87
0
87
0
[ 20.126953125, 103.271484375, 98.7890625, 87.71484375, -28.388671875, 0.10141987353563309 ]
[ 14.0625, 109.248046875, 97.646484375, 97.470703125, -19.599609375, 1.0511562824249268 ]
2.933333
88
0
88
0
[ 20.654296875, 103.0078125, 100.01953125, 86.1328125, -29.35546875, 0.10141987353563309 ]
[ 14.4140625, 107.490234375, 97.646484375, 96.767578125, -21.62109375, 1.0511562824249268 ]
2.966667
89
0
89
0
[ 21.09375, 102.919921875, 101.689453125, 84.111328125, -29.70703125, 0.10141987353563309 ]
[ 15.29296875, 105.8203125, 98.26171875, 96.064453125, -24.521484375, 1.0511562824249268 ]
3
90
0
90
0
[ 21.796875, 102.919921875, 103.447265625, 82.001953125, -29.70703125, 0.10141987353563309 ]
[ 16.787109375, 104.0625, 99.228515625, 92.900390625, -26.19140625, 1.0511562824249268 ]
3.033333
91
0
91
0
[ 22.67578125, 103.18359375, 104.58984375, 80.5078125, -29.70703125, 0.10141987353563309 ]
[ 18.896484375, 102.744140625, 100.37109375, 89.560546875, -26.71875, 1.0511562824249268 ]
3.066667
92
0
92
0
[ 23.642578125, 103.7109375, 105.732421875, 79.716796875, -29.70703125, 0.10141987353563309 ]
[ 20.126953125, 102.216796875, 101.42578125, 87.71484375, -27.685546875, 1.0511562824249268 ]
3.1
93
0
93
0
[ 24.78515625, 104.501953125, 106.787109375, 79.27734375, -30.41015625, 0.10141987353563309 ]
[ 20.478515625, 102.3046875, 103.0078125, 85.60546875, -28.4765625, 1.0511562824249268 ]
3.133333
94
0
94
0
[ 26.19140625, 105.29296875, 107.841796875, 78.310546875, -30.849609375, 0.10141987353563309 ]
[ 21.26953125, 102.3046875, 104.765625, 83.49609375, -29.35546875, 1.0511562824249268 ]
3.166667
95
0
95
0
[ 27.861328125, 106.171875, 109.072265625, 77.34375, -31.2890625, 0.10141987353563309 ]
[ 22.1484375, 102.12890625, 105.732421875, 82.177734375, -29.619140625, 1.0511562824249268 ]
3.2
96
0
96
0
[ 29.443359375, 107.138671875, 109.951171875, 76.46484375, -31.640625, 0.10141987353563309 ]
[ 23.203125, 102.12890625, 106.083984375, 81.38671875, -29.00390625, 1.0511562824249268 ]
3.233333
97
0
97
0
[ 30.849609375, 108.193359375, 110.7421875, 75.9375, -31.728515625, 0.10141987353563309 ]
[ 23.466796875, 102.3046875, 106.259765625, 80.771484375, -29.267578125, 1.0511562824249268 ]
3.266667
98
0
98
0
[ 31.81640625, 109.248046875, 111.4453125, 75.76171875, -31.904296875, 0.10141987353563309 ]
[ 23.291015625, 102.568359375, 107.05078125, 79.8046875, -29.970703125, 1.0511562824249268 ]
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": 50,
    "total_frames": 17761,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.logitech": {
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        "observation.images.phone": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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