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Datasets:
gerotropic
/
so101_line

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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sequence
observation.state
sequence
timestamp
float32
0
44.6
frame_index
int64
0
1.34k
episode_index
int64
0
29
index
int64
0
40.1k
task_index
int64
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[ 6.240234375, 168.310546875, 160.6640625, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.366667
71
0
71
0
[ 5.888671875, 157.412109375, 147.65625, 47.373046875, -1.93359375, -0.190476194024086 ]
[ 6.240234375, 165.41015625, 158.291015625, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.4
72
0
72
0
[ 5.888671875, 155.390625, 145.1953125, 47.4609375, -2.021484375, -0.190476194024086 ]
[ 6.240234375, 162.7734375, 155.7421875, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.433333
73
0
73
0
[ 5.9765625, 153.45703125, 142.734375, 47.63671875, -2.021484375, -0.190476194024086 ]
[ 6.240234375, 160.3125, 153.28125, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.466667
74
0
74
0
[ 5.9765625, 151.611328125, 140.2734375, 47.8125, -2.109375, -0.190476194024086 ]
[ 6.240234375, 157.8515625, 150.64453125, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.5
75
0
75
0
[ 5.9765625, 149.853515625, 137.900390625, 47.8125, -2.109375, -0.190476194024086 ]
[ 6.240234375, 155.830078125, 148.53515625, 47.548828125, -2.28515625, 0.7281553745269775 ]
2.533333
76
0
76
0
[ 5.9765625, 148.18359375, 135.615234375, 47.900390625, -2.109375, -0.190476194024086 ]
[ 6.240234375, 153.80859375, 145.986328125, 47.63671875, -2.28515625, 0.7281553745269775 ]
2.566667
77
0
77
0
[ 6.240234375, 146.42578125, 133.41796875, 47.900390625, -2.109375, -0.190476194024086 ]
[ 6.240234375, 151.962890625, 143.61328125, 47.63671875, -2.28515625, 0.7281553745269775 ]
2.6
78
0
78
0
[ 6.6796875, 144.66796875, 131.30859375, 47.98828125, -1.7578125, -0.190476194024086 ]
[ 6.240234375, 150.1171875, 141.240234375, 47.8125, -2.28515625, 0.7281553745269775 ]
2.633333
79
0
79
0
[ 6.943359375, 142.91015625, 129.375, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 6.328125, 148.359375, 138.8671875, 47.900390625, -2.28515625, 0.7281553745269775 ]
2.666667
80
0
80
0
[ 7.119140625, 141.15234375, 127.6171875, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 6.591796875, 146.513671875, 136.669921875, 47.900390625, -2.197265625, 0.7281553745269775 ]
2.7
81
0
81
0
[ 7.20703125, 139.39453125, 126.03515625, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 6.767578125, 144.66796875, 134.560546875, 47.900390625, -2.021484375, 0.7281553745269775 ]
2.733333
82
0
82
0
[ 7.55859375, 137.63671875, 124.541015625, 47.98828125, -1.93359375, -0.190476194024086 ]
[ 6.943359375, 142.822265625, 132.451171875, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.766667
83
0
83
0
[ 8.4375, 135.791015625, 123.22265625, 47.98828125, -1.7578125, -0.190476194024086 ]
[ 7.03125, 141.064453125, 130.693359375, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.8
84
0
84
0
[ 9.052734375, 134.12109375, 121.9921875, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 7.294921875, 139.306640625, 129.0234375, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.833333
85
0
85
0
[ 9.580078125, 132.451171875, 120.76171875, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 7.734375, 137.548828125, 127.529296875, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.866667
86
0
86
0
[ 10.01953125, 130.869140625, 119.53125, 47.98828125, -1.669921875, -0.190476194024086 ]
[ 8.4375, 135.791015625, 126.2109375, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.9
87
0
87
0
[ 10.283203125, 129.287109375, 118.30078125, 48.076171875, -1.93359375, -0.190476194024086 ]
[ 9.31640625, 133.9453125, 124.892578125, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.933333
88
0
88
0
[ 10.72265625, 127.79296875, 117.158203125, 48.076171875, -1.845703125, -0.190476194024086 ]
[ 9.755859375, 132.275390625, 123.57421875, 47.900390625, -1.93359375, 0.7281553745269775 ]
2.966667
89
0
89
0
[ 11.07421875, 126.474609375, 116.015625, 48.076171875, -1.7578125, -0.190476194024086 ]
[ 10.107421875, 130.60546875, 122.431640625, 47.98828125, -1.93359375, 0.7281553745269775 ]
3
90
0
90
0
[ 11.25, 125.244140625, 115.048828125, 48.076171875, -1.7578125, -0.190476194024086 ]
[ 10.1953125, 129.0234375, 121.201171875, 47.98828125, -1.93359375, 0.7281553745269775 ]
3.033333
91
0
91
0
[ 11.25, 124.013671875, 114.08203125, 48.1640625, -1.7578125, -0.190476194024086 ]
[ 10.37109375, 127.529296875, 119.970703125, 47.98828125, -1.93359375, 0.7281553745269775 ]
3.066667
92
0
92
0
[ 11.25, 123.046875, 113.203125, 48.251953125, -1.7578125, -0.190476194024086 ]
[ 10.72265625, 126.2109375, 119.00390625, 47.98828125, -1.93359375, 0.7281553745269775 ]
3.1
93
0
93
0
[ 11.25, 122.080078125, 111.97265625, 49.04296875, -1.7578125, -0.190476194024086 ]
[ 11.25, 124.892578125, 117.94921875, 48.076171875, -1.93359375, 0.7281553745269775 ]
3.133333
94
0
94
0
[ 10.986328125, 121.025390625, 110.302734375, 50.712890625, -1.7578125, -0.190476194024086 ]
[ 11.337890625, 123.662109375, 116.982421875, 48.076171875, -1.93359375, 0.7281553745269775 ]
3.166667
95
0
95
0
[ 10.810546875, 120.05859375, 108.45703125, 52.91015625, -1.7578125, -0.190476194024086 ]
[ 11.25, 122.607421875, 116.015625, 48.69140625, -1.93359375, 0.7281553745269775 ]
3.2
96
0
96
0
[ 10.72265625, 118.916015625, 106.435546875, 55.37109375, -1.7578125, -0.190476194024086 ]
[ 10.8984375, 121.46484375, 114.521484375, 49.74609375, -1.93359375, 0.7281553745269775 ]
3.233333
97
0
97
0
[ 10.72265625, 117.7734375, 104.326171875, 58.18359375, -1.669921875, -0.190476194024086 ]
[ 10.72265625, 120.498046875, 112.939453125, 51.50390625, -1.93359375, 0.7281553745269775 ]
3.266667
98
0
98
0
[ 10.634765625, 116.54296875, 102.216796875, 60.99609375, -1.669921875, -0.190476194024086 ]
[ 10.72265625, 119.35546875, 111.005859375, 53.349609375, -1.93359375, 0.7281553745269775 ]
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": 30,
    "total_frames": 40096,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
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            "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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                "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
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
40,096