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lt-s
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so100_train_move_blue_block_tray_to_blue_dish

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Robotics
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LeRobot
so100
train
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action
sequence
observation.state
sequence
timestamp
float32
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12.8
frame_index
int64
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385
episode_index
int64
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22
index
int64
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5.8k
task_index
int64
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[ 9.052734375, 143.4375, 129.0234375, 71.279296875, -55.37109375, 0.9860312342643738 ]
2.4
72
0
72
0
[ 8.4375, 127.79296875, 123.837890625, 69.873046875, -79.716796875, 9.410730361938477 ]
[ 9.052734375, 137.724609375, 127.177734375, 71.3671875, -63.193359375, 4.026294231414795 ]
2.433333
73
0
73
0
[ 8.349609375, 125.244140625, 124.1015625, 68.115234375, -83.3203125, 13.896218299865723 ]
[ 8.96484375, 135.3515625, 126.650390625, 71.3671875, -66.62109375, 5.341002464294434 ]
2.466667
74
0
74
0
[ 8.349609375, 122.431640625, 124.189453125, 66.708984375, -88.154296875, 18.90941047668457 ]
[ 8.7890625, 132.626953125, 126.2109375, 70.400390625, -71.3671875, 7.641741752624512 ]
2.5
75
0
75
0
[ 8.173828125, 118.564453125, 124.716796875, 63.45703125, -93.1640625, 22.95514488220215 ]
[ 8.349609375, 126.474609375, 125.947265625, 68.466796875, -79.541015625, 12.982744216918945 ]
2.533333
76
0
76
0
[ 7.998046875, 116.806640625, 124.892578125, 62.2265625, -95.44921875, 23.0430965423584 ]
[ 8.26171875, 124.27734375, 125.947265625, 67.763671875, -83.408203125, 15.694330215454102 ]
2.566667
77
0
77
0
[ 7.55859375, 115.3125, 125.244140625, 60.732421875, -97.294921875, 24.27440643310547 ]
[ 8.26171875, 122.431640625, 125.947265625, 66.181640625, -87.890625, 18.570255279541016 ]
2.6
78
0
78
0
[ 7.294921875, 114.08203125, 125.68359375, 60.029296875, -99.84375, 24.89006233215332 ]
[ 8.26171875, 120.9375, 125.859375, 63.80859375, -89.912109375, 20.04930305480957 ]
2.633333
79
0
79
0
[ 6.85546875, 113.02734375, 126.298828125, 58.623046875, -101.07421875, 26.12137222290039 ]
[ 8.26171875, 117.509765625, 125.947265625, 62.841796875, -92.900390625, 21.528348922729492 ]
2.666667
80
0
80
0
[ 6.50390625, 112.1484375, 127.001953125, 57.392578125, -102.83203125, 27.35268211364746 ]
[ 7.91015625, 115.48828125, 126.38671875, 62.138671875, -95.712890625, 22.92522621154785 ]
2.7
81
0
81
0
[ 6.240234375, 111.4453125, 127.705078125, 56.25, -104.150390625, 27.616533279418945 ]
[ 7.470703125, 114.2578125, 126.73828125, 60.46875, -98.26171875, 24.23993492126465 ]
2.733333
82
0
82
0
[ 5.9765625, 110.830078125, 128.056640625, 55.546875, -104.765625, 27.704486846923828 ]
[ 6.85546875, 113.73046875, 127.001953125, 58.7109375, -99.404296875, 25.47247314453125 ]
2.766667
83
0
83
0
[ 5.625, 110.21484375, 128.232421875, 55.458984375, -105.556640625, 27.704486846923828 ]
[ 6.240234375, 111.884765625, 127.79296875, 57.744140625, -101.865234375, 26.376333236694336 ]
2.8
84
0
84
0
[ 5.2734375, 109.6875, 128.408203125, 55.458984375, -105.99609375, 27.616533279418945 ]
[ 6.15234375, 111.005859375, 128.232421875, 57.3046875, -103.447265625, 26.787181854248047 ]
