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Datasets:
BranoSandy
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so100_test_cap_20

Tasks:
Robotics
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Tabular
Time-series
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10K - 100K
Tags:
LeRobot
so100
tutorial
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sequence
observation.state
sequence
timestamp
float32
0
29.6
frame_index
int64
0
888
episode_index
int64
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19
index
int64
0
17.7k
task_index
int64
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[ 1.845703125, 188.4375, 176.748046875, -52.55859375, -102.744140625, 0.08968609571456909 ]
[ 1.494140625, 188.173828125, 176.748046875, -67.412109375, -103.0078125, 0.34674063324928284 ]
2.333333
70
0
70
0
[ 1.669921875, 188.4375, 176.748046875, -49.658203125, -102.744140625, 0.08968609571456909 ]
[ 1.494140625, 188.173828125, 176.748046875, -63.6328125, -103.095703125, 0.34674063324928284 ]
2.366667
71
0
71
0
[ 1.669921875, 188.4375, 176.748046875, -46.494140625, -102.744140625, 0.08968609571456909 ]
[ 1.494140625, 188.173828125, 176.748046875, -60.029296875, -103.095703125, 0.34674063324928284 ]
2.4
72
0
72
0
[ 1.40625, 188.4375, 176.748046875, -43.330078125, -102.744140625, 0.08968609571456909 ]
[ 1.40625, 188.173828125, 176.748046875, -56.6015625, -103.18359375, 0.34674063324928284 ]
2.433333
73
0
73
0
[ 0.966796875, 188.4375, 176.748046875, -40.60546875, -102.744140625, 0.08968609571456909 ]
[ 1.40625, 188.173828125, 176.748046875, -53.26171875, -103.18359375, 0.34674063324928284 ]
2.466667
74
0
74
0
[ 0.791015625, 188.4375, 176.748046875, -38.583984375, -102.744140625, 0.08968609571456909 ]
[ 1.40625, 188.173828125, 176.748046875, -50.009765625, -103.18359375, 0.34674063324928284 ]
2.5
75
0
75
0
[ 0.52734375, 188.4375, 176.748046875, -37.265625, -102.744140625, 0.08968609571456909 ]
[ 1.318359375, 188.173828125, 176.748046875, -46.7578125, -103.18359375, 0.34674063324928284 ]
2.533333
76
0
76
0
[ 0.3515625, 188.4375, 176.748046875, -36.123046875, -102.744140625, 0.08968609571456909 ]
[ 1.318359375, 188.173828125, 176.748046875, -43.857421875, -103.18359375, 0.34674063324928284 ]
2.566667
77
0
77
0
[ 0.439453125, 188.4375, 176.748046875, -34.8046875, -102.48046875, 0.08968609571456909 ]
[ 1.318359375, 187.91015625, 176.748046875, -41.220703125, -103.271484375, 0.34674063324928284 ]
2.6
78
0
78
0
[ 0.703125, 188.4375, 176.66015625, -33.310546875, -102.48046875, 0.08968609571456909 ]
[ 1.142578125, 187.734375, 176.748046875, -39.287109375, -103.271484375, 0.34674063324928284 ]
2.633333
79
0
79
0
[ 0.703125, 188.4375, 176.30859375, -31.2890625, -102.12890625, 0.08968609571456909 ]
[ 0.791015625, 187.734375, 176.748046875, -37.529296875, -103.271484375, 0.34674063324928284 ]
2.666667
80
0
80
0
[ 0.615234375, 188.4375, 175.078125, -27.94921875, -101.42578125, 0.08968609571456909 ]
[ 0.52734375, 188.0859375, 176.748046875, -35.947265625, -103.095703125, 0.34674063324928284 ]
2.7
81
0
81
0
[ 0.17578125, 188.4375, 173.671875, -24.08203125, -101.162109375, 0.08968609571456909 ]
[ 0.52734375, 188.4375, 176.748046875, -34.365234375, -102.744140625, 0.34674063324928284 ]
2.733333
82
0
82
0
[ -0.263671875, 188.4375, 172.353515625, -20.478515625, -100.986328125, 0.08968609571456909 ]
[ 0.52734375, 188.525390625, 176.748046875, -32.431640625, -102.3046875, 0.34674063324928284 ]
2.766667
83
0
83
0
