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Datasets:
jy13
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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float32
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int64
episode_index
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index
int64
task_index
int64
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[ -47.8125, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.4
72
0
72
0
[ -47.63671875, 89.6484375, 66.26953125, 99.84375, 24.873046875, 0.1550387591123581 ]
[ -47.724609375, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.433333
73
0
73
0
[ -47.373046875, 89.6484375, 66.26953125, 99.84375, 24.78515625, 0.1550387591123581 ]
[ -47.724609375, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.466667
74
0
74
0
[ -46.142578125, 89.6484375, 66.26953125, 99.84375, 24.697265625, 0.1550387591123581 ]
[ -47.724609375, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.5
75
0
75
0
[ -44.912109375, 89.6484375, 66.26953125, 99.84375, 24.697265625, 0.1550387591123581 ]
[ -47.900390625, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.533333
76
0
76
0
[ -43.76953125, 89.6484375, 66.26953125, 99.84375, 24.78515625, 0.1550387591123581 ]
[ -47.373046875, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.566667
77
0
77
0
[ -42.71484375, 89.6484375, 66.26953125, 99.84375, 24.78515625, 0.1550387591123581 ]
[ -46.494140625, 86.484375, 66.533203125, 99.4921875, 24.345703125, 0.2770082950592041 ]
2.6
78
0
78
0
[ -41.66015625, 89.736328125, 66.26953125, 99.84375, 24.78515625, 0.23255813121795654 ]
[ -45.439453125, 86.484375, 66.533203125, 99.4921875, 24.521484375, 0.2770082950592041 ]
2.633333
79
0
79
0
[ -40.78125, 89.82421875, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -44.12109375, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.666667
80
0
80
0
[ -39.7265625, 89.82421875, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -42.978515625, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.7
81
0
81
0
[ -38.671875, 89.912109375, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -42.01171875, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.733333
82
0
82
0
[ -37.44140625, 90, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -41.1328125, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.766667
83
0
83
0
[ -36.2109375, 90.087890625, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -40.4296875, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.8
84
0
84
0
[ -34.98046875, 90.17578125, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -39.375, 86.484375, 66.533203125, 99.4921875, 24.345703125, 0.2770082950592041 ]
2.833333
85
0
85
0
[ -33.662109375, 90.263671875, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -38.232421875, 86.484375, 66.533203125, 99.4921875, 24.43359375, 0.2770082950592041 ]
2.866667
86
0
86
0
[ -32.34375, 90.3515625, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -36.9140625, 86.484375, 66.533203125, 99.4921875, 24.78515625, 0.2770082950592041 ]
2.9
87
0
87
0
[ -30.9375, 90.263671875, 66.26953125, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -35.419921875, 86.484375, 66.533203125, 99.4921875, 24.873046875, 0.2770082950592041 ]
2.933333
88
0
88
0
[ -29.619140625, 90.087890625, 66.181640625, 99.84375, 24.873046875, 0.23255813121795654 ]
[ -34.1015625, 86.484375, 66.533203125, 99.4921875, 24.873046875, 0.2770082950592041 ]
2.966667
89
0
89
0
[ -28.212890625, 89.82421875, 66.181640625, 99.84375, 24.697265625, 0.23255813121795654 ]
[ -32.87109375, 86.484375, 66.533203125, 99.4921875, 24.873046875, 0.2770082950592041 ]
3
90
0
90
0
[ -27.0703125, 89.736328125, 66.181640625, 99.84375, 24.521484375, 0.23255813121795654 ]
[ -31.728515625, 86.484375, 66.533203125, 99.4921875, 24.873046875, 0.2770082950592041 ]
3.033333
91
0
91
0
[ -26.015625, 89.736328125, 66.181640625, 99.84375, 24.345703125, 0.23255813121795654 ]
[ -30.322265625, 86.484375, 66.533203125, 99.4921875, 24.609375, 0.2770082950592041 ]
3.066667
92
0
92
0
[ -24.9609375, 89.736328125, 66.181640625, 99.84375, 24.2578125, 0.23255813121795654 ]
[ -29.00390625, 86.484375, 66.533203125, 99.4921875, 24.521484375, 0.2770082950592041 ]
3.1
93
0
93
0
[ -23.818359375, 89.736328125, 66.181640625, 99.84375, 24.169921875, 0.23255813121795654 ]
[ -27.685546875, 86.484375, 66.533203125, 99.4921875, 24.697265625, 0.2770082950592041 ]
3.133333
94
0
94
0
[ -22.587890625, 89.736328125, 66.181640625, 99.84375, 24.169921875, 0.23255813121795654 ]
[ -26.455078125, 86.484375, 66.533203125, 99.4921875, 24.873046875, 0.2770082950592041 ]
3.166667
95
0
95
0
[ -21.09375, 89.6484375, 66.181640625, 99.755859375, 24.08203125, 0.23255813121795654 ]
[ -25.3125, 86.484375, 66.533203125, 99.4921875, 24.609375, 0.2770082950592041 ]
3.2
96
0
96
0
[ -19.51171875, 89.6484375, 66.26953125, 99.755859375, 24.08203125, 0.23255813121795654 ]
[ -24.2578125, 86.484375, 66.533203125, 99.4921875, 24.521484375, 0.2770082950592041 ]
3.233333
97
0
97
0
[ -18.017578125, 89.6484375, 66.26953125, 99.755859375, 24.08203125, 0.23255813121795654 ]
[ -23.203125, 86.484375, 66.533203125, 99.4921875, 24.169921875, 0.2770082950592041 ]
3.266667
98
0
98
0
[ -16.611328125, 89.6484375, 66.62109375, 99.755859375, 24.08203125, 0.23255813121795654 ]
[ -21.796875, 86.484375, 66.533203125, 99.4921875, 24.169921875, 0.2770082950592041 ]
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": 1568,
    "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": [
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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.d435_point": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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        },
        "observation.images.d435_RGB": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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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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