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Datasets:
sihyun77
/
mond_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100,tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.4
frame_index
int64
0
583
episode_index
int64
0
29
index
int64
0
17.4k
task_index
int64
0
0
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72
0
[ 16.962890625, 130.4296875, 56.513671875, -64.775390625, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 128.935546875, 51.240234375, -65.91796875, -0.263671875, 34.25414276123047 ]
2.433333
73
0
73
0
[ 17.05078125, 130.869140625, 57.48046875, -64.423828125, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 129.111328125, 52.119140625, -65.21484375, -0.263671875, 34.25414276123047 ]
2.466667
74
0
74
0
[ 17.2265625, 131.30859375, 58.18359375, -64.423828125, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 129.638671875, 53.0859375, -64.86328125, -0.263671875, 34.25414276123047 ]
2.5
75
0
75
0
[ 17.314453125, 131.572265625, 58.623046875, -64.423828125, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 130.078125, 54.052734375, -64.599609375, -0.263671875, 34.25414276123047 ]
2.533333
76
0
76
0
[ 17.40234375, 131.8359375, 58.88671875, -64.423828125, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 130.60546875, 54.931640625, -64.3359375, -0.263671875, 34.25414276123047 ]
2.566667
77
0
77
0
[ 17.40234375, 131.923828125, 59.0625, -64.3359375, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 130.95703125, 55.458984375, -64.423828125, -0.263671875, 34.25414276123047 ]
2.6
78
0
78
0
[ 17.490234375, 131.923828125, 59.0625, -64.3359375, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 131.044921875, 55.8984375, -64.16015625, -0.263671875, 34.25414276123047 ]
2.633333
79
0
79
0
[ 17.490234375, 132.01171875, 59.0625, -64.3359375, 0.17578125, 34.33789825439453 ]
[ 16.259765625, 131.044921875, 56.337890625, -64.16015625, -0.263671875, 34.25414276123047 ]
2.666667
80
0
80
0
[ 17.490234375, 132.01171875, 59.0625, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 131.30859375, 56.77734375, -64.072265625, -0.263671875, 34.25414276123047 ]
2.7
81
0
81
0
[ 17.490234375, 132.01171875, 59.0625, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 131.748046875, 56.953125, -64.16015625, -0.263671875, 34.25414276123047 ]
2.733333
82
0
82
0
[ 17.490234375, 132.01171875, 59.150390625, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.216796875, -64.3359375, -0.263671875, 34.25414276123047 ]
2.766667
83
0
83
0
[ 17.40234375, 132.275390625, 59.501953125, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.8
84
0
84
0
[ 17.40234375, 132.36328125, 59.58984375, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.833333
85
0
85
0
[ 17.490234375, 132.5390625, 59.765625, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.866667
86
0
86
0
[ 17.578125, 132.71484375, 59.94140625, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.9
87
0
87
0
[ 17.578125, 132.802734375, 60.205078125, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.933333
88
0
88
0
[ 17.666015625, 133.06640625, 60.46875, -64.3359375, 0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.01171875, 57.3046875, -64.248046875, -0.263671875, 34.25414276123047 ]
2.966667
89
0
89
0
[ 17.841796875, 133.2421875, 60.732421875, -64.3359375, 0, 34.33789825439453 ]
[ 16.259765625, 132.099609375, 57.568359375, -64.16015625, -0.263671875, 34.25414276123047 ]
3
90
0
90
0
[ 17.841796875, 133.330078125, 60.908203125, -64.3359375, -0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.451171875, 57.919921875, -64.16015625, -0.263671875, 34.25414276123047 ]
3.033333
91
0
91
0
[ 17.9296875, 133.41796875, 61.083984375, -64.3359375, -0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.890625, 58.18359375, -64.6875, -0.263671875, 34.25414276123047 ]
3.066667
92
0
92
0
[ 18.017578125, 133.505859375, 61.083984375, -64.423828125, -0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.890625, 58.359375, -64.599609375, -0.263671875, 34.25414276123047 ]
3.1
93
0
93
0
[ 18.017578125, 133.505859375, 61.083984375, -64.51171875, -0.087890625, 34.33789825439453 ]
[ 16.259765625, 132.890625, 58.798828125, -64.248046875, -0.263671875, 34.25414276123047 ]
3.133333
94
0
94
0
[ 18.017578125, 133.505859375, 61.083984375, -64.51171875, -0.087890625, 34.33789825439453 ]
[ 16.435546875, 132.890625, 59.150390625, -63.720703125, -0.263671875, 34.25414276123047 ]
3.166667
95
0
95
0
[ 18.017578125, 133.505859375, 61.083984375, -64.51171875, -0.087890625, 34.33789825439453 ]
[ 16.611328125, 132.890625, 59.326171875, -63.720703125, -0.263671875, 34.25414276123047 ]
3.2
96
0
96
0
[ 18.017578125, 133.505859375, 61.083984375, -64.51171875, -0.087890625, 34.33789825439453 ]
[ 16.69921875, 132.890625, 59.4140625, -63.6328125, -0.263671875, 34.25414276123047 ]
3.233333
97
0
97
0
[ 18.017578125, 133.59375, 61.083984375, -64.51171875, -0.087890625, 34.33789825439453 ]
[ 16.787109375, 132.978515625, 59.4140625, -63.6328125, -0.263671875, 34.25414276123047 ]
3.266667
98
0
98
0
[ 18.017578125, 133.59375, 61.083984375, -64.51171875, -0.087890625, 34.15525436401367 ]
[ 16.875, 132.978515625, 59.4140625, -63.6328125, -0.263671875, 34.25414276123047 ]
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": 30,
    "total_frames": 17401,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": {
                "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,
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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",
                "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": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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