[ -0.703125, 188.4375, 171.2109375, -17.578125, -100.8984375, 0.08968609571456909 ]
[ 0.52734375, 188.525390625, 176.66015625, -29.794921875, -101.865234375, 0.34674063324928284 ]
2.8
84
0
84
0
[ -1.142578125, 188.4375, 170.419921875, -15.556640625, -100.283203125, 0.08968609571456909 ]
[ 0.52734375, 188.4375, 176.30859375, -26.89453125, -101.6015625, 0.34674063324928284 ]
2.833333
85
0
85
0
[ -1.40625, 188.4375, 169.62890625, -13.798828125, -99.052734375, 0.08968609571456909 ]
[ 0.439453125, 188.173828125, 175.78125, -23.73046875, -101.337890625, 0.34674063324928284 ]
2.866667
86
0
86
0
[ -1.7578125, 188.4375, 168.046875, -10.458984375, -98.7890625, 0.08968609571456909 ]
[ -0.087890625, 188.173828125, 175.078125, -20.830078125, -100.986328125, 0.34674063324928284 ]
2.9
87
0
87
0
[ -2.109375, 188.4375, 166.376953125, -6.328125, -98.61328125, 0.08968609571456909 ]
[ -0.52734375, 188.173828125, 174.287109375, -18.10546875, -100.37109375, 0.34674063324928284 ]
2.933333
88
0
88
0
[ -2.197265625, 188.4375, 164.8828125, -3.076171875, -98.525390625, 0.08968609571456909 ]
[ -1.23046875, 188.173828125, 173.232421875, -15.556640625, -99.84375, 0.34674063324928284 ]
2.966667
89
0
89
0
[ -2.197265625, 188.173828125, 163.4765625, -0.17578125, -98.4375, 0.08968609571456909 ]
[ -1.669921875, 188.173828125, 172.001953125, -12.744140625, -99.404296875, 0.34674063324928284 ]
3
90
0
90
0
[ -2.109375, 187.998046875, 162.0703125, 2.4609375, -98.173828125, 0.08968609571456909 ]
[ -2.021484375, 188.173828125, 170.595703125, -9.66796875, -99.140625, 0.34674063324928284 ]
3.033333
91
0
91
0
[ -1.93359375, 187.55859375, 160.927734375, 4.39453125, -98.0859375, 0.08968609571456909 ]
[ -2.021484375, 188.173828125, 169.189453125, -6.50390625, -98.7890625, 0.34674063324928284 ]
3.066667
92
0
92
0
[ -1.7578125, 186.6796875, 159.697265625, 5.712890625, -97.91015625, 0.08968609571456909 ]
[ -2.021484375, 188.173828125, 167.6953125, -3.427734375, -98.61328125, 0.34674063324928284 ]
3.1
93
0
93
0
[ -1.669921875, 185.44921875, 158.466796875, 6.15234375, -97.91015625, 0.8071748614311218 ]
[ -2.021484375, 188.173828125, 166.2890625, -0.439453125, -98.4375, 0.34674063324928284 ]
3.133333
94
0
94
0
[ -1.58203125, 183.603515625, 157.060546875, 6.591796875, -97.822265625, 2.331838607788086 ]
[ -1.93359375, 187.91015625, 165.05859375, 1.93359375, -98.26171875, 0.34674063324928284 ]
3.166667
95
0
95
0
[ -1.58203125, 181.40625, 155.302734375, 7.3828125, -97.822265625, 3.408071756362915 ]
[ -1.93359375, 187.20703125, 163.740234375, 3.69140625, -98.26171875, 0.34674063324928284 ]
3.2
96
0
96
0
[ -1.494140625, 178.76953125, 153.193359375, 8.349609375, -97.822265625, 3.856502056121826 ]
[ -1.93359375, 185.9765625, 162.421875, 4.921875, -98.26171875, 0.5547850131988525 ]
3.233333
97
0
97
0
[ -1.40625, 175.693359375, 151.171875, 8.349609375, -97.646484375, 5.470852375030518 ]
[ -1.93359375, 184.658203125, 161.015625, 5.888671875, -98.26171875, 1.3869625329971313 ]
3.266667
98
0
98
0
[ -1.318359375, 172.177734375, 148.798828125, 8.349609375, -97.55859375, 5.91928243637085 ]
[ -1.93359375, 182.8125, 159.43359375, 6.85546875, -98.26171875, 2.2884883880615234 ]
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": 20,
    "total_frames": 17737,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
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                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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