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Datasets:
samsitol
/
so101_block1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.6
frame_index
int64
0
888
episode_index
int64
0
24
index
int64
0
22.2k
task_index
int64
0
0
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2.4
72
0
72
0
[ 6.416015625, 189.404296875, 171.9140625, 71.71875, 113.818359375, 0 ]
[ 8.349609375, 189.404296875, 178.2421875, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.433333
73
0
73
0
[ 5.712890625, 189.404296875, 169.1015625, 71.3671875, 113.818359375, 0 ]
[ 7.734375, 189.228515625, 177.275390625, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.466667
74
0
74
0
[ 5.537109375, 189.404296875, 166.11328125, 71.3671875, 113.818359375, 0 ]
[ 7.119140625, 189.228515625, 175.78125, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.5
75
0
75
0
[ 5.361328125, 189.31640625, 163.212890625, 71.3671875, 113.818359375, 0 ]
[ 6.416015625, 189.228515625, 173.671875, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.533333
76
0
76
0
[ 5.361328125, 189.052734375, 160.3125, 71.3671875, 113.818359375, 0 ]
[ 5.80078125, 189.228515625, 171.298828125, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.566667
77
0
77
0
[ 5.361328125, 188.525390625, 157.412109375, 71.3671875, 113.818359375, 0 ]
[ 5.625, 189.140625, 168.75, 72.158203125, 113.818359375, 0.3499562740325928 ]
2.6
78
0
78
0
[ 5.361328125, 188.4375, 154.6875, 71.3671875, 113.818359375, 0 ]
[ 5.625, 189.140625, 166.025390625, 72.158203125, 114.08203125, 0.3499562740325928 ]
2.633333
79
0
79
0
[ 5.361328125, 188.4375, 152.138671875, 71.3671875, 113.73046875, 0 ]
[ 5.888671875, 189.228515625, 163.125, 72.158203125, 114.08203125, 0.3499562740325928 ]
2.666667
80
0
80
0
[ 5.361328125, 188.349609375, 149.58984375, 71.3671875, 113.642578125, 0 ]
[ 5.80078125, 189.228515625, 160.400390625, 72.158203125, 113.642578125, 0.3499562740325928 ]
2.7
81
0
81
0
[ 5.361328125, 188.26171875, 147.392578125, 71.3671875, 112.939453125, 0 ]
[ 5.44921875, 188.96484375, 157.67578125, 72.158203125, 113.90625, 0.3499562740325928 ]
2.733333
82
0
82
0
[ 5.2734375, 188.26171875, 145.458984375, 71.279296875, 111.884765625, 0 ]
[ 5.185546875, 188.7890625, 155.0390625, 72.158203125, 113.994140625, 0.3499562740325928 ]
2.766667
83
0
83
0
[ 5.2734375, 188.26171875, 143.876953125, 71.279296875, 110.7421875, 0 ]
[ 5.185546875, 188.701171875, 152.490234375, 72.158203125, 113.37890625, 0.3499562740325928 ]
2.8
84
0
84
0
[ 4.833984375, 188.173828125, 142.55859375, 71.19140625, 109.6875, 0 ]
[ 5.361328125, 188.61328125, 150.205078125, 72.158203125, 112.587890625, 0.3499562740325928 ]
2.833333
85
0
85
0
[ 4.21875, 187.822265625, 141.416015625, 70.927734375, 108.720703125, 0 ]
[ 5.44921875, 188.61328125, 148.095703125, 72.158203125, 111.62109375, 0.3499562740325928 ]
2.866667
86
0
86
0
[ 3.603515625, 187.03125, 140.712890625, 69.873046875, 107.9296875, 0 ]
[ 5.2734375, 188.61328125, 146.337890625, 72.158203125, 110.654296875, 0.3499562740325928 ]
2.9
87
0
87
0
[ 2.8125, 185.80078125, 140.09765625, 68.203125, 107.314453125, 0 ]
[ 4.658203125, 188.525390625, 145.01953125, 71.982421875, 109.775390625, 0.3499562740325928 ]
2.933333
88
0
88
0
[ 1.7578125, 184.130859375, 139.658203125, 65.830078125, 106.787109375, 0 ]
[ 3.955078125, 187.998046875, 143.876953125, 71.279296875, 108.984375, 0.3499562740325928 ]
2.966667
89
0
89
0
[ 0.615234375, 182.021484375, 138.955078125, 63.017578125, 106.34765625, 0 ]
[ 3.33984375, 187.119140625, 142.998046875, 70.13671875, 108.193359375, 0.3499562740325928 ]
3
90
0
90
0
[ -0.439453125, 179.6484375, 138.251953125, 60.1171875, 106.083984375, 0 ]
[ 2.724609375, 185.80078125, 142.294921875, 68.466796875, 107.578125, 0.3499562740325928 ]
3.033333
91
0
91
0
[ -1.318359375, 176.748046875, 137.373046875, 57.216796875, 106.171875, 0 ]
[ 1.7578125, 184.21875, 141.591796875, 66.357421875, 106.962890625, 0.3499562740325928 ]
3.066667
92
0
92
0
[ -2.109375, 173.671875, 136.23046875, 54.4921875, 106.171875, 0 ]
[ 0.703125, 182.28515625, 140.888671875, 63.984375, 106.69921875, 0.3499562740325928 ]
3.1
93
0
93
0
[ -2.900390625, 170.068359375, 134.736328125, 52.20703125, 106.34765625, 0 ]
[ -0.439453125, 180, 140.09765625, 61.34765625, 106.69921875, 0.3499562740325928 ]
3.133333
94
0
94
0
[ -3.515625, 166.46484375, 132.890625, 50.537109375, 106.611328125, 0 ]
[ -1.318359375, 177.451171875, 139.130859375, 58.623046875, 106.5234375, 0.3499562740325928 ]
3.166667
95
0
95
0
[ -4.130859375, 162.59765625, 130.78125, 49.21875, 106.787109375, 0 ]
[ -2.109375, 174.462890625, 137.98828125, 56.162109375, 106.5234375, 0.3499562740325928 ]
3.2
96
0
96
0
[ -4.74609375, 158.5546875, 128.408203125, 48.251953125, 106.787109375, 0 ]
[ -2.63671875, 171.123046875, 136.494140625, 53.96484375, 106.5234375, 0.3499562740325928 ]
3.233333
97
0
97
0
[ -5.361328125, 154.51171875, 125.771484375, 47.63671875, 106.875, 0 ]
[ -2.98828125, 167.607421875, 134.736328125, 52.294921875, 106.5234375, 0.3499562740325928 ]
3.266667
98
0
98
0
[ -5.888671875, 150.46875, 122.87109375, 47.28515625, 106.962890625, 0 ]
[ -3.8671875, 163.740234375, 132.71484375, 50.888671875, 106.259765625, 0.3499562740325928 ]
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": 25,
    "total_frames": 22225,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": [
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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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.base": {
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            "shape": [
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                640,
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            ],
            "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
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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