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Datasets:
Hugo-Castaing
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SO101_LAR_gripper_with_adapter

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
20.3
frame_index
int64
0
610
episode_index
int64
0
49
index
int64
0
23.9k
task_index
int64
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[ 0.703125, 184.833984375, 168.3984375, 9.052734375, -2.8125, -0.25996533036231995 ]
[ 1.494140625, 184.74609375, 169.189453125, 13.271484375, -3.33984375, -0.5413766503334045 ]
2.4
72
0
72
0
[ 0.703125, 184.833984375, 168.3984375, 7.91015625, -2.8125, -0.25996533036231995 ]
[ 1.0546875, 184.74609375, 169.189453125, 12.041015625, -3.33984375, -0.5413766503334045 ]
2.433333
73
0
73
0
[ 0.615234375, 184.74609375, 168.3984375, 6.943359375, -2.8125, -0.25996533036231995 ]
[ 0.439453125, 184.74609375, 169.189453125, 10.986328125, -3.33984375, -0.5413766503334045 ]
2.466667
74
0
74
0
[ 0.52734375, 184.21875, 168.3984375, 5.712890625, -2.724609375, -0.25996533036231995 ]
[ 0.263671875, 184.74609375, 169.189453125, 9.84375, -3.33984375, -0.5413766503334045 ]
2.5
75
0
75
0
[ 0.52734375, 183.33984375, 168.486328125, 4.21875, -2.724609375, -0.17331022024154663 ]
[ 0.3515625, 184.74609375, 169.189453125, 8.7890625, -3.33984375, -0.5413766503334045 ]
2.533333
76
0
76
0
[ 0.439453125, 182.109375, 168.486328125, 2.373046875, -2.724609375, -0.08665511012077332 ]
[ 0.615234375, 184.482421875, 169.189453125, 7.646484375, -3.076171875, -0.5413766503334045 ]
2.566667
77
0
77
0
[ 0.439453125, 180.52734375, 168.486328125, 0.3515625, -2.724609375, 0.08665511012077332 ]
[ 0.87890625, 183.8671875, 169.189453125, 6.240234375, -2.98828125, -0.5413766503334045 ]
2.6
78
0
78
0
[ 0.52734375, 178.76953125, 168.486328125, -1.669921875, -2.724609375, 0.08665511012077332 ]
[ 0.87890625, 182.98828125, 169.189453125, 4.74609375, -2.98828125, -0.5413766503334045 ]
2.633333
79
0
79
0
[ 0.703125, 176.66015625, 168.486328125, -3.955078125, -2.8125, 0.08665511012077332 ]
[ 0.87890625, 181.7578125, 169.189453125, 2.98828125, -2.98828125, -0.5413766503334045 ]
2.666667
80
0
80
0
[ 0.791015625, 174.55078125, 168.486328125, -6.328125, -2.98828125, 0.08665511012077332 ]
[ 0.791015625, 180.3515625, 169.189453125, 1.142578125, -2.98828125, -0.3866976201534271 ]
2.7
81
0
81
0
[ 0.87890625, 172.353515625, 168.486328125, -8.61328125, -3.1640625, 0.08665511012077332 ]
[ 0.703125, 178.59375, 169.189453125, -0.87890625, -2.98828125, -0.30935806035995483 ]
2.733333
82
0
82
0
[ 0.87890625, 170.33203125, 168.486328125, -10.986328125, -3.251953125, 0.08665511012077332 ]
[ 0.703125, 176.748046875, 169.189453125, -2.98828125, -2.98828125, -0.30935806035995483 ]
2.766667
83
0
83
0
[ 0.87890625, 168.662109375, 168.57421875, -13.359375, -3.251953125, 0.08665511012077332 ]
[ 0.703125, 174.7265625, 169.189453125, -5.185546875, -2.98828125, -0.30935806035995483 ]
2.8
84
0
84
0
[ 0.87890625, 167.431640625, 168.57421875, -15.556640625, -3.251953125, 0.08665511012077332 ]
[ 0.703125, 172.705078125, 169.189453125, -7.470703125, -2.98828125, -0.15467903017997742 ]
