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Datasets:
xhaka3456
/
Pick_Place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
act
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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episode_index
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index
int64
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task_index
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[ -11.513671875, 153.720703125, 143.4375, 61.787109375, -15.205078125, 7.023643970489502 ]
2.366667
71
0
71
0
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[ -11.689453125, 153.10546875, 143.349609375, 61.787109375, -15.205078125, 9.109874725341797 ]
2.4
72
0
72
0
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[ -12.041015625, 153.017578125, 143.26171875, 61.875, -15.205078125, 10.848400115966797 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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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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[ -13.095703125, 149.0625, 138.8671875, 64.6875, -16.611328125, 18.7065372467041 ]
2.666667
80
0
80
0
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[ -12.83203125, 148.0078125, 137.8125, 64.951171875, -16.611328125, 18.845619201660156 ]
2.7
81
0
81
0
[ -13.88671875, 146.07421875, 132.36328125, 66.884765625, -17.9296875, 19.44444465637207 ]
[ -12.65625, 147.041015625, 136.845703125, 65.56640625, -16.611328125, 18.845619201660156 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -12.919921875, 145.8984375, 134.912109375, 66.005859375, -16.962890625, 18.845619201660156 ]
2.8
84
0
84
0
[ -14.0625, 143.525390625, 129.19921875, 67.8515625, -18.10546875, 19.636014938354492 ]
[ -13.271484375, 144.931640625, 133.76953125, 66.708984375, -17.490234375, 18.845619201660156 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -13.447265625, 143.0859375, 131.8359375, 66.97265625, -17.75390625, 18.845619201660156 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -13.88671875, 140.009765625, 128.49609375, 67.763671875, -17.841796875, 20.4450626373291 ]
3
90
0
90
0
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[ -14.23828125, 138.955078125, 127.705078125, 67.763671875, -17.841796875, 20.93185043334961 ]
3.033333
91
0
91
0
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[ -14.23828125, 138.251953125, 126.826171875, 67.587890625, -17.841796875, 21.905424118041992 ]
3.066667
92
0
92
0
[ -14.853515625, 137.021484375, 122.6953125, 67.5, -18.28125, 27.203065872192383 ]
[ -14.23828125, 137.8125, 126.123046875, 67.32421875, -17.841796875, 23.226703643798828 ]
3.1
93
0
93
0
[ -14.94140625, 136.40625, 122.16796875, 67.236328125, -18.369140625, 29.1187744140625 ]
[ -14.0625, 137.197265625, 125.5078125, 67.32421875, -17.841796875, 24.68706512451172 ]
3.133333
94
0
94
0
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[ -14.0625, 136.7578125, 124.892578125, 67.32421875, -17.841796875, 25.938804626464844 ]
3.166667
95
0
95
0
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[ -13.974609375, 135.87890625, 124.541015625, 67.1484375, -17.841796875, 28.025033950805664 ]
3.2
96
0
96
0
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[ -13.974609375, 135.17578125, 123.92578125, 66.62109375, -17.841796875, 28.929067611694336 ]
3.233333
97
0
97
0
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[ -14.150390625, 135.17578125, 123.75, 66.4453125, -17.841796875, 29.27677345275879 ]
3.266667
98
0
98
0
[ -14.853515625, 134.82421875, 120.9375, 66.181640625, -18.720703125, 31.32183837890625 ]
[ -14.23828125, 135.17578125, 123.662109375, 66.357421875, -17.841796875, 30.389429092407227 ]
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": 140,
    "total_frames": 59517,
    "total_tasks": 1,
    "total_videos": 280,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:140"
    },
    "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.laptop": {
            "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
            }
        },
        "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:

[More Information Needed]
```# Pick_Place_Integrated

병합된 LeRobot 데이터셋 (so100_test_0510 + so100_test_0412).
포맷: observation.images.cam_high (VideoFrame), observation.state (float32 list), action (float32 list), timestamp (float32)
Downloads last month
10
License:
apache-2.0
Size of downloaded dataset files:
3.35 MB
Size of the auto-converted Parquet files:
3.35 MB
Number of rows:
59,517