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Datasets:
bap13
/
so101_test_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
25.3
frame_index
int64
0
759
episode_index
int64
0
52
index
int64
0
30.6k
task_index
int64
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[ -1.494140625, 185.712890625, 146.77734375, 72.24609375, 89.384765625, -3.3528919219970703 ]
[ -1.494140625, 191.513671875, 156.97265625, 74.091796875, 88.857421875, -1.9014084339141846 ]
2.366667
71
0
71
0
[ -1.494140625, 184.04296875, 144.4921875, 72.24609375, 89.384765625, -3.3528919219970703 ]
[ -1.494140625, 190.37109375, 155.390625, 74.091796875, 88.857421875, -1.9014084339141846 ]
2.4
72
0
72
0
[ -1.494140625, 181.58203125, 141.240234375, 72.24609375, 89.384765625, -3.3528919219970703 ]
[ -1.494140625, 188.349609375, 152.2265625, 74.091796875, 88.857421875, -1.9014084339141846 ]
2.433333
73
0
73
0
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[ -1.58203125, 186.591796875, 149.677734375, 74.091796875, 88.857421875, -1.9014084339141846 ]
2.466667
74
0
74
0
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[ -1.669921875, 184.833984375, 147.392578125, 74.091796875, 88.857421875, -1.9014084339141846 ]
2.5
75
0
75
0
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[ -1.669921875, 182.98828125, 144.580078125, 74.00390625, 88.857421875, -1.9014084339141846 ]
2.533333
76
0
76
0
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[ -1.669921875, 180.439453125, 141.767578125, 73.828125, 88.857421875, -1.9014084339141846 ]
2.566667
77
0
77
0
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[ -1.7578125, 178.330078125, 139.5703125, 73.740234375, 88.857421875, -1.9014084339141846 ]
2.6
78
0
78
0
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[ -1.7578125, 175.869140625, 137.373046875, 73.740234375, 88.857421875, -1.9014084339141846 ]
2.633333
79
0
79
0
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[ -1.7578125, 172.79296875, 134.912109375, 73.740234375, 88.857421875, -1.9014084339141846 ]
2.666667
80
0
80
0
[ -1.58203125, 161.54296875, 124.365234375, 72.158203125, 89.384765625, -3.3528919219970703 ]
[ -1.7578125, 169.892578125, 132.802734375, 73.740234375, 88.857421875, -1.9014084339141846 ]
2.7
81
0
81
0
[ -1.58203125, 160.048828125, 122.87109375, 72.158203125, 89.384765625, -3.3528919219970703 ]
[ -1.7578125, 167.87109375, 131.484375, 73.740234375, 88.857421875, -1.9014084339141846 ]
2.733333
82
0
82
0
[ -1.58203125, 158.37890625, 121.2890625, 72.158203125, 89.384765625, -3.3528919219970703 ]
[ -1.7578125, 165.5859375, 129.7265625, 73.65234375, 88.857421875, -1.9014084339141846 ]
2.766667
83
0
83
0
[ -1.669921875, 156.62109375, 119.35546875, 71.982421875, 89.384765625, -3.3528919219970703 ]
[ -1.845703125, 163.037109375, 127.705078125, 73.564453125, 88.857421875, -1.9014084339141846 ]
2.8
84
0
84
0
[ -2.021484375, 155.21484375, 117.94921875, 71.279296875, 89.384765625, -3.3528919219970703 ]
[ -1.845703125, 161.103515625, 126.2109375, 73.564453125, 88.857421875, -1.9014084339141846 ]
2.833333
85
0
85
0
[ -2.8125, 153.720703125, 116.71875, 69.873046875, 89.384765625, -3.3528919219970703 ]
[ -1.845703125, 159.169921875, 124.62890625, 73.564453125, 88.857421875, -1.9014084339141846 ]
2.866667
86
0
86
0
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[ -1.845703125, 157.32421875, 122.958984375, 73.037109375, 88.857421875, -1.9014084339141846 ]
2.9
87
0
87
0
[ -5.537109375, 149.4140625, 114.521484375, 64.951171875, 89.208984375, -3.3528919219970703 ]
[ -2.021484375, 155.654296875, 121.552734375, 71.982421875, 88.857421875, -1.9014084339141846 ]
2.933333
88
0
88
0
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[ -2.63671875, 154.51171875, 120.5859375, 70.927734375, 88.857421875, -1.9014084339141846 ]
2.966667
89
0
89
0
[ -7.822265625, 145.72265625, 113.73046875, 59.765625, 88.681640625, -3.3528919219970703 ]
[ -3.955078125, 152.578125, 119.267578125, 69.08203125, 88.857421875, -1.9014084339141846 ]
3
90
0
90
0
[ -8.701171875, 144.228515625, 113.642578125, 57.12890625, 88.59375, -3.3528919219970703 ]
[ -5.09765625, 151.083984375, 118.564453125, 67.5, 88.857421875, -1.9014084339141846 ]
3.033333
91
0
91
0
[ -9.755859375, 142.294921875, 113.642578125, 54.140625, 88.59375, -3.3528919219970703 ]
[ -6.240234375, 148.623046875, 117.861328125, 65.0390625, 88.857421875, -1.9014084339141846 ]
3.066667
92
0
92
0
[ -10.546875, 140.712890625, 113.642578125, 51.591796875, 88.59375, -3.3528919219970703 ]
[ -7.294921875, 146.77734375, 117.59765625, 62.666015625, 88.857421875, -1.9014084339141846 ]
3.1
93
0
93
0
[ -11.513671875, 138.8671875, 113.818359375, 48.515625, 88.59375, -3.3528919219970703 ]
[ -7.998046875, 144.755859375, 117.509765625, 59.765625, 88.857421875, -1.9014084339141846 ]
3.133333
94
0
94
0
[ -12.48046875, 137.197265625, 114.2578125, 45.703125, 88.59375, -3.3528919219970703 ]
[ -9.052734375, 142.822265625, 117.509765625, 57.041015625, 88.857421875, -1.9014084339141846 ]
3.166667
95
0
95
0
[ -13.271484375, 135.791015625, 114.78515625, 43.154296875, 88.59375, -3.3528919219970703 ]
[ -10.37109375, 140.625, 117.509765625, 53.701171875, 88.857421875, -1.9014084339141846 ]
3.2
96
0
96
0
[ -13.974609375, 134.736328125, 115.3125, 40.25390625, 88.59375, -3.3528919219970703 ]
[ -11.42578125, 138.603515625, 117.509765625, 50.80078125, 88.857421875, -1.9014084339141846 ]
3.233333
97
0
97
0
[ -14.501953125, 133.41796875, 115.927734375, 37.44140625, 88.59375, -3.3528919219970703 ]
[ -11.953125, 137.8125, 117.509765625, 49.482421875, 88.857421875, -1.9014084339141846 ]
3.266667
98
0
98
0
[ -15.029296875, 131.8359375, 116.54296875, 34.453125, 88.59375, -3.3528919219970703 ]
[ -12.568359375, 136.23046875, 117.509765625, 47.021484375, 88.857421875, -1.9014084339141846 ]
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": 1890,
    "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": {
            "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.context": {
            "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
            }
        },
        "observation.images.wrist": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
30,617