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Datasets:
rshoff
/
lerobot

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -1.40625, 193.623046875, 169.8046875, 50.9765625, -10.1953125, 11.818943977355957 ]
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2.1
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2.133333
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
72
0
72
0
[ 3.955078125, 66.181640625, 84.287109375, 36.73828125, -39.90234375, 21.542329788208008 ]
[ 0.703125, 67.5, 83.232421875, 37.44140625, -42.890625, 21.23287582397461 ]
2.433333
73
0
73
0
[ 4.482421875, 65.302734375, 84.990234375, 36.73828125, -39.462890625, 21.542329788208008 ]
[ 1.58203125, 66.796875, 83.759765625, 37.353515625, -41.748046875, 21.23287582397461 ]
2.466667
74
0
74
0
[ 4.74609375, 64.599609375, 85.517578125, 36.73828125, -39.375, 21.542329788208008 ]
[ 2.548828125, 65.91796875, 84.375, 37.353515625, -40.95703125, 21.23287582397461 ]
2.5
75
0
75
0
[ 4.833984375, 63.896484375, 85.95703125, 36.73828125, -39.462890625, 21.542329788208008 ]
[ 3.779296875, 65.0390625, 84.990234375, 37.353515625, -40.517578125, 21.23287582397461 ]
2.533333
76
0
76
0
[ 4.921875, 63.369140625, 86.220703125, 36.73828125, -39.638671875, 21.542329788208008 ]
[ 4.21875, 64.248046875, 85.60546875, 37.353515625, -40.166015625, 21.23287582397461 ]
2.566667
77
0
77
0
[ 4.921875, 62.666015625, 86.220703125, 36.73828125, -40.341796875, 21.542329788208008 ]
[ 4.658203125, 63.193359375, 86.1328125, 37.353515625, -40.078125, 21.23287582397461 ]
2.6
78
0
78
0
[ 4.921875, 62.578125, 86.220703125, 36.73828125, -41.396484375, 21.542329788208008 ]
[ 4.658203125, 62.9296875, 86.30859375, 37.353515625, -40.078125, 21.23287582397461 ]
2.633333
79
0
79
0
[ 4.833984375, 62.75390625, 86.220703125, 36.73828125, -42.01171875, 21.542329788208008 ]
[ 4.74609375, 62.490234375, 86.30859375, 37.353515625, -40.341796875, 21.23287582397461 ]
2.666667
80
0
80
0
[ 4.5703125, 62.9296875, 85.95703125, 36.73828125, -42.802734375, 21.542329788208008 ]
[ 4.74609375, 62.40234375, 86.396484375, 37.353515625, -40.693359375, 21.23287582397461 ]
2.7
81
0
81
0
[ 4.21875, 62.9296875, 85.4296875, 36.73828125, -43.857421875, 21.542329788208008 ]
[ 4.39453125, 62.40234375, 86.396484375, 37.265625, -41.484375, 21.301368713378906 ]
2.733333
82
0
82
0
[ 4.130859375, 63.017578125, 85.078125, 36.5625, -45.263671875, 21.542329788208008 ]
[ 4.130859375, 62.40234375, 86.396484375, 37.265625, -42.275390625, 21.301368713378906 ]
2.766667
83
0
83
0
[ 4.130859375, 63.017578125, 84.375, 36.5625, -46.40625, 21.542329788208008 ]
[ 4.04296875, 62.40234375, 86.396484375, 37.265625, -43.2421875, 21.301368713378906 ]
2.8
84
0
84
0
[ 4.130859375, 63.017578125, 83.49609375, 36.5625, -46.7578125, 21.62615203857422 ]
[ 3.955078125, 62.40234375, 86.396484375, 37.08984375, -44.47265625, 21.301368713378906 ]
2.833333
85
0
85
0
[ 4.21875, 62.9296875, 82.705078125, 36.474609375, -46.845703125, 21.62615203857422 ]
[ 3.955078125, 62.40234375, 86.30859375, 37.08984375, -45.263671875, 21.301368713378906 ]
2.866667
86
0
86
0
[ 4.21875, 62.9296875, 81.9140625, 36.474609375, -47.109375, 21.62615203857422 ]
[ 4.130859375, 62.40234375, 85.517578125, 37.08984375, -45.791015625, 21.301368713378906 ]
2.9
87
0
87
0
[ 4.21875, 62.9296875, 81.474609375, 36.298828125, -47.197265625, 21.62615203857422 ]
[ 4.306640625, 62.40234375, 85.078125, 37.001953125, -46.142578125, 21.301368713378906 ]
2.933333
88
0
88
0
[ 4.21875, 62.841796875, 81.03515625, 36.2109375, -47.373046875, 21.62615203857422 ]
[ 4.482421875, 62.40234375, 84.111328125, 37.001953125, -46.494140625, 21.301368713378906 ]
2.966667
89
0
89
0
[ 4.21875, 62.578125, 80.5078125, 36.2109375, -48.515625, 21.62615203857422 ]
[ 4.5703125, 62.40234375, 83.759765625, 36.9140625, -46.7578125, 21.301368713378906 ]
3
90
0
90
0
[ 4.21875, 62.2265625, 79.98046875, 36.2109375, -50.2734375, 21.62615203857422 ]
[ 4.5703125, 62.314453125, 83.3203125, 36.73828125, -47.197265625, 21.301368713378906 ]
3.033333
91
0
91
0
[ 4.21875, 62.05078125, 79.27734375, 36.123046875, -52.3828125, 21.62615203857422 ]
[ 4.5703125, 61.875, 82.705078125, 36.650390625, -48.603515625, 21.301368713378906 ]
3.066667
92
0
92
0
[ 4.21875, 62.05078125, 78.837890625, 36.123046875, -54.140625, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 82.08984375, 36.650390625, -50.09765625, 21.301368713378906 ]
3.1
93
0
93
0
[ 4.306640625, 62.05078125, 78.486328125, 36.03515625, -55.986328125, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 81.73828125, 36.650390625, -51.416015625, 21.301368713378906 ]
3.133333
94
0
94
0
[ 4.306640625, 62.05078125, 78.22265625, 35.859375, -58.0078125, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 81.298828125, 36.650390625, -52.91015625, 21.301368713378906 ]
3.166667
95
0
95
0
[ 4.21875, 62.05078125, 78.310546875, 34.98046875, -59.501953125, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 80.859375, 36.650390625, -54.755859375, 21.301368713378906 ]
3.2
96
0
96
0
[ 4.21875, 62.05078125, 78.75, 33.837890625, -60.732421875, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 80.595703125, 36.2109375, -56.513671875, 21.301368713378906 ]
3.233333
97
0
97
0
[ 4.21875, 61.962890625, 79.1015625, 32.607421875, -61.962890625, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 80.5078125, 35.419921875, -58.0078125, 21.301368713378906 ]
3.266667
98
0
98
0
[ 4.130859375, 61.875, 79.189453125, 31.81640625, -63.193359375, 21.62615203857422 ]
[ 4.5703125, 61.69921875, 80.5078125, 34.453125, -59.326171875, 21.301368713378906 ]
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": 1699,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.pole": {
            "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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