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Datasets:
tlf123
/
act_test1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
15.8
frame_index
int64
0
473
episode_index
int64
0
21
index
int64
0
8.89k
task_index
int64
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[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.366667
71
0
71
0
[ -4.482421875, 193.7109375, 179.47265625, 47.63671875, 1.142578125, 0.19286403059959412 ]
[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.4
72
0
72
0
[ -4.5703125, 193.7109375, 179.47265625, 47.63671875, 1.142578125, 0.19286403059959412 ]
[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.433333
73
0
73
0
[ -4.5703125, 193.7109375, 179.47265625, 47.63671875, 1.318359375, 0.19286403059959412 ]
[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.466667
74
0
74
0
[ -4.482421875, 193.7109375, 179.47265625, 47.63671875, 1.23046875, 0.19286403059959412 ]
[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.5
75
0
75
0
[ -3.955078125, 193.7109375, 179.47265625, 47.4609375, 0.87890625, 0.19286403059959412 ]
[ -4.21875, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.533333
76
0
76
0
[ -2.8125, 193.7109375, 179.384765625, 46.93359375, -1.0546875, 0.09643201529979706 ]
[ -4.130859375, 192.744140625, 178.505859375, 48.1640625, 0.791015625, -0.23980815708637238 ]
2.566667
77
0
77
0
[ -1.318359375, 193.7109375, 179.384765625, 46.23046875, -3.603515625, 0.09643201529979706 ]
[ -3.603515625, 192.744140625, 178.505859375, 48.076171875, 0.263671875, -0.23980815708637238 ]
2.6
78
0
78
0
[ 0.17578125, 193.623046875, 179.208984375, 45.87890625, -6.328125, 0.09643201529979706 ]
[ -2.724609375, 192.744140625, 178.505859375, 47.724609375, -0.615234375, -0.23980815708637238 ]
2.633333
79
0
79
0
[ 1.40625, 193.623046875, 179.12109375, 45.615234375, -8.7890625, 0.09643201529979706 ]
[ -1.669921875, 192.744140625, 178.505859375, 47.197265625, -2.197265625, -0.23980815708637238 ]
2.666667
80
0
80
0
[ 2.548828125, 193.623046875, 178.9453125, 45.52734375, -10.72265625, 0.09643201529979706 ]
[ -0.703125, 192.744140625, 178.505859375, 46.7578125, -4.04296875, -0.23980815708637238 ]
2.7
81
0
81
0
[ 3.69140625, 193.623046875, 178.76953125, 45.52734375, -12.216796875, 0.09643201529979706 ]
[ 0.615234375, 192.744140625, 178.505859375, 46.58203125, -6.15234375, -0.23980815708637238 ]
2.733333
82
0
82
0
[ 4.482421875, 193.623046875, 178.505859375, 45.52734375, -13.88671875, 0.09643201529979706 ]
[ 1.669921875, 192.744140625, 178.505859375, 46.318359375, -8.173828125, -0.23980815708637238 ]
2.766667
83
0
83
0
[ 5.2734375, 193.623046875, 178.2421875, 45.3515625, -15.29296875, 0.09643201529979706 ]
[ 2.373046875, 192.744140625, 178.505859375, 46.23046875, -9.931640625, -0.23980815708637238 ]
2.8
84
0
84
0
[ 5.888671875, 193.623046875, 177.802734375, 44.912109375, -16.787109375, 0.09643201529979706 ]
[ 3.427734375, 192.744140625, 178.505859375, 46.23046875, -11.6015625, -0.23980815708637238 ]
2.833333
85
0
85
0
[ 6.50390625, 193.623046875, 177.275390625, 44.47265625, -18.369140625, 0.19286403059959412 ]
[ 4.130859375, 192.744140625, 178.41796875, 46.142578125, -13.271484375, -0.23980815708637238 ]
2.866667
86
0
86
0
[ 7.119140625, 193.623046875, 176.66015625, 44.033203125, -20.21484375, 0.38572806119918823 ]
[ 4.74609375, 192.744140625, 178.330078125, 45.703125, -14.853515625, -0.23980815708637238 ]
2.9
87
0
87
0
[ 7.822265625, 193.623046875, 176.044921875, 43.681640625, -21.884765625, 0.4821600914001465 ]
[ 5.537109375, 192.744140625, 178.154296875, 45.439453125, -16.5234375, -0.23980815708637238 ]
2.933333
88
0
88
0
[ 8.4375, 193.623046875, 175.341796875, 44.033203125, -23.818359375, 0.6750240921974182 ]
[ 6.240234375, 192.744140625, 178.154296875, 44.912109375, -18.193359375, -0.23980815708637238 ]
2.966667
89
0
89
0
[ 9.140625, 193.18359375, 174.287109375, 44.560546875, -25.48828125, 0.964320182800293 ]
[ 6.85546875, 192.744140625, 178.06640625, 44.736328125, -19.86328125, -0.23980815708637238 ]
3
90
0
90
0
[ 9.580078125, 192.041015625, 172.96875, 44.912109375, -27.0703125, 1.0607521533966064 ]
[ 7.55859375, 192.744140625, 177.71484375, 44.6484375, -21.4453125, -0.23980815708637238 ]
3.033333
91
0
91
0
[ 10.1953125, 190.37109375, 171.2109375, 45.263671875, -28.388671875, 1.253616213798523 ]
[ 8.26171875, 192.568359375, 177.01171875, 44.6484375, -23.37890625, -0.07993604987859726 ]
3.066667
92
0
92
0
[ 10.72265625, 188.0859375, 169.1015625, 45.439453125, -29.70703125, 1.253616213798523 ]
[ 8.876953125, 191.77734375, 175.693359375, 44.6484375, -25.13671875, 0.31974419951438904 ]
3.1
93
0
93
0
[ 11.25, 185.2734375, 166.640625, 45.3515625, -30.76171875, 1.253616213798523 ]
[ 9.31640625, 190.634765625, 174.375, 44.82421875, -26.455078125, 0.5595523715019226 ]
3.133333
94
0
94
0
[ 11.689453125, 182.021484375, 163.740234375, 45.263671875, -31.640625, 1.3500481843948364 ]
[ 9.84375, 188.7890625, 172.6171875, 45, -27.685546875, 0.6394883990287781 ]
3.166667
95
0
95
0
[ 12.041015625, 178.681640625, 160.751953125, 45.3515625, -33.046875, 1.3500481843948364 ]
[ 10.458984375, 186.328125, 170.33203125, 45, -28.828125, 0.6394883990287781 ]
3.2
96
0
96
0
[ 12.3046875, 175.60546875, 157.763671875, 45.615234375, -34.453125, 1.3500481843948364 ]
[ 10.8984375, 183.603515625, 167.783203125, 45, -30.05859375, 0.6394883990287781 ]
3.233333
97
0
97
0
[ 12.568359375, 172.353515625, 154.6875, 46.0546875, -36.38671875, 1.3500481843948364 ]
[ 11.337890625, 180.3515625, 164.8828125, 45, -31.376953125, 0.6394883990287781 ]
3.266667
98
0
98
0
[ 13.0078125, 169.1015625, 151.875, 46.23046875, -38.759765625, 1.253616213798523 ]
[ 11.689453125, 177.275390625, 161.982421875, 45.17578125, -32.87109375, 0.6394883990287781 ]
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": 2,
    "total_frames": 770,
    "total_tasks": 1,
    "total_videos": 4,
    "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"
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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": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": [
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            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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