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Datasets:
zaringleb
/
so100_cube_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
9.9
frame_index
int64
0
297
episode_index
int64
0
14
index
int64
0
4.47k
task_index
int64
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[ 0.087890625, 52.734375, 51.943359375, 73.828125, 8.349609375, 28.39300537109375 ]
2.433333
73
0
73
0
[ -0.17578125, 50.625, 47.4609375, 72.421875, 6.6796875, 29.987760543823242 ]
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2.466667
74
0
74
0
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2.5
75
0
75
0
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[ 0.17578125, 49.74609375, 49.921875, 72.685546875, 6.85546875, 28.47627067565918 ]
2.533333
76
0
76
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -0.703125, 45.615234375, 46.0546875, 70.48828125, 3.427734375, 29.725229263305664 ]
2.8
84
0
84
0
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[ -0.791015625, 44.82421875, 45.439453125, 70.400390625, 2.8125, 29.725229263305664 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -1.0546875, 43.857421875, 45.17578125, 69.78515625, 1.845703125, 29.725229263305664 ]
2.9
87
0
87
0
[ -2.900390625, 43.41796875, 42.36328125, 69.609375, 1.318359375, 31.4565486907959 ]
[ -1.318359375, 43.41796875, 44.6484375, 69.609375, 1.58203125, 30.14154815673828 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
[ -3.1640625, 42.451171875, 42.1875, 69.169921875, 0.966796875, 31.4565486907959 ]
[ -1.58203125, 42.36328125, 44.208984375, 69.43359375, 1.318359375, 30.5578670501709 ]
3.033333
91
0
91
0
[ -3.33984375, 42.099609375, 42.275390625, 68.818359375, 0.703125, 31.4565486907959 ]
[ -1.58203125, 41.8359375, 44.12109375, 69.43359375, 1.318359375, 30.641132354736328 ]
3.066667
92
0
92
0
[ -3.427734375, 41.8359375, 42.275390625, 68.642578125, 0.703125, 31.4565486907959 ]
[ -1.93359375, 41.572265625, 43.857421875, 69.345703125, 0.791015625, 30.641132354736328 ]
3.1
93
0
93
0
[ -3.427734375, 41.572265625, 42.36328125, 68.642578125, 0.791015625, 31.4565486907959 ]
[ -2.109375, 41.30859375, 43.857421875, 68.818359375, 0.52734375, 30.641132354736328 ]
3.133333
94
0
94
0
[ -3.33984375, 41.30859375, 42.36328125, 68.5546875, 0.87890625, 31.0893497467041 ]
[ -2.63671875, 40.78125, 43.857421875, 68.642578125, 0.52734375, 30.641132354736328 ]
3.166667
95
0
95
0
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[ -2.724609375, 40.517578125, 43.857421875, 68.642578125, 0.263671875, 30.641132354736328 ]
3.2
96
0
96
0
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[ -2.724609375, 40.341796875, 43.857421875, 68.5546875, 0.3515625, 30.641132354736328 ]
3.233333
97
0
97
0
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[ -2.4609375, 40.341796875, 43.857421875, 68.37890625, 0.3515625, 30.308076858520508 ]
3.266667
98
0
98
0
[ -3.1640625, 40.60546875, 43.154296875, 68.02734375, 0.87890625, 29.865360260009766 ]
[ -2.4609375, 40.078125, 43.76953125, 68.37890625, 0.3515625, 29.725229263305664 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 15,
    "total_frames": 4470,
    "total_tasks": 1,
    "total_videos": 15,
    "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": {
        "action": {
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            "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": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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