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Datasets:
DoggyDoggyWhatNow
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
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26.7
frame_index
int64
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801
episode_index
int64
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7
index
int64
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3.66k
task_index
int64
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0
[ -1.23046875, 189.931640625, 140.44921875, 77.34375, 74.794921875, 0.08583690971136093 ]
[ -1.142578125, 191.337890625, 143.26171875, 77.431640625, 76.9921875, 0.5457025766372681 ]
2.4
72
0
72
0
[ -1.23046875, 188.96484375, 139.74609375, 77.080078125, 74.53125, 0.08583690971136093 ]
[ -1.142578125, 191.162109375, 143.26171875, 77.431640625, 76.2890625, 0.5457025766372681 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
[ -1.23046875, 185.9765625, 138.076171875, 76.9921875, 74.70703125, 0.08583690971136093 ]
[ -1.142578125, 189.755859375, 142.55859375, 77.431640625, 75.322265625, 0.5457025766372681 ]
2.5
75
0
75
0
[ -1.23046875, 184.130859375, 137.4609375, 77.080078125, 74.970703125, 0.08583690971136093 ]
[ -1.142578125, 188.349609375, 141.85546875, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.533333
76
0
76
0
[ -0.966796875, 182.28515625, 137.109375, 77.080078125, 75.234375, 0.08583690971136093 ]
[ -1.142578125, 186.943359375, 140.9765625, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.566667
77
0
77
0
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[ -1.142578125, 185.361328125, 140.2734375, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.6
78
0
78
0
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[ -1.142578125, 183.603515625, 139.833984375, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.633333
79
0
79
0
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[ -1.142578125, 181.845703125, 139.5703125, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.666667
80
0
80
0
[ -0.52734375, 175.25390625, 136.58203125, 76.904296875, 74.70703125, 0.08583690971136093 ]
[ -1.0546875, 180.087890625, 139.482421875, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.7
81
0
81
0
[ -0.439453125, 173.671875, 136.142578125, 77.34375, 74.70703125, 0.08583690971136093 ]
[ -0.87890625, 178.2421875, 139.482421875, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.733333
82
0
82
0
[ -0.439453125, 172.08984375, 135.615234375, 77.607421875, 74.619140625, 0.08583690971136093 ]
[ -0.87890625, 176.572265625, 139.306640625, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.766667
83
0
83
0
[ -0.439453125, 170.595703125, 135.17578125, 77.607421875, 74.619140625, 0.08583690971136093 ]
[ -0.87890625, 174.7265625, 138.955078125, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.8
84
0
84
0
[ -0.439453125, 169.013671875, 134.47265625, 77.607421875, 74.619140625, 0.08583690971136093 ]
[ -0.87890625, 172.96875, 138.427734375, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.833333
85
0
85
0
[ -0.439453125, 167.51953125, 133.76953125, 77.607421875, 74.619140625, 0.08583690971136093 ]
[ -0.87890625, 171.38671875, 137.98828125, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.866667
86
0
86
0
[ -0.439453125, 165.9375, 133.06640625, 77.607421875, 74.619140625, 0.08583690971136093 ]
[ -0.87890625, 169.98046875, 137.4609375, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.9
87
0
87
0
[ -0.439453125, 164.35546875, 132.275390625, 77.607421875, 74.53125, 0.08583690971136093 ]
[ -0.87890625, 168.486328125, 136.7578125, 77.431640625, 75.146484375, 0.5457025766372681 ]
2.933333
88
0
88
0
[ -0.439453125, 162.685546875, 131.30859375, 77.607421875, 74.53125, 0.08583690971136093 ]
[ -0.87890625, 166.728515625, 136.0546875, 77.431640625, 74.970703125, 0.5457025766372681 ]
2.966667
89
0
89
0
[ -0.439453125, 161.015625, 130.341796875, 77.6953125, 74.443359375, 0.08583690971136093 ]
[ -0.87890625, 165.234375, 135.3515625, 77.431640625, 74.970703125, 0.5457025766372681 ]
3
90
0
90
0
[ -0.439453125, 159.345703125, 129.375, 77.6953125, 73.828125, 0.08583690971136093 ]
[ -0.87890625, 163.65234375, 134.560546875, 77.431640625, 74.970703125, 0.5457025766372681 ]
3.033333
91
0
91
0
[ -0.52734375, 157.763671875, 128.671875, 77.783203125, 72.7734375, 0.08583690971136093 ]
[ -0.87890625, 161.89453125, 133.59375, 77.431640625, 74.8828125, 0.5457025766372681 ]
3.066667
92
0
92
0
[ -0.703125, 156.26953125, 128.056640625, 77.783203125, 71.630859375, 0.08583690971136093 ]
[ -0.87890625, 160.3125, 132.71484375, 77.431640625, 74.35546875, 0.5457025766372681 ]
3.1
93
0
93
0
[ -0.87890625, 154.951171875, 127.44140625, 77.783203125, 70.83984375, 0.08583690971136093 ]
[ -0.87890625, 158.818359375, 131.923828125, 77.431640625, 73.4765625, 0.5457025766372681 ]
3.133333
94
0
94
0
[ -1.0546875, 153.6328125, 127.08984375, 77.783203125, 70.13671875, 0.08583690971136093 ]
[ -0.87890625, 157.1484375, 131.220703125, 77.431640625, 72.59765625, 0.5457025766372681 ]
3.166667
95
0
95
0
[ -1.142578125, 152.40234375, 126.826171875, 77.783203125, 69.609375, 0.08583690971136093 ]
[ -0.87890625, 155.7421875, 130.60546875, 77.431640625, 71.89453125, 0.5457025766372681 ]
3.2
96
0
96
0
[ -1.23046875, 151.259765625, 126.650390625, 77.958984375, 68.994140625, 0.08583690971136093 ]
[ -0.87890625, 154.51171875, 130.078125, 77.431640625, 71.103515625, 0.5457025766372681 ]
3.233333
97
0
97
0
[ -1.23046875, 150.205078125, 126.298828125, 78.3984375, 68.291015625, 0.08583690971136093 ]
[ -0.87890625, 153.193359375, 129.7265625, 77.431640625, 70.48828125, 0.5457025766372681 ]
3.266667
98
0
98
0
[ -1.23046875, 149.150390625, 126.2109375, 78.92578125, 67.5, 0.08583690971136093 ]
[ -0.87890625, 151.962890625, 129.375, 77.607421875, 69.873046875, 0.5457025766372681 ]
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": "so101",
    "total_episodes": 2,
    "total_frames": 1250,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.arm": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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
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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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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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