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Datasets:
Haribot099
/
so101_test2

Tasks:
Robotics
Modalities:
Tabular
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< 1K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -1.845703125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 58.63259506225586 ]
2.5
75
0
75
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 43.03278732299805 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 55.59391784667969 ]
2.533333
76
0
76
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 40.24590301513672 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 52.20994186401367 ]
2.566667
77
0
77
0
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[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 48.54972457885742 ]
2.6
78
0
78
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 36.88524627685547 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 45.51104736328125 ]
2.633333
79
0
79
0
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[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 42.67955780029297 ]
2.666667
80
0
80
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.73770523071289 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 40.26243209838867 ]
2.7
81
0
81
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.24590301513672 ]
[ -1.845703125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 38.535911560058594 ]
2.733333
82
0
82
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.16393280029297 ]
[ -1.845703125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 37.5 ]
2.766667
83
0
83
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.16393280029297 ]
[ -1.845703125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 36.602210998535156 ]
2.8
84
0
84
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.845703125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 36.1187858581543 ]
2.833333
85
0
85
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.77347946166992 ]
2.866667
86
0
86
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.5662956237793 ]
2.9
87
0
87
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.42817687988281 ]
2.933333
88
0
88
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.35911560058594 ]
2.966667
89
0
89
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.29005813598633 ]
3
90
0
90
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.033333
91
0
91
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.066667
92
0
92
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.1
93
0
93
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.133333
94
0
94
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.166667
95
0
95
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.2
96
0
96
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.233333
97
0
97
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
3.266667
98
0
98
0
[ -1.7578125, 56.07421875, 64.16015625, 90.52734375, 19.16015625, 35.081966400146484 ]
[ -1.7578125, 55.72265625, 66.357421875, 90.791015625, 19.51171875, 35.22099685668945 ]
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": 264,
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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.phone": {
            "dtype": "video",
            "shape": [
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                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": {
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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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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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