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Datasets:
jyang-ca
/
so101_test_domino

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
15
frame_index
int64
0
450
episode_index
int64
0
49
index
int64
0
18k
task_index
int64
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[ -0.263671875, 189.931640625, 174.638671875, 69.169921875, 88.330078125, -0.7976794838905334 ]
2.3
69
0
69
0
[ 0.439453125, 193.18359375, 176.572265625, 58.7109375, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 68.37890625, 88.330078125, -0.7976794838905334 ]
2.333333
70
0
70
0
[ 0.3515625, 193.18359375, 176.572265625, 55.546875, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 66.884765625, 88.330078125, -0.7976794838905334 ]
2.366667
71
0
71
0
[ 0.3515625, 193.18359375, 176.572265625, 51.943359375, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 64.951171875, 88.330078125, -0.7976794838905334 ]
2.4
72
0
72
0
[ 0.263671875, 193.18359375, 176.572265625, 47.900390625, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 62.666015625, 88.330078125, -0.7976794838905334 ]
2.433333
73
0
73
0
[ 0.3515625, 193.18359375, 176.572265625, 43.505859375, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 60.1171875, 88.330078125, -0.7976794838905334 ]
2.466667
74
0
74
0
[ 0.3515625, 193.18359375, 176.572265625, 39.375, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 57.3046875, 88.330078125, -0.7976794838905334 ]
2.5
75
0
75
0
[ 0.3515625, 193.18359375, 176.572265625, 35.244140625, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 54.052734375, 88.330078125, -0.7976794838905334 ]
2.533333
76
0
76
0
[ 0.3515625, 193.18359375, 176.572265625, 31.2890625, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 50.537109375, 88.330078125, -0.7976794838905334 ]
2.566667
77
0
77
0
[ 0.3515625, 193.18359375, 176.572265625, 27.94921875, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 47.021484375, 88.330078125, -0.7976794838905334 ]
2.6
78
0
78
0
[ 0.3515625, 193.18359375, 176.572265625, 25.576171875, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 43.2421875, 88.330078125, -0.7976794838905334 ]
2.633333
79
0
79
0
[ 0.3515625, 193.18359375, 176.572265625, 23.90625, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 39.990234375, 88.330078125, -0.7976794838905334 ]
2.666667
80
0
80
0
[ 0.3515625, 193.18359375, 176.572265625, 22.5, 88.857421875, -2.2988505363464355 ]
[ -0.263671875, 189.931640625, 174.638671875, 37.08984375, 88.330078125, -0.7976794838905334 ]
2.7
81
0
81
0
[ 0.3515625, 193.18359375, 176.572265625, 21.357421875, 88.857421875, -2.2167487144470215 ]
[ -0.263671875, 189.931640625, 174.638671875, 34.1015625, 88.330078125, -0.7976794838905334 ]
2.733333
82
0
82
0
[ 0.439453125, 193.18359375, 176.572265625, 19.951171875, 88.857421875, -2.2167487144470215 ]
[ -0.263671875, 189.931640625, 174.638671875, 31.11328125, 88.330078125, -0.7976794838905334 ]
2.766667
83
0
83
0
[ 0.439453125, 193.18359375, 176.572265625, 18.369140625, 88.857421875, -1.8883415460586548 ]
[ -0.263671875, 189.931640625, 174.638671875, 28.65234375, 88.330078125, -0.7976794838905334 ]
2.8
84
0
84
0
[ 0.439453125, 193.18359375, 176.572265625, 16.5234375, 88.59375, -0.41050902009010315 ]
[ -0.263671875, 189.931640625, 174.638671875, 26.54296875, 88.330078125, -0.7976794838905334 ]
2.833333
85
0
85
0
[ 0.439453125, 193.18359375, 176.572265625, 14.677734375, 88.330078125, 2.5451560020446777 ]
[ -0.263671875, 189.931640625, 174.638671875, 24.609375, 88.330078125, -0.7976794838905334 ]
2.866667
86
0
86
0
[ 0.087890625, 193.18359375, 176.572265625, 13.18359375, 88.154296875, 6.896551609039307 ]
[ -0.263671875, 189.931640625, 174.638671875, 22.763671875, 88.330078125, -0.6526468396186829 ]
2.9
87
0
87
0
[ -0.263671875, 193.18359375, 176.572265625, 11.953125, 88.06640625, 12.479475021362305 ]
[ -0.263671875, 189.931640625, 174.638671875, 20.91796875, 88.330078125, 0.21754895150661469 ]
2.933333
88
0
88
0
[ -0.439453125, 193.18359375, 176.572265625, 11.42578125, 88.06640625, 18.88341522216797 ]
[ -0.263671875, 189.931640625, 174.638671875, 19.16015625, 88.330078125, 1.7403916120529175 ]
2.966667
89
0
89
0
[ -0.52734375, 193.18359375, 176.572265625, 11.337890625, 88.06640625, 25.61576271057129 ]
[ -0.263671875, 189.931640625, 174.638671875, 17.490234375, 88.330078125, 3.9158811569213867 ]
3
90
0
90
0
[ -0.615234375, 193.18359375, 176.572265625, 11.6015625, 88.06640625, 32.594417572021484 ]
[ -0.263671875, 189.931640625, 174.638671875, 16.259765625, 88.330078125, 7.324147701263428 ]
3.033333
91
0
91
0
[ -0.615234375, 193.18359375, 176.572265625, 11.953125, 88.06640625, 39.40886688232422 ]
[ -0.263671875, 189.931640625, 174.638671875, 15.46875, 88.330078125, 11.240029335021973 ]
3.066667
92
0
92
0
[ -0.615234375, 193.18359375, 176.572265625, 12.041015625, 88.06640625, 45.40229797363281 ]
[ -0.263671875, 189.931640625, 174.638671875, 15.029296875, 88.330078125, 15.95358943939209 ]
3.1
93
0
93
0
[ -0.615234375, 193.095703125, 176.572265625, 12.041015625, 88.41796875, 50.41050720214844 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.853515625, 88.330078125, 21.10224723815918 ]
3.133333
94
0
94
0
[ -0.52734375, 193.0078125, 176.572265625, 12.041015625, 88.59375, 54.26929473876953 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.765625, 88.330078125, 26.468456268310547 ]
3.166667
95
0
95
0
[ -0.52734375, 192.744140625, 176.572265625, 12.041015625, 88.76953125, 56.650245666503906 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.765625, 88.330078125, 32.26976013183594 ]
3.2
96
0
96
0
[ -0.52734375, 192.48046875, 176.572265625, 12.041015625, 88.76953125, 57.30706024169922 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.765625, 88.330078125, 37.853515625 ]
3.233333
97
0
97
0
[ -0.52734375, 192.392578125, 176.572265625, 12.041015625, 88.857421875, 57.14285659790039 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.765625, 88.330078125, 43.14720916748047 ]
3.266667
98
0
98
0
[ -0.52734375, 192.3046875, 176.572265625, 12.041015625, 88.857421875, 57.14285659790039 ]
[ -0.263671875, 189.931640625, 174.638671875, 14.765625, 88.330078125, 47.715736389160156 ]
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": 50,
    "total_frames": 18041,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "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.phone": {
            "dtype": "video",
            "shape": [
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                3
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            "names": [
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        },
        "observation.images.Orbbec": {
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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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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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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