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GD1221
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so101_test

Tasks:
Robotics
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Tags:
LeRobot
so101
tutorial
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float32
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int64
episode_index
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index
int64
task_index
int64
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[ -2.724609375, 75.322265625, 73.212890625, 52.119140625, 16.171875, 10.822510719299316 ]
[ -2.724609375, 76.376953125, 76.728515625, 50.712890625, 13.095703125, 10.642708778381348 ]
2.433333
73
0
73
0
[ -2.63671875, 74.70703125, 73.212890625, 52.3828125, 17.490234375, 10.822510719299316 ]
[ -2.63671875, 75.5859375, 76.46484375, 51.240234375, 14.0625, 10.642708778381348 ]
2.466667
74
0
74
0
[ -2.548828125, 74.35546875, 73.212890625, 52.3828125, 18.720703125, 10.822510719299316 ]
[ -2.63671875, 74.970703125, 76.201171875, 51.6796875, 15.1171875, 10.642708778381348 ]
2.5
75
0
75
0
[ -2.4609375, 74.00390625, 73.30078125, 52.3828125, 19.775390625, 10.822510719299316 ]
[ -2.63671875, 74.35546875, 76.201171875, 52.03125, 16.259765625, 10.642708778381348 ]
2.533333
76
0
76
0
[ -2.373046875, 73.4765625, 73.30078125, 52.3828125, 20.654296875, 10.822510719299316 ]
[ -2.63671875, 74.00390625, 76.201171875, 52.119140625, 17.490234375, 10.642708778381348 ]
2.566667
77
0
77
0
[ -2.373046875, 73.125, 73.30078125, 52.3828125, 21.4453125, 10.822510719299316 ]
[ -2.63671875, 73.564453125, 76.201171875, 52.294921875, 18.6328125, 10.642708778381348 ]
2.6
78
0
78
0
[ -2.373046875, 72.861328125, 73.30078125, 52.3828125, 22.32421875, 10.822510719299316 ]
[ -2.63671875, 73.125, 76.201171875, 52.294921875, 19.51171875, 10.642708778381348 ]
2.633333
79
0
79
0
[ -2.28515625, 72.509765625, 73.30078125, 52.3828125, 23.203125, 10.822510719299316 ]
[ -2.63671875, 72.685546875, 76.201171875, 52.294921875, 20.390625, 10.642708778381348 ]
2.666667
80
0
80
0
[ -2.28515625, 72.158203125, 73.30078125, 52.3828125, 24.2578125, 10.822510719299316 ]
[ -2.63671875, 72.333984375, 76.201171875, 52.294921875, 21.357421875, 10.642708778381348 ]
2.7
81
0
81
0
[ -2.28515625, 71.71875, 73.30078125, 52.3828125, 25.3125, 10.822510719299316 ]
[ -2.63671875, 71.982421875, 76.201171875, 52.294921875, 22.236328125, 10.642708778381348 ]
2.733333
82
0
82
0
[ -2.28515625, 71.103515625, 73.30078125, 52.294921875, 26.3671875, 10.822510719299316 ]
[ -2.63671875, 71.54296875, 76.201171875, 52.294921875, 23.291015625, 10.642708778381348 ]
2.766667
83
0
83
0
[ -2.28515625, 70.576171875, 73.30078125, 52.03125, 26.982421875, 10.822510719299316 ]
[ -2.63671875, 71.103515625, 76.201171875, 52.294921875, 24.2578125, 10.642708778381348 ]
2.8
84
0
84
0
[ -2.28515625, 70.13671875, 73.30078125, 51.85546875, 27.333984375, 10.822510719299316 ]
[ -2.63671875, 70.6640625, 76.201171875, 52.294921875, 25.3125, 10.642708778381348 ]
2.833333
85
0
85
0
[ -2.28515625, 69.697265625, 73.30078125, 51.767578125, 27.421875, 10.822510719299316 ]
[ -2.63671875, 70.048828125, 76.11328125, 52.294921875, 26.103515625, 10.642708778381348 ]
2.866667
86
0
86
0
[ -2.28515625, 69.345703125, 73.212890625, 51.6796875, 27.421875, 10.822510719299316 ]
[ -2.63671875, 69.609375, 76.11328125, 52.294921875, 26.54296875, 10.642708778381348 ]
2.9
87
0
87
0
[ -2.28515625, 69.08203125, 73.212890625, 51.6796875, 27.421875, 10.822510719299316 ]
[ -2.63671875, 69.169921875, 76.025390625, 52.20703125, 26.89453125, 10.642708778381348 ]
2.933333
88
0
88
0
[ -2.28515625, 68.90625, 73.212890625, 51.591796875, 27.421875, 10.822510719299316 ]
[ -2.63671875, 68.90625, 76.025390625, 52.20703125, 26.982421875, 10.642708778381348 ]
2.966667
89
0
89
0
[ -2.109375, 68.642578125, 73.212890625, 50.888671875, 27.158203125, 10.822510719299316 ]
[ -2.63671875, 68.5546875, 75.9375, 52.20703125, 27.158203125, 10.642708778381348 ]
3
90
0
90
0
[ -1.669921875, 68.466796875, 73.212890625, 49.306640625, 26.806640625, 10.822510719299316 ]
[ -2.548828125, 68.37890625, 75.9375, 52.20703125, 27.158203125, 10.642708778381348 ]
3.033333
91
0
91
0
[ -1.40625, 68.203125, 73.212890625, 47.4609375, 26.71875, 10.822510719299316 ]
[ -2.4609375, 68.203125, 75.9375, 51.6796875, 27.158203125, 10.642708778381348 ]
3.066667
92
0
92
0
[ -1.40625, 67.939453125, 73.212890625, 45.439453125, 26.54296875, 11.428571701049805 ]
[ -2.28515625, 68.02734375, 75.9375, 50.712890625, 26.982421875, 10.642708778381348 ]
3.1
93
0
93
0
[ -1.40625, 67.587890625, 73.212890625, 43.59375, 25.576171875, 12.900432586669922 ]
[ -2.021484375, 67.67578125, 75.9375, 49.130859375, 26.806640625, 10.711817741394043 ]
3.133333
94
0
94
0
[ -1.40625, 67.236328125, 73.212890625, 42.1875, 23.994140625, 15.064935684204102 ]
[ -1.669921875, 67.5, 75.9375, 47.548828125, 26.71875, 11.126468658447266 ]
3.166667
95
0
95
0
[ -1.494140625, 66.796875, 73.212890625, 40.78125, 22.1484375, 17.489177703857422 ]
[ -1.40625, 67.060546875, 75.9375, 45.791015625, 26.015625, 12.02487850189209 ]
3.2
96
0
96
0
[ -1.58203125, 66.26953125, 73.212890625, 39.55078125, 20.21484375, 20 ]
[ -1.318359375, 66.708984375, 75.9375, 44.296875, 24.9609375, 13.545266151428223 ]
3.233333
97
0
97
0
[ -1.58203125, 65.830078125, 73.212890625, 38.49609375, 18.544921875, 22.251083374023438 ]
[ -1.318359375, 66.26953125, 75.9375, 42.802734375, 23.5546875, 15.411194801330566 ]
3.266667
98
0
98
0
[ -1.494140625, 65.478515625, 73.125, 37.44140625, 16.962890625, 23.722944259643555 ]
[ -1.40625, 65.7421875, 75.9375, 41.484375, 21.884765625, 17.484451293945312 ]
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": 1747,
    "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": [
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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": {
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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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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