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rshoff
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so101_test

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Robotics
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LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -5.712890625, 137.197265625, 124.98046875, 64.16015625, -15.908203125, 53.21917724609375 ]
2.433333
73
0
73
0
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[ -5.712890625, 136.58203125, 124.453125, 64.16015625, -15.908203125, 53.21917724609375 ]
2.466667
74
0
74
0
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[ -5.712890625, 135.703125, 123.837890625, 64.16015625, -15.908203125, 53.21917724609375 ]
2.5
75
0
75
0
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[ -5.712890625, 134.560546875, 122.87109375, 64.16015625, -15.908203125, 53.21917724609375 ]
2.533333
76
0
76
0
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[ -5.712890625, 133.681640625, 121.9921875, 64.248046875, -15.908203125, 53.21917724609375 ]
2.566667
77
0
77
0
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[ -5.712890625, 132.71484375, 121.025390625, 64.6875, -15.908203125, 53.21917724609375 ]
2.6
78
0
78
0
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[ -5.712890625, 131.66015625, 119.970703125, 65.21484375, -15.908203125, 53.21917724609375 ]
2.633333
79
0
79
0
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[ -5.712890625, 130.166015625, 118.65234375, 65.7421875, -15.908203125, 53.21917724609375 ]
2.666667
80
0
80
0
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[ -5.712890625, 128.759765625, 117.24609375, 66.4453125, -15.908203125, 53.21917724609375 ]
2.7
81
0
81
0
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[ -5.712890625, 127.44140625, 116.015625, 66.884765625, -15.908203125, 53.21917724609375 ]
2.733333
82
0
82
0
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[ -5.712890625, 125.947265625, 114.873046875, 67.236328125, -15.908203125, 53.21917724609375 ]
2.766667
83
0
83
0
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[ -5.712890625, 124.453125, 113.5546875, 67.67578125, -15.908203125, 53.21917724609375 ]
2.8
84
0
84
0
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[ -5.712890625, 123.046875, 112.587890625, 67.939453125, -15.908203125, 53.21917724609375 ]
2.833333
85
0
85
0
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[ -5.712890625, 121.640625, 111.708984375, 68.115234375, -15.908203125, 53.21917724609375 ]
2.866667
86
0
86
0
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[ -5.712890625, 120.234375, 111.005859375, 68.203125, -15.908203125, 53.21917724609375 ]
2.9
87
0
87
0
[ -5.537109375, 116.279296875, 107.05078125, 68.37890625, -16.259765625, 53.47862243652344 ]
[ -5.712890625, 119.00390625, 110.390625, 68.203125, -15.908203125, 53.21917724609375 ]
2.933333
88
0
88
0
[ -5.537109375, 115.3125, 106.611328125, 68.291015625, -16.259765625, 53.47862243652344 ]
[ -5.712890625, 117.861328125, 109.86328125, 68.203125, -15.908203125, 53.21917724609375 ]
2.966667
89
0
89
0
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[ -5.712890625, 116.71875, 109.3359375, 68.203125, -15.908203125, 53.21917724609375 ]
3
90
0
90
0
[ -5.537109375, 113.5546875, 105.556640625, 68.115234375, -16.259765625, 53.646270751953125 ]
[ -5.712890625, 115.576171875, 108.80859375, 68.203125, -15.908203125, 53.21917724609375 ]
3.033333
91
0
91
0
[ -5.537109375, 112.587890625, 104.765625, 68.02734375, -16.259765625, 53.646270751953125 ]
[ -5.712890625, 114.43359375, 108.28125, 68.203125, -15.908203125, 53.21917724609375 ]
3.066667
92
0
92
0
[ -5.537109375, 111.884765625, 104.150390625, 67.8515625, -16.259765625, 53.646270751953125 ]
[ -5.712890625, 113.5546875, 107.666015625, 68.203125, -15.908203125, 53.28767395019531 ]
3.1
93
0
93
0
[ -5.44921875, 111.26953125, 103.53515625, 67.763671875, -16.259765625, 53.646270751953125 ]
[ -5.712890625, 112.763671875, 107.05078125, 68.203125, -15.908203125, 53.356163024902344 ]
3.133333
94
0
94
0
[ -5.44921875, 110.56640625, 102.919921875, 67.763671875, -16.259765625, 53.646270751953125 ]
[ -5.712890625, 111.97265625, 106.435546875, 68.203125, -15.908203125, 53.356163024902344 ]
3.166667
95
0
95
0
[ -5.44921875, 109.951171875, 102.48046875, 67.763671875, -16.259765625, 53.73009490966797 ]
[ -5.712890625, 111.181640625, 105.8203125, 68.203125, -15.908203125, 53.356163024902344 ]
3.2
96
0
96
0
[ -5.44921875, 109.16015625, 102.216796875, 67.763671875, -16.259765625, 53.73009490966797 ]
[ -5.712890625, 110.56640625, 105.29296875, 68.203125, -15.908203125, 53.356163024902344 ]
3.233333
97
0
97
0
[ -5.44921875, 108.544921875, 102.12890625, 67.67578125, -16.259765625, 53.73009490966797 ]
[ -5.625, 109.775390625, 104.765625, 68.203125, -15.908203125, 53.356163024902344 ]
3.266667
98
0
98
0
[ -5.44921875, 108.017578125, 102.12890625, 67.67578125, -16.34765625, 53.73009490966797 ]
[ -5.625, 109.072265625, 104.501953125, 68.203125, -15.908203125, 53.356163024902344 ]
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": 1698,
    "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": {
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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