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Datasets:
PearlWhite
/
so101_boll

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
Polars
License:
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xet
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observation.state
list
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
3
index
int64
0
1.35k
task_index
int64
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[ -41.396484375, 120.05859375, 105.46875, 45.3515625, -15.46875, 65.50784301757812 ]
2.4
72
0
72
0
[ -43.41796875, 122.34375, 105.46875, 45.17578125, -16.171875, 65.22462463378906 ]
[ -42.275390625, 120.05859375, 105.556640625, 45.3515625, -15.8203125, 65.50784301757812 ]
2.433333
73
0
73
0
[ -43.41796875, 122.34375, 105.46875, 45.17578125, -16.083984375, 65.22462463378906 ]
[ -42.802734375, 120.05859375, 105.64453125, 45.3515625, -16.171875, 65.50784301757812 ]
2.466667
74
0
74
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.171875, 65.50784301757812 ]
2.5
75
0
75
0
[ -43.41796875, 122.34375, 105.46875, 45.17578125, -16.611328125, 65.22462463378906 ]
[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -15.99609375, 65.50784301757812 ]
2.533333
76
0
76
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -15.908203125, 65.50784301757812 ]
2.566667
77
0
77
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.259765625, 65.50784301757812 ]
2.6
78
0
78
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.34765625, 65.50784301757812 ]
2.633333
79
0
79
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.259765625, 65.50784301757812 ]
2.666667
80
0
80
0
[ -43.41796875, 122.431640625, 105.46875, 45.263671875, -16.171875, 65.05823516845703 ]
[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.34765625, 65.50784301757812 ]
2.7
81
0
81
0
[ -43.41796875, 122.431640625, 105.46875, 45.3515625, -16.083984375, 64.97504425048828 ]
[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.5234375, 65.50784301757812 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -42.978515625, 120.05859375, 105.64453125, 45.3515625, -16.34765625, 65.23517608642578 ]
2.8
84
0
84
0
[ -43.41796875, 122.51953125, 105.1171875, 48.076171875, -16.611328125, 58.48585891723633 ]
[ -43.06640625, 120.05859375, 105.64453125, 45.52734375, -16.34765625, 64.6898422241211 ]
2.833333
85
0
85
0
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[ -43.06640625, 120.05859375, 105.64453125, 46.23046875, -16.34765625, 63.25835037231445 ]
2.866667
86
0
86
0
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[ -43.06640625, 120.05859375, 105.64453125, 47.197265625, -16.34765625, 61.21336364746094 ]
2.9
87
0
87
0
[ -43.41796875, 122.51953125, 104.94140625, 50.712890625, -16.5234375, 46.42262649536133 ]
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2.933333
88
0
88
0
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[ -43.06640625, 120.05859375, 105.64453125, 48.955078125, -16.34765625, 55.89638900756836 ]
2.966667
89
0
89
0
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[ -43.06640625, 120.05859375, 105.64453125, 49.74609375, -16.34765625, 52.48807144165039 ]
3
90
0
90
0
[ -43.41796875, 122.51953125, 104.853515625, 51.943359375, -16.083984375, 33.693843841552734 ]
[ -43.06640625, 120.05859375, 105.64453125, 50.44921875, -16.34765625, 48.46625518798828 ]
3.033333
91
0
91
0
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[ -43.06640625, 120.05859375, 105.64453125, 50.9765625, -16.259765625, 44.85344314575195 ]
3.066667
92
0
92
0
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[ -43.06640625, 120.05859375, 105.64453125, 51.328125, -16.259765625, 40.967960357666016 ]
3.1
93
0
93
0
[ -43.59375, 122.51953125, 104.853515625, 52.119140625, -16.5234375, 22.462562561035156 ]
[ -43.06640625, 120.05859375, 105.64453125, 51.50390625, -16.259765625, 37.28697967529297 ]
3.133333
94
0
94
0
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[ -43.06640625, 120.05859375, 105.64453125, 51.6796875, -16.259765625, 33.333335876464844 ]
3.166667
95
0
95
0
[ -45.263671875, 122.431640625, 104.765625, 52.294921875, -16.611328125, 18.136438369750977 ]
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3.2
96
0
96
0
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[ -43.2421875, 120.05859375, 105.64453125, 51.943359375, -16.259765625, 25.971370697021484 ]
3.233333
97
0
97
0
[ -46.7578125, 122.431640625, 104.765625, 53.61328125, -16.69921875, 16.888519287109375 ]
[ -43.9453125, 120.05859375, 105.64453125, 52.119140625, -16.259765625, 22.83572006225586 ]
3.266667
98
0
98
0
[ -47.197265625, 122.431640625, 104.765625, 55.72265625, -16.69921875, 17.054908752441406 ]
[ -44.912109375, 120.05859375, 105.64453125, 52.3828125, -16.259765625, 20.58622932434082 ]
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": 4,
    "total_frames": 1352,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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