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Datasets:
mnddxiaolongxia
/
train60

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
0
38.7
frame_index
int64
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1.16k
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59
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68.6k
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[ 29.53125, 106.611328125, 110.21484375, 70.48828125, -123.3984375, -0.15163002908229828 ]
[ 27.24609375, 102.12890625, 108.984375, 70.6640625, -116.54296875, 7.021062850952148 ]
2.366667
71
0
71
0
[ 30.234375, 106.69921875, 110.654296875, 70.48828125, -125.419921875, -0.15163002908229828 ]
[ 27.59765625, 102.12890625, 109.423828125, 70.576171875, -118.125, 7.021062850952148 ]
2.4
72
0
72
0
[ 30.5859375, 106.69921875, 111.09375, 70.6640625, -126.650390625, -0.15163002908229828 ]
[ 28.125, 102.12890625, 110.126953125, 70.48828125, -119.8828125, 7.021062850952148 ]
2.433333
73
0
73
0
[ 30.849609375, 106.962890625, 111.4453125, 70.751953125, -127.529296875, -0.15163002908229828 ]
[ 29.00390625, 102.12890625, 110.56640625, 70.400390625, -121.640625, 7.021062850952148 ]
2.466667
74
0
74
0
[ 30.9375, 107.578125, 111.884765625, 71.103515625, -128.935546875, -0.15163002908229828 ]
[ 29.53125, 102.12890625, 111.005859375, 70.224609375, -123.486328125, 7.021062850952148 ]
2.5
75
0
75
0
[ 31.025390625, 108.720703125, 112.412109375, 71.279296875, -129.90234375, -0.15163002908229828 ]
[ 29.70703125, 102.12890625, 111.357421875, 70.3125, -124.541015625, 7.021062850952148 ]
2.533333
76
0
76
0
[ 31.025390625, 108.984375, 113.02734375, 71.3671875, -130.78125, -0.15163002908229828 ]
[ 29.53125, 102.392578125, 111.4453125, 70.400390625, -125.859375, 7.021062850952148 ]
2.566667
77
0
77
0
[ 30.76171875, 110.390625, 113.818359375, 71.455078125, -130.869140625, -0.15163002908229828 ]
[ 29.53125, 103.095703125, 111.97265625, 70.48828125, -127.001953125, 7.021062850952148 ]
2.6
78
0
78
0
[ 30.498046875, 111.005859375, 114.697265625, 71.015625, -130.869140625, -0.15163002908229828 ]
[ 29.970703125, 103.7109375, 112.8515625, 70.751953125, -128.232421875, 7.021062850952148 ]
2.633333
79
0
79
0
[ 30.41015625, 111.708984375, 115.576171875, 70.400390625, -130.869140625, -0.15163002908229828 ]
[ 30.322265625, 104.58984375, 113.37890625, 71.015625, -128.759765625, 7.021062850952148 ]
2.666667
80
0
80
0
[ 30.41015625, 112.8515625, 116.54296875, 69.873046875, -130.869140625, -0.15163002908229828 ]
[ 30.322265625, 105.556640625, 114.08203125, 70.751953125, -129.287109375, 7.021062850952148 ]
2.7
81
0
81
0
[ 30.498046875, 113.5546875, 117.509765625, 69.521484375, -130.95703125, -0.15163002908229828 ]
[ 29.970703125, 106.435546875, 115.048828125, 70.6640625, -129.462890625, 7.021062850952148 ]
2.733333
82
0
82
0
[ 30.849609375, 114.43359375, 118.4765625, 69.08203125, -131.484375, -0.15163002908229828 ]
[ 29.70703125, 107.40234375, 115.927734375, 70.048828125, -129.55078125, 7.021062850952148 ]
2.766667
83
0
83
0
[ 31.201171875, 115.13671875, 119.53125, 68.642578125, -132.01171875, -0.15163002908229828 ]
[ 29.70703125, 108.28125, 117.0703125, 69.43359375, -129.814453125, 7.021062850952148 ]
2.8
84
0
84
0
