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Datasets:
akira-sasaki
/
akabeko_instruct_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
smovla
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
9.97
frame_index
int64
0
299
episode_index
int64
0
299
index
int64
0
89.9k
task_index
int64
0
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72
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[ 4.658203125, 195.99609375, 177.5390625, 64.51171875, 3.1640625, -0.27081921696662903 ]
[ 4.39453125, 190.986328125, 177.5390625, 65.0390625, 3.33984375, -0.06963787972927094 ]
2.433333
73
0
73
0
[ 4.658203125, 195.99609375, 177.5390625, 64.423828125, 3.1640625, -0.27081921696662903 ]
[ 4.39453125, 190.986328125, 177.5390625, 65.0390625, 3.33984375, -0.06963787972927094 ]
2.466667
74
0
74
0
[ 4.658203125, 195.99609375, 177.5390625, 64.3359375, 3.076171875, -0.27081921696662903 ]
[ 4.39453125, 190.986328125, 177.5390625, 65.0390625, 3.33984375, -0.06963787972927094 ]
2.5
75
0
75
0
[ 4.74609375, 195.99609375, 177.5390625, 63.544921875, 2.98828125, -0.20311442017555237 ]
[ 4.39453125, 190.986328125, 177.5390625, 65.0390625, 3.33984375, -0.06963787972927094 ]
2.533333
76
0
76
0
[ 4.833984375, 195.99609375, 177.5390625, 61.435546875, 2.98828125, -0.20311442017555237 ]
[ 4.39453125, 190.986328125, 177.5390625, 64.951171875, 3.33984375, -0.06963787972927094 ]
2.566667
77
0
77
0
[ 5.185546875, 195.8203125, 176.923828125, 58.798828125, 2.900390625, -0.20311442017555237 ]
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2.6
78
0
78
0
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[ 4.39453125, 190.986328125, 177.5390625, 62.490234375, 3.33984375, -0.06963787972927094 ]
2.633333
79
0
79
0
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[ 4.5703125, 190.986328125, 177.099609375, 60.732421875, 3.33984375, -0.06963787972927094 ]
2.666667
80
0
80
0
[ 7.734375, 195.46875, 170.5078125, 53.7890625, 0.791015625, 0 ]
[ 4.833984375, 190.986328125, 176.396484375, 58.88671875, 3.251953125, -0.06963787972927094 ]
2.7
81
0
81
0
[ 7.822265625, 195.1171875, 167.6953125, 53.173828125, -0.615234375, 0.27081921696662903 ]
[ 5.80078125, 190.986328125, 174.990234375, 57.3046875, 2.724609375, -0.06963787972927094 ]
2.733333
82
0
82
0
[ 7.646484375, 194.765625, 164.794921875, 52.734375, -1.845703125, 0.4739336669445038 ]
[ 6.50390625, 190.986328125, 173.056640625, 56.07421875, 1.845703125, -0.06963787972927094 ]
2.766667
83
0
83
0
[ 7.646484375, 193.88671875, 162.0703125, 52.55859375, -2.98828125, 0.8124576807022095 ]
[ 6.85546875, 190.986328125, 171.03515625, 55.1953125, 0.791015625, -0.06963787972927094 ]
2.8
84
0
84
0
[ 7.646484375, 192.48046875, 159.697265625, 52.998046875, -4.130859375, 1.3540961742401123 ]
[ 7.03125, 190.986328125, 169.189453125, 54.4921875, -0.439453125, -0.06963787972927094 ]
2.833333
85
0
85
0
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[ 7.55859375, 190.986328125, 167.255859375, 54.31640625, -1.494140625, -0.06963787972927094 ]
2.866667
86
0
86
0
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[ 7.822265625, 190.810546875, 164.8828125, 54.31640625, -2.548828125, 0.48746517300605774 ]
2.9
87
0
87
0
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[ 7.822265625, 190.1953125, 162.509765625, 54.140625, -3.779296875, 1.0445681810379028 ]
2.933333
88
0
88
0
[ 7.646484375, 179.912109375, 151.611328125, 53.4375, -7.55859375, 3.249830722808838 ]
[ 7.55859375, 189.052734375, 160.400390625, 54.140625, -4.658203125, 1.6016712188720703 ]
2.966667
89
0
89
0
[ 7.646484375, 175.078125, 149.501953125, 54.140625, -8.0859375, 3.723764419555664 ]
[ 7.470703125, 187.55859375, 158.37890625, 54.140625, -5.537109375, 2.0891363620758057 ]
3
90
0
90
0
[ 7.646484375, 169.8046875, 146.865234375, 55.283203125, -8.26171875, 4.19769811630249 ]
[ 7.3828125, 185.009765625, 156.26953125, 54.140625, -6.328125, 2.57660174369812 ]
3.033333
91
0
91
0
[ 7.646484375, 164.619140625, 143.61328125, 56.42578125, -8.349609375, 4.603926658630371 ]
[ 7.3828125, 181.58203125, 154.16015625, 54.4921875, -7.03125, 2.994428873062134 ]
3.066667
92
0
92
0
[ 7.646484375, 159.345703125, 139.921875, 57.83203125, -8.26171875, 4.874746322631836 ]
[ 7.3828125, 177.890625, 151.875, 55.1953125, -7.3828125, 3.481894016265869 ]
3.1
93
0
93
0
[ 7.646484375, 154.072265625, 136.0546875, 59.677734375, -8.26171875, 4.874746322631836 ]
[ 7.734375, 173.408203125, 149.23828125, 56.25, -7.646484375, 3.899721384048462 ]
3.133333
94
0
94
0
[ 7.646484375, 148.974609375, 132.01171875, 61.875, -8.26171875, 4.942451000213623 ]
[ 7.822265625, 168.75, 146.25, 57.392578125, -7.822265625, 4.247910976409912 ]
3.166667
95
0
95
0
[ 7.646484375, 144.580078125, 128.14453125, 64.072265625, -7.91015625, 4.942451000213623 ]
[ 7.822265625, 163.65234375, 143.173828125, 58.798828125, -7.91015625, 4.45682430267334 ]
3.2
96
0
96
0
[ 7.646484375, 140.44921875, 124.27734375, 66.357421875, -7.734375, 5.145565509796143 ]
[ 7.822265625, 157.8515625, 139.658203125, 60.732421875, -7.998046875, 4.526462554931641 ]
3.233333
97
0
97
0
[ 7.91015625, 136.40625, 120.76171875, 68.466796875, -7.3828125, 5.754908561706543 ]
[ 7.822265625, 153.10546875, 136.142578125, 62.75390625, -7.998046875, 4.596100330352783 ]
3.266667
98
0
98
0
[ 8.0859375, 132.5390625, 117.333984375, 70.224609375, -6.85546875, 6.770480632781982 ]
[ 7.822265625, 148.53515625, 132.36328125, 64.86328125, -7.91015625, 4.874651908874512 ]
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": 8970,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
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    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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            "shape": [
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        "observation.images.phone": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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