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Datasets:
labaruss
/
so100_cube_to_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
14.7
frame_index
int64
0
441
episode_index
int64
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49
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int64
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22.1k
task_index
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[ -22.060546875, 123.92578125, 112.412109375, 77.87109375, 44.736328125, -0.08779631555080414 ]
[ -23.115234375, 125.244140625, 117.158203125, 78.134765625, 45.703125, 0.6451612710952759 ]
2.4
72
0
72
0
[ -21.708984375, 122.87109375, 111.796875, 78.134765625, 44.384765625, -0.08779631555080414 ]
[ -22.67578125, 124.365234375, 116.89453125, 77.87109375, 45.439453125, 0.6451612710952759 ]
2.433333
73
0
73
0
[ -21.4453125, 121.904296875, 111.181640625, 78.57421875, 44.208984375, -0.08779631555080414 ]
[ -22.060546875, 123.3984375, 116.71875, 77.783203125, 45, 0.6451612710952759 ]
2.466667
74
0
74
0
[ -21.09375, 120.76171875, 110.478515625, 79.013671875, 43.9453125, -0.08779631555080414 ]
[ -21.62109375, 122.34375, 116.19140625, 77.87109375, 44.6484375, 0.6451612710952759 ]
2.5
75
0
75
0
[ -20.91796875, 119.619140625, 109.775390625, 79.62890625, 43.681640625, -0.08779631555080414 ]
[ -21.357421875, 121.376953125, 115.576171875, 77.958984375, 44.47265625, 0.6451612710952759 ]
2.533333
76
0
76
0
[ -20.7421875, 118.65234375, 109.16015625, 80.244140625, 43.76953125, -0.08779631555080414 ]
[ -21.26953125, 120.41015625, 114.873046875, 78.310546875, 43.9453125, 0.6451612710952759 ]
2.566667
77
0
77
0
[ -20.56640625, 118.037109375, 108.6328125, 80.68359375, 43.681640625, -0.08779631555080414 ]
[ -21.09375, 119.267578125, 114.2578125, 78.57421875, 43.505859375, 0.6451612710952759 ]
2.6
78
0
78
0
[ -20.478515625, 117.509765625, 108.369140625, 80.947265625, 43.330078125, -0.08779631555080414 ]
[ -20.7421875, 118.388671875, 113.642578125, 78.75, 43.06640625, 0.6451612710952759 ]
2.633333
79
0
79
0
[ -20.390625, 117.333984375, 108.193359375, 81.298828125, 43.2421875, -0.08779631555080414 ]
[ -20.478515625, 117.7734375, 113.115234375, 79.27734375, 43.06640625, 0.6451612710952759 ]
2.666667
80
0
80
0
[ -20.302734375, 117.24609375, 108.193359375, 81.650390625, 43.330078125, -0.08779631555080414 ]
[ -20.0390625, 117.158203125, 112.67578125, 79.716796875, 43.154296875, 0.6451612710952759 ]
2.7
81
0
81
0
[ -20.302734375, 117.158203125, 108.193359375, 81.9140625, 43.2421875, -0.08779631555080414 ]
[ -19.86328125, 116.71875, 112.412109375, 80.15625, 43.154296875, 0.6451612710952759 ]
2.733333
82
0
82
0
[ -20.302734375, 117.158203125, 108.193359375, 82.265625, 43.154296875, -0.08779631555080414 ]
[ -19.86328125, 116.630859375, 112.32421875, 80.15625, 43.2421875, 0.6451612710952759 ]
2.766667
83
0
83
0
[ -20.302734375, 117.158203125, 108.10546875, 82.79296875, 43.06640625, -0.08779631555080414 ]
[ -19.951171875, 116.54296875, 112.32421875, 80.5078125, 43.154296875, 0.6451612710952759 ]
2.8
84
0
84
0
[ -20.302734375, 117.24609375, 108.017578125, 82.880859375, 42.890625, -0.08779631555080414 ]
[ -20.21484375, 116.455078125, 112.1484375, 81.03515625, 43.154296875, 0.6451612710952759 ]
2.833333
85
0
85
0