2.833333
85
0
85
0
[ 4.833984375, 109.3359375, 128.583984375, 55.37109375, -105.99609375, 27.616533279418945 ]
[ 6.50390625, 110.478515625, 128.14453125, 56.42578125, -103.7109375, 27.033689498901367 ]
2.866667
86
0
86
0
[ 4.482421875, 109.16015625, 128.84765625, 55.634765625, -105.99609375, 27.176782608032227 ]
[ 6.064453125, 110.0390625, 128.3203125, 55.8984375, -104.501953125, 27.11585807800293 ]
2.9
87
0
87
0
[ 4.04296875, 108.984375, 129.111328125, 55.72265625, -105.99609375, 27.00088119506836 ]
[ 5.009765625, 109.3359375, 128.759765625, 56.513671875, -105.29296875, 27.198028564453125 ]
2.933333
88
0
88
0
[ 3.69140625, 108.80859375, 129.55078125, 55.72265625, -105.908203125, 26.82497787475586 ]
[ 4.658203125, 109.16015625, 129.0234375, 56.162109375, -105.1171875, 27.11585807800293 ]
2.966667
89
0
89
0
[ 3.427734375, 108.6328125, 129.90234375, 55.72265625, -105.908203125, 26.297273635864258 ]
[ 4.833984375, 108.984375, 129.375, 55.986328125, -105.380859375, 27.033689498901367 ]
3
90
0
90
0
[ 3.1640625, 108.45703125, 130.517578125, 55.458984375, -105.732421875, 25.76957130432129 ]
[ 4.39453125, 108.6328125, 129.814453125, 56.07421875, -105.556640625, 26.951519012451172 ]
3.033333
91
0
91
0
[ 3.076171875, 108.28125, 131.044921875, 55.283203125, -105.8203125, 25.59366798400879 ]
[ 3.69140625, 108.544921875, 130.166015625, 56.07421875, -105.556640625, 26.540672302246094 ]
3.066667
92
0
92
0
[ 3.076171875, 108.10546875, 131.396484375, 55.107421875, -105.908203125, 25.329816818237305 ]
[ 3.251953125, 108.6328125, 130.517578125, 55.810546875, -105.556640625, 26.540672302246094 ]
3.1
93
0
93
0
[ 3.076171875, 107.9296875, 131.748046875, 54.931640625, -105.908203125, 24.80211067199707 ]
[ 3.1640625, 108.10546875, 131.220703125, 55.634765625, -105.556640625, 26.12982749938965 ]
3.133333
94
0
94
0
[ 3.076171875, 107.75390625, 132.099609375, 54.755859375, -105.732421875, 24.27440643310547 ]
[ 3.603515625, 108.10546875, 131.572265625, 55.458984375, -105.556640625, 25.801149368286133 ]
3.166667
95
0
95
0
[ 3.1640625, 107.666015625, 132.275390625, 54.755859375, -105.732421875, 23.834653854370117 ]
[ 3.779296875, 108.017578125, 131.748046875, 55.283203125, -105.556640625, 25.308135986328125 ]
3.2
96
0
96
0
[ 3.1640625, 107.490234375, 132.5390625, 54.404296875, -105.64453125, 23.394899368286133 ]
[ 3.603515625, 107.75390625, 132.099609375, 54.84375, -105.556640625, 24.32210350036621 ]
3.233333
97
0
97
0
[ 3.251953125, 107.314453125, 132.890625, 53.96484375, -105.46875, 22.33949089050293 ]
[ 2.900390625, 107.490234375, 132.36328125, 55.1953125, -105.556640625, 24.23993492126465 ]
3.266667
98
0
98
0
[ 3.251953125, 107.05078125, 133.154296875, 53.525390625, -105.29296875, 21.811784744262695 ]
[ 2.900390625, 107.490234375, 132.71484375, 54.84375, -105.556640625, 24.07559585571289 ]
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": 6,
    "total_frames": 1477,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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.center_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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        },
        "observation.images.right_cam": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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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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