2.833333
85
0
85
0
[ 0.87890625, 166.2890625, 168.57421875, -17.40234375, -3.33984375, 0.08665511012077332 ]
[ 0.791015625, 170.859375, 169.189453125, -9.755859375, -2.98828125, -0.15467903017997742 ]
2.866667
86
0
86
0
[ 0.87890625, 165.234375, 168.57421875, -19.16015625, -3.33984375, 0.08665511012077332 ]
[ 0.87890625, 169.27734375, 169.189453125, -11.953125, -2.98828125, -0.15467903017997742 ]
2.9
87
0
87
0
[ 0.87890625, 164.619140625, 168.57421875, -20.390625, -3.251953125, 0.08665511012077332 ]
[ 0.87890625, 167.958984375, 169.189453125, -14.0625, -2.98828125, -0.15467903017997742 ]
2.933333
88
0
88
0
[ 0.87890625, 164.267578125, 168.57421875, -21.26953125, -3.076171875, 0.17331022024154663 ]
[ 0.87890625, 166.640625, 169.189453125, -16.083984375, -2.98828125, -0.15467903017997742 ]
2.966667
89
0
89
0
[ 0.87890625, 164.1796875, 168.57421875, -21.62109375, -2.900390625, 0.17331022024154663 ]
[ 0.87890625, 165.76171875, 169.189453125, -17.666015625, -2.98828125, -0.15467903017997742 ]
3
90
0
90
0
[ 0.703125, 164.1796875, 168.57421875, -21.796875, -2.8125, 0.17331022024154663 ]
[ 0.87890625, 165.146484375, 169.189453125, -18.896484375, -2.98828125, -0.15467903017997742 ]
3.033333
91
0
91
0
[ 0.615234375, 164.1796875, 168.57421875, -21.796875, -2.8125, 0.17331022024154663 ]
[ 0.87890625, 164.70703125, 169.189453125, -19.6875, -2.98828125, -0.15467903017997742 ]
3.066667
92
0
92
0
[ 0.615234375, 164.1796875, 168.57421875, -21.796875, -2.724609375, 0.17331022024154663 ]
[ 0.87890625, 164.53125, 169.189453125, -20.21484375, -2.98828125, -0.15467903017997742 ]
3.1
93
0
93
0
[ 0.52734375, 164.1796875, 168.57421875, -21.796875, -2.724609375, 0.17331022024154663 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.478515625, -2.98828125, -0.15467903017997742 ]
3.133333
94
0
94
0
[ 0.52734375, 164.1796875, 168.57421875, -21.796875, -2.724609375, 0.17331022024154663 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.654296875, -2.98828125, -0.15467903017997742 ]
3.166667
95
0
95
0
[ 0.52734375, 164.1796875, 168.57421875, -21.533203125, -2.724609375, 0.17331022024154663 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.830078125, -2.98828125, -0.15467903017997742 ]
3.2
96
0
96
0
[ 0.439453125, 164.1796875, 168.57421875, -21.4453125, -2.724609375, 0.25996533036231995 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.830078125, -2.98828125, -0.15467903017997742 ]
3.233333
97
0
97
0
[ 0.439453125, 164.1796875, 168.57421875, -21.357421875, -2.724609375, 0.25996533036231995 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.830078125, -2.98828125, -0.15467903017997742 ]
3.266667
98
0
98
0
[ 0.439453125, 164.1796875, 168.57421875, -21.357421875, -2.724609375, 0.25996533036231995 ]
[ 0.87890625, 164.35546875, 169.189453125, -20.830078125, -2.98828125, -0.15467903017997742 ]
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": 10,
    "total_frames": 4375,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.laptop": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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