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Datasets:
erlingling
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -33.486328125, 57.12890625, 63.017578125, 78.310546875, 28.564453125, 14.892183303833008 ]
2.4
72
0
72
0
[ -31.552734375, 57.3046875, 61.69921875, 77.607421875, 31.2890625, 15.161291122436523 ]
[ -33.486328125, 57.12890625, 63.017578125, 78.310546875, 29.35546875, 14.892183303833008 ]
2.433333
73
0
73
0
[ -30.9375, 57.48046875, 61.69921875, 77.607421875, 31.46484375, 15.161291122436523 ]
[ -33.486328125, 57.12890625, 63.017578125, 78.134765625, 29.970703125, 14.892183303833008 ]
2.466667
74
0
74
0
[ -30.41015625, 57.65625, 61.69921875, 77.783203125, 32.16796875, 15.161291122436523 ]
[ -33.310546875, 57.12890625, 63.017578125, 78.046875, 30.41015625, 14.892183303833008 ]
2.5
75
0
75
0
[ -29.8828125, 57.65625, 61.69921875, 77.958984375, 32.51953125, 15.080645561218262 ]
[ -32.958984375, 57.12890625, 63.017578125, 77.958984375, 30.673828125, 14.892183303833008 ]
2.533333
76
0
76
0
[ -29.1796875, 57.65625, 61.69921875, 78.134765625, 32.6953125, 15.080645561218262 ]
[ -32.431640625, 57.12890625, 63.017578125, 77.783203125, 31.2890625, 14.892183303833008 ]
2.566667
77
0
77
0
[ -28.564453125, 57.65625, 61.787109375, 78.22265625, 32.6953125, 15.080645561218262 ]
[ -31.552734375, 57.041015625, 63.017578125, 77.783203125, 31.728515625, 14.892183303833008 ]
2.6
78
0
78
0
[ -27.7734375, 57.48046875, 61.787109375, 78.22265625, 32.6953125, 15.080645561218262 ]
[ -30.498046875, 56.865234375, 63.193359375, 77.958984375, 31.9921875, 14.892183303833008 ]
2.633333
79
0
79
0
[ -27.0703125, 57.216796875, 61.787109375, 78.22265625, 32.6953125, 15.080645561218262 ]
[ -29.53125, 56.865234375, 63.193359375, 78.046875, 32.080078125, 14.892183303833008 ]
2.666667
80
0
80
0
[ -26.3671875, 57.216796875, 62.05078125, 78.22265625, 32.6953125, 15.080645561218262 ]
[ -28.828125, 56.953125, 63.193359375, 78.046875, 32.16796875, 14.892183303833008 ]
2.7
81
0
81
0
[ -25.751953125, 57.216796875, 62.314453125, 78.310546875, 32.6953125, 15.080645561218262 ]
[ -28.30078125, 56.953125, 63.10546875, 78.046875, 32.255859375, 14.892183303833008 ]
2.733333
82
0
82
0
[ -25.048828125, 57.216796875, 62.40234375, 78.310546875, 32.51953125, 15.080645561218262 ]
[ -27.94921875, 56.953125, 63.10546875, 78.046875, 32.255859375, 14.892183303833008 ]
2.766667
83
0
83
0
[ -24.78515625, 57.12890625, 62.490234375, 78.310546875, 32.431640625, 15.080645561218262 ]
[ -27.421875, 56.865234375, 63.193359375, 78.046875, 32.255859375, 14.892183303833008 ]
2.8
84
0
84
0
[ -24.873046875, 56.953125, 62.578125, 78.310546875, 32.431640625, 15.000000953674316 ]
[ -26.630859375, 56.865234375, 63.193359375, 78.134765625, 32.255859375, 14.892183303833008 ]
2.833333
85
0
85
0
[ -25.048828125, 56.953125, 62.841796875, 78.310546875, 32.431640625, 15.000000953674316 ]
[ -25.83984375, 56.77734375, 63.193359375, 78.134765625, 32.255859375, 14.892183303833008 ]
2.866667
86
0
86
0
[ -25.13671875, 56.953125, 63.80859375, 78.22265625, 32.607421875, 15.000000953674316 ]
[ -25.48828125, 56.77734375, 63.193359375, 78.134765625, 32.255859375, 14.892183303833008 ]
2.9
87
0
87
0
[ -25.13671875, 56.953125, 64.86328125, 78.046875, 32.6953125, 15.000000953674316 ]
[ -25.48828125, 56.77734375, 63.193359375, 78.134765625, 32.255859375, 14.892183303833008 ]
2.933333
88
0
88
0
[ -25.13671875, 57.041015625, 65.56640625, 77.958984375, 32.783203125, 15.000000953674316 ]
[ -25.48828125, 56.689453125, 63.720703125, 77.6953125, 32.255859375, 14.892183303833008 ]
2.966667
89
0
89
0
[ -25.13671875, 57.041015625, 66.26953125, 77.783203125, 32.783203125, 15.000000953674316 ]
[ -26.015625, 56.689453125, 64.51171875, 77.51953125, 32.255859375, 14.892183303833008 ]
3
90
0
90
0
[ -25.13671875, 57.041015625, 66.796875, 77.783203125, 32.783203125, 15.000000953674316 ]
[ -26.103515625, 56.6015625, 65.302734375, 77.783203125, 32.255859375, 14.892183303833008 ]
3.033333
91
0
91
0
[ -25.13671875, 57.041015625, 67.236328125, 77.783203125, 32.783203125, 14.919355392456055 ]
[ -26.103515625, 56.6015625, 66.005859375, 77.958984375, 32.255859375, 14.892183303833008 ]
3.066667
92
0
92
0
[ -25.13671875, 57.041015625, 67.412109375, 77.783203125, 32.783203125, 14.919355392456055 ]
[ -25.751953125, 56.6015625, 66.62109375, 77.958984375, 32.255859375, 15.229110717773438 ]
3.1
93
0
93
0
[ -25.13671875, 57.041015625, 67.412109375, 77.783203125, 32.783203125, 14.919355392456055 ]
[ -25.6640625, 56.6015625, 67.060546875, 77.51953125, 32.255859375, 15.229110717773438 ]
3.133333
94
0
94
0
[ -25.13671875, 57.041015625, 67.5, 77.87109375, 32.783203125, 14.919355392456055 ]
[ -25.6640625, 56.6015625, 67.32421875, 77.51953125, 32.255859375, 15.161724090576172 ]
3.166667
95
0
95
0
[ -25.224609375, 56.953125, 67.5, 78.046875, 32.6953125, 14.919355392456055 ]
[ -25.751953125, 56.6015625, 67.32421875, 77.431640625, 32.255859375, 15.02695369720459 ]
3.2
96
0
96
0
[ -25.224609375, 56.953125, 67.5, 78.134765625, 32.6953125, 14.919355392456055 ]
[ -25.751953125, 56.6015625, 67.5, 77.431640625, 32.255859375, 15.02695369720459 ]
3.233333
97
0
97
0
[ -25.224609375, 56.953125, 67.587890625, 78.134765625, 32.6953125, 14.919355392456055 ]
[ -25.751953125, 56.6015625, 67.5, 77.51953125, 32.255859375, 15.02695369720459 ]
3.266667
98
0
98
0
[ -25.48828125, 56.953125, 67.587890625, 78.134765625, 32.6953125, 14.919355392456055 ]
[ -25.751953125, 56.6015625, 67.5, 77.51953125, 32.255859375, 15.02695369720459 ]
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": 2,
    "total_frames": 1784,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.camera2": {
            "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.camera1": {
            "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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