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Datasets:
rocach94
/
so101_dataset_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
Polars
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action
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observation.state
list
timestamp
float32
0
18.7
frame_index
int64
0
561
episode_index
int64
0
49
index
int64
0
21.6k
task_index
int64
0
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[ -2.109375, 186.416015625, 163.740234375, 71.015625, -4.04296875, 1.8136850595474243 ]
[ -2.724609375, 192.65625, 167.958984375, 75.05859375, -3.603515625, 2.0600857734680176 ]
2.333333
70
0
70
0
[ -2.109375, 184.04296875, 162.59765625, 69.78515625, -4.04296875, 1.8136850595474243 ]
[ -2.724609375, 190.634765625, 167.16796875, 73.740234375, -3.779296875, 2.0600857734680176 ]
2.366667
71
0
71
0
[ -2.109375, 181.7578125, 161.54296875, 68.994140625, -4.04296875, 1.8136850595474243 ]
[ -2.724609375, 188.26171875, 166.201171875, 72.509765625, -3.779296875, 2.0600857734680176 ]
2.4
72
0
72
0
[ -2.109375, 179.296875, 160.6640625, 68.642578125, -4.04296875, 1.8136850595474243 ]
[ -2.63671875, 185.9765625, 165.234375, 71.455078125, -3.69140625, 2.0600857734680176 ]
2.433333
73
0
73
0
[ -2.109375, 176.923828125, 159.78515625, 68.642578125, -4.04296875, 1.8136850595474243 ]
[ -2.548828125, 183.69140625, 164.267578125, 70.576171875, -3.779296875, 2.0600857734680176 ]
2.466667
74
0
74
0
[ -2.109375, 174.462890625, 158.90625, 68.5546875, -4.04296875, 1.8136850595474243 ]
[ -2.4609375, 181.318359375, 163.388671875, 70.13671875, -3.69140625, 2.0600857734680176 ]
2.5
75
0
75
0
[ -2.021484375, 172.353515625, 158.291015625, 68.466796875, -3.955078125, 1.8136850595474243 ]
[ -2.4609375, 178.41796875, 162.24609375, 69.873046875, -3.69140625, 2.0600857734680176 ]
2.533333
76
0
76
0
[ -1.93359375, 170.5078125, 157.67578125, 67.8515625, -3.955078125, 1.8136850595474243 ]
[ -2.4609375, 176.484375, 161.630859375, 69.697265625, -3.69140625, 2.0600857734680176 ]
2.566667
77
0
77
0
[ -1.93359375, 168.75, 157.1484375, 66.708984375, -3.955078125, 1.8136850595474243 ]
[ -2.4609375, 174.638671875, 161.015625, 69.43359375, -3.8671875, 2.0600857734680176 ]
2.6
78
0
78
0
[ -1.93359375, 167.080078125, 156.708984375, 65.21484375, -3.427734375, 1.8136850595474243 ]
[ -2.373046875, 172.353515625, 160.400390625, 68.642578125, -4.04296875, 2.0600857734680176 ]
2.633333
79
0
79
0
[ -1.93359375, 165.234375, 156.4453125, 63.45703125, -3.427734375, 1.8136850595474243 ]
[ -2.197265625, 170.068359375, 159.697265625, 67.5, -3.8671875, 2.0600857734680176 ]
2.666667
80
0
80
0
[ -1.58203125, 163.740234375, 156.09375, 62.138671875, -3.33984375, 1.8136850595474243 ]
[ -2.197265625, 168.310546875, 159.345703125, 66.357421875, -3.603515625, 2.0600857734680176 ]
2.7
81
0
81
0
[ -1.23046875, 162.158203125, 155.478515625, 61.259765625, -3.251953125, 1.8136850595474243 ]
[ -2.197265625, 166.640625, 158.994140625, 65.0390625, -3.515625, 2.0600857734680176 ]
2.733333
82
0
82
0
[ -0.703125, 160.6640625, 154.6875, 60.732421875, -3.251953125, 1.8136850595474243 ]
[ -1.93359375, 164.8828125, 158.466796875, 63.6328125, -3.69140625, 2.0600857734680176 ]
2.766667
83
0
83
0
[ -0.3515625, 159.345703125, 153.984375, 60.556640625, -3.251953125, 1.8136850595474243 ]
[ -1.58203125, 163.4765625, 157.939453125, 62.9296875, -3.8671875, 2.0600857734680176 ]
