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Datasets:
MrAnton
/
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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observation.state
list
timestamp
float32
0
29.9
frame_index
int64
0
896
episode_index
int64
0
4
index
int64
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4.47k
task_index
int64
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[ 11.25, 191.865234375, 164.00390625, 64.16015625, -107.2265625, 0.2787456512451172 ]
2.433333
73
0
73
0
[ 10.986328125, 191.337890625, 156.26953125, 64.599609375, -107.314453125, 0.4317789375782013 ]
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
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76
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2.566667
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0
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2.6
78
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2.633333
79
0
79
0
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[ 11.25, 186.15234375, 151.34765625, 66.005859375, -107.578125, 0.2787456512451172 ]
2.666667
80
0
80
0
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[ 11.25, 183.8671875, 148.798828125, 66.09375, -107.578125, 0.2787456512451172 ]
2.7
81
0
81
0
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[ 11.25, 181.142578125, 145.8984375, 66.181640625, -107.40234375, 0.2787456512451172 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 11.25, 174.7265625, 139.658203125, 66.26953125, -107.2265625, 0.2787456512451172 ]
2.8
84
0
84
0
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[ 11.25, 171.38671875, 136.58203125, 66.181640625, -107.2265625, 0.2787456512451172 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ 11.337890625, 164.619140625, 130.60546875, 66.26953125, -107.490234375, 0.2787456512451172 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ 12.3046875, 157.8515625, 123.22265625, 66.357421875, -108.984375, 0.2787456512451172 ]
3
90
0
90
0
[ 15.8203125, 150.8203125, 111.796875, 66.26953125, -123.046875, 0.4317789375782013 ]
[ 13.447265625, 155.126953125, 119.53125, 66.181640625, -109.86328125, 0.2787456512451172 ]
3.033333
91
0
91
0
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[ 14.23828125, 153.80859375, 117.24609375, 66.26953125, -112.67578125, 0.2787456512451172 ]
3.066667
92
0
92
0
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[ 15.556640625, 152.9296875, 116.015625, 66.26953125, -116.455078125, 0.2787456512451172 ]
3.1
93
0
93
0
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[ 15.732421875, 152.05078125, 115.224609375, 66.26953125, -120.322265625, 0.2787456512451172 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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[ 18.80859375, 149.94140625, 114.78515625, 66.26953125, -132.978515625, 0.2787456512451172 ]
3.233333
97
0
97
0
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[ 20.56640625, 149.765625, 114.78515625, 66.26953125, -137.373046875, 0.2787456512451172 ]
3.266667
98
0
98
0
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[ 21.181640625, 149.765625, 114.78515625, 66.26953125, -141.767578125, 0.2787456512451172 ]
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": 5,
    "total_frames": 4475,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "shape": [
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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