Hugging Face's logo

Datasets:
ckirk
/
gripper_openai_binary_so101

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
action
list
observation.state
list
observation.object_label
stringclasses
2 values
timestamp
float32
0
0.17
frame_index
int64
0
5
episode_index
int64
0
2
index
int64
0
10
task_index
int64
0
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.2921142578125, 59.44584274291992, -9.442445755004883, -21.787233352661133, -0.8524928689002991, 62.252559661865234 ]
empty
0
0
0
0
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.2921142578125, 59.10999298095703, -9.442445755004883, -21.617021560668945, -0.8524928689002991, 61.91126251220703 ]
empty
0.033333
1
0
1
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.461795806884766, -8.63309383392334, -20.851064682006836, -0.8524928689002991, 60.3412971496582 ]
empty
0.066667
2
0
2
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.461795806884766, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.3412971496582 ]
empty
0
0
1
3
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.3412971496582 ]
empty
0.033333
1
1
4
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.3412971496582 ]
empty
0.066667
2
1
5
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.3412971496582 ]
empty
0.1
3
1
6
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.514253616333008, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.3412971496582 ]
empty
0.133333
4
1
7
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.440207481384277, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.13652038574219 ]
empty
0.166667
5
1
8
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 60 ]
[ -11.440207481384277, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.13652038574219 ]
empty
0
0
2
9
0
[ -10.995927810668945, 46.515533447265625, -10.341726303100586, -20.851064682006836, -0.6458279490470886, 5 ]
[ -11.440207481384277, 50.54576110839844, -8.63309383392334, -20.76595687866211, -0.8524928689002991, 60.13652038574219 ]
in_gripper
0.033333
1
2
10
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 3,
    "total_frames": 11,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "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
            }
        },
        "observation.object_label": {
            "dtype": "string",
            "shape": [
                1
            ]
        },
        "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:

[More Information Needed]
Downloads last month
2
License:
apache-2.0
Size of downloaded dataset files:
7.8 kB
Size of the auto-converted Parquet files:
7.8 kB
Number of rows:
11