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Datasets:
chrvngr
/
so101_grab

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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xet
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observation.state
list
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float32
0
29.9
frame_index
int64
0
896
episode_index
int64
0
149
index
int64
0
134k
task_index
int64
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[ 9.052734375, 82.529296875, 83.935546875, 82.08984375, -12.3046875, 32.4820442199707 ]
[ 10.8984375, 86.044921875, 90.703125, 77.16796875, -10.8984375, 32.538330078125 ]
2.5
75
0
75
0
[ 8.173828125, 81.474609375, 83.3203125, 82.705078125, -13.88671875, 32.08300018310547 ]
[ 10.72265625, 84.55078125, 88.76953125, 78.662109375, -11.337890625, 32.538330078125 ]
2.533333
76
0
76
0
[ 7.470703125, 80.771484375, 83.3203125, 82.96875, -16.083984375, 32.00319290161133 ]
[ 10.01953125, 83.232421875, 87.451171875, 79.716796875, -12.3046875, 32.538330078125 ]
2.566667
77
0
77
0
[ 7.03125, 80.15625, 83.3203125, 82.96875, -18.369140625, 32.00319290161133 ]
[ 9.31640625, 82.001953125, 86.484375, 80.859375, -13.623046875, 32.45315170288086 ]
2.6
78
0
78
0
[ 6.767578125, 79.541015625, 82.96875, 82.96875, -20.0390625, 31.923383712768555 ]
[ 8.525390625, 81.03515625, 86.044921875, 81.650390625, -15.29296875, 32.28279495239258 ]
2.633333
79
0
79
0
[ 6.767578125, 79.013671875, 82.705078125, 82.96875, -21.26953125, 31.923383712768555 ]
[ 7.55859375, 80.244140625, 85.60546875, 82.001953125, -17.05078125, 32.28279495239258 ]
2.666667
80
0
80
0
[ 6.591796875, 78.486328125, 82.529296875, 83.056640625, -22.1484375, 31.923383712768555 ]
[ 7.20703125, 79.453125, 85.166015625, 82.265625, -18.6328125, 32.28279495239258 ]
2.7
81
0
81
0
[ 6.240234375, 77.87109375, 82.44140625, 83.408203125, -22.8515625, 31.923383712768555 ]
[ 7.03125, 78.75, 84.814453125, 82.44140625, -19.86328125, 32.28279495239258 ]
2.733333
82
0
82
0
[ 6.064453125, 77.16796875, 82.353515625, 83.759765625, -23.642578125, 31.923383712768555 ]
[ 6.85546875, 78.310546875, 84.55078125, 82.6171875, -20.91796875, 32.28279495239258 ]
2.766667
83
0
83
0
[ 5.9765625, 76.46484375, 82.08984375, 84.19921875, -23.90625, 31.923383712768555 ]
[ 6.85546875, 77.6953125, 84.462890625, 82.96875, -21.884765625, 32.19761657714844 ]
2.8
84
0
84
0
[ 5.9765625, 75.76171875, 81.826171875, 84.55078125, -23.994140625, 31.923383712768555 ]
[ 6.85546875, 76.9921875, 84.19921875, 83.3203125, -22.587890625, 32.19761657714844 ]
2.833333
85
0
85
0
[ 6.15234375, 75.05859375, 81.123046875, 84.90234375, -23.994140625, 31.923383712768555 ]
[ 6.6796875, 76.2890625, 84.0234375, 83.671875, -23.02734375, 32.19761657714844 ]
2.866667
86
0
86
0
[ 6.416015625, 74.35546875, 80.15625, 85.517578125, -23.994140625, 31.923383712768555 ]
[ 6.416015625, 75.498046875, 83.759765625, 84.0234375, -23.291015625, 32.19761657714844 ]
2.9
87
0
87
0
[ 6.591796875, 73.65234375, 79.1015625, 86.30859375, -23.994140625, 31.923383712768555 ]
[ 6.064453125, 74.794921875, 83.232421875, 84.375, -23.466796875, 32.19761657714844 ]
2.933333
88
0
88
0
[ 6.6796875, 72.861328125, 78.134765625, 87.01171875, -23.994140625, 31.923383712768555 ]
[ 5.9765625, 74.091796875, 82.353515625, 84.90234375, -23.5546875, 32.19761657714844 ]
2.966667
89
0
89
0
[ 6.767578125, 72.0703125, 77.16796875, 87.626953125, -23.818359375, 31.923383712768555 ]
[ 5.9765625, 73.388671875, 81.5625, 85.517578125, -23.5546875, 32.19761657714844 ]
3
90
0
90
0
[ 6.85546875, 71.279296875, 76.376953125, 88.06640625, -23.5546875, 31.923383712768555 ]
[ 6.240234375, 72.685546875, 80.595703125, 86.1328125, -23.5546875, 32.19761657714844 ]
3.033333
91
0
91
0
[ 7.20703125, 70.576171875, 75.9375, 88.154296875, -23.466796875, 31.923383712768555 ]
[ 6.50390625, 71.89453125, 79.62890625, 86.748046875, -23.5546875, 32.19761657714844 ]
3.066667
92
0
92
0
[ 7.3828125, 70.048828125, 75.5859375, 88.154296875, -23.37890625, 31.923383712768555 ]
[ 6.767578125, 71.103515625, 78.92578125, 87.1875, -23.5546875, 32.19761657714844 ]
3.1
93
0
93
0
[ 7.646484375, 69.873046875, 75.5859375, 88.06640625, -23.37890625, 31.923383712768555 ]
[ 6.943359375, 70.400390625, 78.22265625, 87.451171875, -23.5546875, 32.19761657714844 ]
3.133333
94
0
94
0
[ 7.646484375, 69.78515625, 75.5859375, 88.06640625, -23.37890625, 31.923383712768555 ]
[ 7.03125, 69.9609375, 77.87109375, 87.626953125, -23.5546875, 32.19761657714844 ]
3.166667
95
0
95
0
[ 7.646484375, 69.697265625, 75.5859375, 88.06640625, -23.37890625, 31.923383712768555 ]
[ 7.119140625, 69.78515625, 77.783203125, 87.626953125, -23.5546875, 32.19761657714844 ]
3.2
96
0
96
0
[ 7.734375, 69.697265625, 75.5859375, 88.06640625, -23.291015625, 31.923383712768555 ]
[ 7.20703125, 69.609375, 77.6953125, 87.626953125, -23.5546875, 32.19761657714844 ]
3.233333
97
0
97
0
[ 7.734375, 69.697265625, 75.5859375, 88.06640625, -23.291015625, 31.923383712768555 ]
[ 7.20703125, 69.521484375, 77.6953125, 87.626953125, -23.5546875, 32.19761657714844 ]
3.266667
98
0
98
0
[ 7.734375, 69.697265625, 75.5859375, 88.06640625, -23.291015625, 31.923383712768555 ]
[ 7.20703125, 69.43359375, 77.6953125, 87.626953125, -23.5546875, 32.19761657714844 ]
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": 20,
    "total_frames": 17912,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.front": {
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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