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Datasets:
akira-sasaki
/
gr00t_2cam_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
9.87
frame_index
int64
0
296
episode_index
int64
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49
index
int64
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14.5k
task_index
int64
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[ -5.09765625, 93.8671875, 111.62109375, 69.169921875, -6.50390625, 27.285415649414062 ]
2.4
72
0
72
0
[ -5.361328125, 92.021484375, 109.423828125, 67.1484375, -8.173828125, 25.411334991455078 ]
[ -5.2734375, 93.076171875, 111.62109375, 68.642578125, -6.767578125, 27.076065063476562 ]
2.433333
73
0
73
0
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[ -5.625, 92.373046875, 111.4453125, 68.115234375, -7.119140625, 26.23866081237793 ]
2.466667
74
0
74
0
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[ -5.712890625, 91.7578125, 111.4453125, 67.587890625, -7.55859375, 25.819957733154297 ]
2.5
75
0
75
0
[ -5.009765625, 89.560546875, 108.720703125, 66.181640625, -9.931640625, 22.76051139831543 ]
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2.533333
76
0
76
0
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[ -5.712890625, 90.17578125, 110.91796875, 66.796875, -8.701171875, 24.284717559814453 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
[ -5.09765625, 86.748046875, 107.138671875, 66.181640625, -12.48046875, 15.996343612670898 ]
[ -5.361328125, 88.41796875, 110.0390625, 66.62109375, -10.01953125, 21.284019470214844 ]
2.633333
79
0
79
0
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[ -5.09765625, 87.451171875, 109.51171875, 66.4453125, -10.810546875, 19.609210968017578 ]
2.666667
80
0
80
0
[ -5.09765625, 85.078125, 106.171875, 66.181640625, -13.53515625, 12.979889869689941 ]
[ -5.009765625, 86.484375, 108.984375, 66.357421875, -11.513671875, 17.4459171295166 ]
2.7
81
0
81
0
[ -5.09765625, 84.462890625, 105.908203125, 66.181640625, -13.798828125, 12.065813064575195 ]
[ -4.921875, 85.78125, 108.544921875, 66.4453125, -12.12890625, 15.701325416564941 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
[ -4.74609375, 83.232421875, 105.205078125, 66.181640625, -13.88671875, 10.32906723022461 ]
[ -4.921875, 84.19921875, 107.841796875, 66.533203125, -13.095703125, 13.25889778137207 ]
2.8
84
0
84
0
[ -4.658203125, 82.79296875, 104.853515625, 66.181640625, -14.501953125, 9.414990425109863 ]
[ -5.009765625, 83.583984375, 107.490234375, 66.533203125, -13.271484375, 12.212141990661621 ]
2.833333
85
0
85
0
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[ -5.009765625, 82.96875, 107.138671875, 66.533203125, -13.53515625, 11.165387153625488 ]
2.866667
86
0
86
0
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[ -5.009765625, 82.529296875, 106.787109375, 66.533203125, -13.974609375, 10.397767066955566 ]
2.9
87
0
87
0
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[ -5.009765625, 82.353515625, 106.69921875, 66.357421875, -14.501953125, 9.909280776977539 ]
2.933333
88
0
88
0
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[ -5.009765625, 82.177734375, 106.69921875, 66.181640625, -15.029296875, 9.351012229919434 ]
2.966667
89
0
89
0
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[ -4.921875, 82.001953125, 106.611328125, 66.181640625, -15.64453125, 9.002093315124512 ]
3
90
0
90
0
[ -4.306640625, 82.529296875, 104.58984375, 66.09375, -17.75390625, 9.049360275268555 ]
[ -4.921875, 81.9140625, 106.5234375, 66.26953125, -16.171875, 8.862525939941406 ]
3.033333
91
0
91
0
[ -4.21875, 82.79296875, 104.58984375, 66.4453125, -18.017578125, 11.517367362976074 ]
[ -4.921875, 81.9140625, 106.5234375, 66.26953125, -16.611328125, 8.862525939941406 ]
3.066667
92
0
92
0
[ -4.04296875, 83.232421875, 104.58984375, 66.796875, -18.369140625, 15.447897911071777 ]
[ -4.921875, 81.9140625, 106.5234375, 66.26953125, -16.962890625, 9.141660690307617 ]
3.1
93
0
93
0
[ -3.955078125, 83.671875, 104.58984375, 67.1484375, -18.720703125, 17.82449722290039 ]
[ -4.921875, 81.9140625, 106.5234375, 66.26953125, -17.40234375, 11.095603942871094 ]
3.133333
94
0
94
0
[ -3.779296875, 84.111328125, 104.58984375, 67.587890625, -19.423828125, 19.9268741607666 ]
[ -4.921875, 81.9140625, 106.5234375, 66.533203125, -17.75390625, 13.677599906921387 ]
3.166667
95
0
95
0
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[ -4.921875, 81.9140625, 106.5234375, 66.884765625, -18.10546875, 16.050243377685547 ]
3.2
96
0
96
0
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[ -4.5703125, 81.9140625, 106.5234375, 67.236328125, -18.720703125, 17.934402465820312 ]
3.233333
97
0
97
0
[ -3.251953125, 85.078125, 104.58984375, 68.37890625, -21.97265625, 22.669103622436523 ]
[ -4.306640625, 82.001953125, 106.5234375, 67.5, -19.51171875, 19.120725631713867 ]
3.266667
98
0
98
0
[ -2.98828125, 85.166015625, 104.23828125, 68.642578125, -22.32421875, 23.583181381225586 ]
[ -3.779296875, 82.177734375, 106.5234375, 67.763671875, -20.302734375, 20.307048797607422 ]
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": 3,
    "total_frames": 863,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.hand": {
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            "shape": [
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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