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Datasets:
rocach94
/
so101_dataset_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Languages:
English
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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1
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action
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observation.state
list
timestamp
float32
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18
frame_index
int64
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541
episode_index
int64
0
49
index
int64
0
23.2k
task_index
int64
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2.533333
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76
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2.566667
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2.6
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2.633333
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2.666667
80
0
80
0
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[ 0.703125, 162.158203125, 152.314453125, 70.83984375, -1.494140625, 0 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
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0
83
0
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2.8
84
0
84
0
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[ 0.615234375, 154.6875, 148.974609375, 68.291015625, -1.318359375, 0 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -0.439453125, 150.99609375, 147.3046875, 67.939453125, -1.318359375, 0 ]
2.9
87
0
87
0
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2.933333
88
0
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0
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2.966667
89
0
89
0
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[ -0.87890625, 145.107421875, 144.140625, 67.8515625, -1.142578125, 0 ]
3
90
0
90
0
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[ -0.615234375, 142.91015625, 142.822265625, 67.8515625, -1.0546875, 0 ]
3.033333
91
0
91
0
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[ -0.52734375, 140.9765625, 141.50390625, 67.67578125, -1.318359375, 0 ]
3.066667
92
0
92
0
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[ -0.52734375, 138.779296875, 140.009765625, 67.587890625, -1.0546875, 0 ]
3.1
93
0
93
0
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -0.791015625, 132.5390625, 135.615234375, 67.5, -1.0546875, 0 ]
3.2
96
0
96
0
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[ -0.791015625, 130.95703125, 134.296875, 67.5, -1.23046875, 0 ]
3.233333
97
0
97
0
[ -0.3515625, 126.474609375, 128.056640625, 66.796875, -1.0546875, -0.16488045454025269 ]
[ -0.791015625, 129.638671875, 133.06640625, 67.5, -1.23046875, 0 ]
3.266667
98
0
98
0
[ -0.263671875, 125.419921875, 127.353515625, 66.26953125, -1.0546875, -0.16488045454025269 ]
[ -0.87890625, 128.3203125, 131.923828125, 67.5, -1.142578125, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Data Information

Date Recorded: 09/15/2025
Task: Grasp the wheel put it the bin, The bin is stationary only the wheel is randomly changing
Num of demo/episodes: 50

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 50,
    "total_frames": 23227,
    "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": {
            "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.laptop": {
            "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.phone": {
            "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": [
                1
            ],
            "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:
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