2.8
84
0
84
0
[ 0.3515625, 158.02734375, 153.10546875, 60.556640625, -3.33984375, 1.896125316619873 ]
[ -1.142578125, 161.982421875, 157.236328125, 62.314453125, -3.69140625, 2.0600857734680176 ]
2.833333
85
0
85
0
[ 1.142578125, 156.796875, 152.2265625, 60.556640625, -3.69140625, 1.896125316619873 ]
[ -0.791015625, 160.6640625, 156.62109375, 61.962890625, -3.427734375, 2.0600857734680176 ]
2.866667
86
0
86
0
[ 1.845703125, 155.478515625, 151.34765625, 60.556640625, -3.33984375, 1.896125316619873 ]
[ -0.263671875, 159.08203125, 155.7421875, 61.787109375, -3.603515625, 2.0600857734680176 ]
2.9
87
0
87
0
[ 2.4609375, 154.248046875, 150.46875, 60.556640625, -3.251953125, 1.896125316619873 ]
[ 0.52734375, 157.939453125, 154.951171875, 61.611328125, -3.779296875, 2.0600857734680176 ]
2.933333
88
0
88
0
[ 2.98828125, 152.841796875, 149.765625, 60.556640625, -3.1640625, 1.896125316619873 ]
[ 1.40625, 156.62109375, 154.16015625, 61.611328125, -3.427734375, 2.0600857734680176 ]
2.966667
89
0
89
0
[ 3.33984375, 151.435546875, 149.0625, 60.556640625, -3.076171875, 1.896125316619873 ]
[ 2.109375, 155.302734375, 153.28125, 61.611328125, -3.1640625, 2.0600857734680176 ]
3
90
0
90
0
[ 3.69140625, 149.94140625, 148.359375, 60.556640625, -3.076171875, 1.8136850595474243 ]
[ 2.548828125, 153.896484375, 152.490234375, 61.611328125, -2.98828125, 2.0600857734680176 ]
3.033333
91
0
91
0
[ 4.306640625, 148.447265625, 147.48046875, 60.556640625, -3.076171875, 1.7312448024749756 ]
[ 2.8125, 152.40234375, 151.787109375, 61.611328125, -2.98828125, 2.0600857734680176 ]
3.066667
92
0
92
0
[ 4.74609375, 146.953125, 146.42578125, 60.556640625, -3.076171875, 1.8136850595474243 ]
[ 2.98828125, 150.908203125, 150.99609375, 61.611328125, -3.076171875, 2.0600857734680176 ]
3.1
93
0
93
0
[ 4.921875, 145.546875, 145.546875, 60.380859375, -3.076171875, 1.8136850595474243 ]
[ 3.427734375, 148.974609375, 149.765625, 61.435546875, -3.33984375, 2.0600857734680176 ]
3.133333
94
0
94
0
[ 4.921875, 143.876953125, 144.84375, 59.677734375, -3.076171875, 1.8136850595474243 ]
[ 3.8671875, 148.095703125, 149.23828125, 61.34765625, -3.427734375, 2.0600857734680176 ]
3.166667
95
0
95
0
[ 4.658203125, 142.294921875, 144.31640625, 58.53515625, -3.076171875, 1.8136850595474243 ]
[ 4.658203125, 146.25, 148.271484375, 60.99609375, -3.076171875, 2.0600857734680176 ]
3.2
96
0
96
0
[ 4.482421875, 140.625, 143.96484375, 57.744140625, -2.98828125, 1.8136850595474243 ]
[ 4.833984375, 144.931640625, 147.65625, 60.46875, -2.98828125, 2.0600857734680176 ]
3.233333
97
0
97
0
[ 4.39453125, 139.04296875, 143.525390625, 57.48046875, -2.98828125, 1.896125316619873 ]
[ 4.833984375, 143.26171875, 147.12890625, 59.58984375, -2.98828125, 2.0600857734680176 ]
3.266667
98
0
98
0
[ 4.5703125, 137.548828125, 143.173828125, 57.48046875, -2.98828125, 1.9785655736923218 ]
[ 4.39453125, 141.50390625, 146.513671875, 58.974609375, -2.98828125, 2.0600857734680176 ]
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": 21648,
    "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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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,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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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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