[ -20.302734375, 117.24609375, 108.017578125, 82.880859375, 42.5390625, -0.08779631555080414 ]
[ -20.302734375, 116.455078125, 112.1484375, 81.38671875, 43.154296875, 0.6451612710952759 ]
2.866667
86
0
86
0
[ -20.302734375, 117.24609375, 107.9296875, 82.79296875, 42.451171875, -0.08779631555080414 ]
[ -20.390625, 116.455078125, 112.1484375, 81.73828125, 42.890625, 0.6451612710952759 ]
2.9
87
0
87
0
[ -20.302734375, 117.24609375, 107.9296875, 82.705078125, 42.36328125, 0.17559263110160828 ]
[ -20.390625, 116.455078125, 112.1484375, 81.73828125, 42.451171875, 0.6451612710952759 ]
2.933333
88
0
88
0
[ -20.302734375, 117.24609375, 107.9296875, 82.44140625, 42.275390625, 1.5803335905075073 ]
[ -20.390625, 116.455078125, 112.060546875, 81.73828125, 42.275390625, 0.6451612710952759 ]
2.966667
89
0
89
0
[ -20.390625, 117.24609375, 107.9296875, 82.353515625, 42.5390625, 4.389815807342529 ]
[ -20.390625, 116.455078125, 111.796875, 81.73828125, 42.1875, 0.6451612710952759 ]
3
90
0
90
0
[ -20.478515625, 117.24609375, 107.9296875, 82.353515625, 43.06640625, 9.657594680786133 ]
[ -20.390625, 116.455078125, 111.4453125, 81.826171875, 42.099609375, 0.6451612710952759 ]
3.033333
91
0
91
0
[ -20.56640625, 117.24609375, 107.9296875, 82.177734375, 43.154296875, 12.906058311462402 ]
[ -20.390625, 116.455078125, 111.181640625, 81.826171875, 42.01171875, 1.2096774578094482 ]
3.066667
92
0
92
0
[ -20.654296875, 117.24609375, 107.9296875, 82.08984375, 43.154296875, 14.749780654907227 ]
[ -20.390625, 116.455078125, 111.09375, 81.826171875, 42.36328125, 3.1451613903045654 ]
3.1
93
0
93
0
[ -20.654296875, 117.158203125, 107.9296875, 82.177734375, 43.505859375, 15.10096549987793 ]
[ -20.390625, 116.455078125, 111.005859375, 81.826171875, 42.626953125, 5.72580623626709 ]
3.133333
94
0
94
0
[ -20.654296875, 117.0703125, 107.9296875, 82.177734375, 43.505859375, 15.10096549987793 ]
[ -20.390625, 116.455078125, 111.005859375, 81.826171875, 42.71484375, 8.387096405029297 ]
3.166667
95
0
95
0
[ -20.654296875, 116.89453125, 107.9296875, 82.353515625, 43.505859375, 15.539947509765625 ]
[ -20.390625, 116.455078125, 111.005859375, 81.826171875, 42.802734375, 10.72580623626709 ]
3.2
96
0
96
0
[ -20.7421875, 116.806640625, 107.9296875, 82.6171875, 43.59375, 16.06672477722168 ]
[ -20.390625, 116.455078125, 111.005859375, 81.826171875, 42.802734375, 12.177419662475586 ]
3.233333
97
0
97
0
[ -20.830078125, 116.71875, 107.9296875, 82.79296875, 43.76953125, 17.383670806884766 ]
[ -20.390625, 116.103515625, 111.005859375, 81.826171875, 42.802734375, 13.145161628723145 ]
3.266667
98
0
98
0
[ -20.830078125, 116.630859375, 107.9296875, 83.14453125, 44.12109375, 19.051799774169922 ]
[ -20.390625, 115.6640625, 111.005859375, 81.826171875, 42.802734375, 14.112903594970703 ]
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": 22100,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.side": {
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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": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "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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                1
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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