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Datasets:
ktkd
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
14
index
int64
0
6.71k
task_index
int64
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0
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[ -17.75390625, 180.17578125, 161.806640625, 69.2578125, -27.94921875, 11.218836784362793 ]
2.366667
71
0
71
0
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[ -18.544921875, 176.396484375, 159.873046875, 68.818359375, -28.30078125, 11.772852897644043 ]
2.4
72
0
72
0
[ -20.654296875, 162.59765625, 149.853515625, 66.97265625, -29.619140625, 12.820513725280762 ]
[ -19.423828125, 172.529296875, 157.939453125, 68.5546875, -29.267578125, 12.18836498260498 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
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0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -22.8515625, 148.798828125, 143.173828125, 67.939453125, -31.904296875, 14.127424240112305 ]
2.666667
80
0
80
0
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[ -23.02734375, 145.8984375, 141.50390625, 67.939453125, -33.046875, 14.2659273147583 ]
2.7
81
0
81
0
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[ -23.203125, 143.4375, 140.185546875, 67.8515625, -33.134765625, 14.335179328918457 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -23.994140625, 139.306640625, 138.076171875, 67.8515625, -34.8046875, 14.40443229675293 ]
2.8
84
0
84
0
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[ -24.78515625, 137.98828125, 137.197265625, 67.8515625, -35.5078125, 14.40443229675293 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -26.71875, 135.087890625, 136.23046875, 67.8515625, -37.44140625, 14.40443229675293 ]
2.9
87
0
87
0
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[ -27.333984375, 134.033203125, 136.0546875, 67.8515625, -38.056640625, 14.40443229675293 ]
2.933333
88
0
88
0
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[ -27.7734375, 133.154296875, 135.966796875, 67.8515625, -39.111328125, 14.542935371398926 ]
2.966667
89
0
89
0
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[ -27.94921875, 132.099609375, 135.791015625, 67.67578125, -39.55078125, 14.681440353393555 ]
3
90
0
90
0
[ -28.4765625, 127.79296875, 131.66015625, 65.56640625, -40.78125, 14.871795654296875 ]
[ -28.212890625, 130.95703125, 135.52734375, 67.1484375, -39.990234375, 14.681440353393555 ]
3.033333
91
0
91
0
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[ -28.564453125, 129.55078125, 135.087890625, 66.708984375, -40.166015625, 14.681440353393555 ]
3.066667
92
0
92
0
[ -27.0703125, 125.771484375, 130.078125, 63.984375, -41.044921875, 15.299145698547363 ]
[ -28.740234375, 128.056640625, 134.208984375, 66.181640625, -40.517578125, 14.681440353393555 ]
3.1
93
0
93
0
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[ -28.4765625, 126.9140625, 133.41796875, 65.654296875, -40.693359375, 14.819944381713867 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -26.982421875, 125.68359375, 132.1875, 63.896484375, -41.30859375, 15.166205406188965 ]
3.2
96
0
96
0
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[ -26.103515625, 125.15625, 131.66015625, 62.75390625, -41.572265625, 15.373961448669434 ]
3.233333
97
0
97
0
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[ -25.3125, 124.541015625, 131.1328125, 61.69921875, -41.748046875, 15.44321346282959 ]
3.266667
98
0
98
0
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[ -24.2578125, 123.662109375, 130.166015625, 60.908203125, -42.01171875, 15.51246452331543 ]
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": 10,
    "total_frames": 4471,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.rs_rgb": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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