[ 31.376953125, 115.83984375, 120.76171875, 67.763671875, -132.099609375, -0.15163002908229828 ]
[ 30.322265625, 109.599609375, 118.30078125, 69.697265625, -130.341796875, 7.021062850952148 ]
2.833333
85
0
85
0
[ 31.640625, 116.103515625, 121.81640625, 66.533203125, -132.099609375, -0.15163002908229828 ]
[ 30.5859375, 110.478515625, 119.1796875, 69.08203125, -130.95703125, 7.021062850952148 ]
2.866667
86
0
86
0
[ 31.81640625, 116.015625, 122.783203125, 64.775390625, -131.923828125, -0.15163002908229828 ]
[ 30.5859375, 111.09375, 119.970703125, 68.291015625, -131.484375, 7.021062850952148 ]
2.9
87
0
87
0
[ 31.904296875, 115.83984375, 123.75, 62.841796875, -130.693359375, -0.15163002908229828 ]
[ 30.673828125, 111.796875, 121.025390625, 67.412109375, -131.484375, 7.021062850952148 ]
2.933333
88
0
88
0
[ 31.552734375, 115.400390625, 124.716796875, 60.556640625, -128.935546875, -0.15163002908229828 ]
[ 30.76171875, 112.1484375, 121.9921875, 66.357421875, -131.396484375, 7.021062850952148 ]
2.966667
89
0
89
0
[ 31.640625, 114.9609375, 125.68359375, 57.919921875, -127.177734375, -0.15163002908229828 ]
[ 30.76171875, 112.236328125, 123.046875, 64.86328125, -130.78125, 7.021062850952148 ]
3
90
0
90
0
[ 31.9921875, 114.345703125, 126.5625, 55.72265625, -125.771484375, -0.15163002908229828 ]
[ 30.849609375, 112.236328125, 124.1015625, 63.017578125, -129.814453125, 7.021062850952148 ]
3.033333
91
0
91
0
[ 32.6953125, 113.818359375, 127.44140625, 54.052734375, -125.595703125, -0.15163002908229828 ]
[ 30.9375, 112.236328125, 125.33203125, 60.99609375, -128.583984375, 7.021062850952148 ]
3.066667
92
0
92
0
[ 33.310546875, 113.5546875, 128.056640625, 52.646484375, -124.453125, -0.15163002908229828 ]
[ 30.9375, 112.236328125, 126.2109375, 58.974609375, -127.529296875, 7.021062850952148 ]
3.1
93
0
93
0
[ 33.837890625, 113.115234375, 128.583984375, 51.943359375, -123.75, -0.15163002908229828 ]
[ 30.9375, 112.236328125, 127.177734375, 57.041015625, -126.474609375, 7.021062850952148 ]
3.133333
94
0
94
0
[ 34.27734375, 112.939453125, 128.935546875, 51.943359375, -123.3984375, -0.15163002908229828 ]
[ 31.376953125, 112.236328125, 128.056640625, 55.37109375, -125.419921875, 7.021062850952148 ]
3.166667
95
0
95
0
[ 34.453125, 112.8515625, 129.111328125, 51.943359375, -122.51953125, -0.15163002908229828 ]
[ 32.16796875, 112.236328125, 128.49609375, 53.96484375, -124.541015625, 7.021062850952148 ]
3.2
96
0
96
0
[ 34.541015625, 112.8515625, 129.375, 51.943359375, -121.728515625, -0.15163002908229828 ]
[ 33.134765625, 111.884765625, 128.671875, 52.998046875, -123.837890625, 7.021062850952148 ]
3.233333
97
0
97
0
[ 34.62890625, 112.8515625, 129.462890625, 51.943359375, -120.5859375, -0.15163002908229828 ]
[ 33.486328125, 111.62109375, 129.0234375, 52.294921875, -123.22265625, 7.021062850952148 ]
3.266667
98
0
98
0
[ 34.8046875, 112.67578125, 129.55078125, 51.943359375, -119.53125, -0.15163002908229828 ]
[ 33.57421875, 111.4453125, 129.55078125, 52.119140625, -122.255859375, 7.021062850952148 ]
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": 301,
    "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.phone": {
            "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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