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Datasets:
shenjianliang
/
so101_tower

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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float32
0
8.93
frame_index
int64
0
268
episode_index
int64
0
191
index
int64
0
37.7k
task_index
int64
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[ -11.513671875, 79.892578125, 82.705078125, 93.1640625, 9.404296875, 31.16793441772461 ]
2.366667
71
0
71
0
[ -11.953125, 81.2109375, 75.322265625, 93.33984375, 9.931640625, 31.3485107421875 ]
[ -11.513671875, 79.892578125, 82.705078125, 93.1640625, 9.4921875, 31.237041473388672 ]
2.4
72
0
72
0
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2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -11.513671875, 79.892578125, 82.705078125, 93.1640625, 9.66796875, 31.237041473388672 ]
2.5
75
0
75
0
[ -13.095703125, 81.2109375, 78.134765625, 92.98828125, 10.458984375, 31.3485107421875 ]
[ -11.513671875, 79.892578125, 82.705078125, 93.1640625, 9.84375, 31.237041473388672 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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[ -11.953125, 79.892578125, 82.705078125, 93.1640625, 10.283203125, 31.237041473388672 ]
2.633333
79
0
79
0
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[ -12.3046875, 79.892578125, 82.705078125, 93.1640625, 10.72265625, 31.237041473388672 ]
2.666667
80
0
80
0
[ -13.974609375, 81.2109375, 79.541015625, 92.548828125, 12.83203125, 31.085813522338867 ]
[ -12.65625, 79.892578125, 82.705078125, 92.98828125, 11.07421875, 31.237041473388672 ]
2.7
81
0
81
0
[ -14.0625, 81.2109375, 79.541015625, 92.548828125, 12.83203125, 31.085813522338867 ]
[ -12.83203125, 79.892578125, 82.705078125, 92.900390625, 11.42578125, 31.237041473388672 ]
2.733333
82
0
82
0
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[ -13.095703125, 79.892578125, 82.705078125, 92.8125, 11.689453125, 31.237041473388672 ]
2.766667
83
0
83
0
[ -14.765625, 81.2109375, 79.541015625, 92.548828125, 12.83203125, 30.823118209838867 ]
[ -13.359375, 79.892578125, 82.705078125, 92.8125, 11.953125, 31.237041473388672 ]
2.8
84
0
84
0
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[ -13.623046875, 79.892578125, 82.705078125, 92.8125, 12.12890625, 31.237041473388672 ]
2.833333
85
0
85
0
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[ -13.88671875, 79.892578125, 82.705078125, 92.8125, 12.3046875, 31.237041473388672 ]
2.866667
86
0
86
0
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[ -14.150390625, 79.892578125, 82.705078125, 92.8125, 12.392578125, 31.237041473388672 ]
2.9
87
0
87
0
[ -14.94140625, 81.123046875, 79.62890625, 92.548828125, 12.83203125, 24.0805606842041 ]
[ -14.326171875, 79.892578125, 82.705078125, 92.8125, 12.48046875, 30.545957565307617 ]
2.933333
88
0
88
0
[ -14.94140625, 81.123046875, 79.62890625, 92.548828125, 12.83203125, 22.241682052612305 ]
[ -14.501953125, 79.892578125, 82.705078125, 92.8125, 12.48046875, 29.716655731201172 ]
2.966667
89
0
89
0
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[ -14.58984375, 79.892578125, 82.705078125, 92.8125, 12.48046875, 28.610919952392578 ]
3
90
0
90
0
[ -14.677734375, 81.123046875, 79.62890625, 92.724609375, 12.83203125, 19.61471176147461 ]
[ -14.677734375, 79.892578125, 82.705078125, 92.8125, 12.48046875, 27.50518226623535 ]
3.033333
91
0
91
0
[ -14.501953125, 81.123046875, 79.892578125, 92.8125, 12.744140625, 18.6514892578125 ]
[ -14.677734375, 79.892578125, 82.705078125, 92.8125, 12.48046875, 26.26123046875 ]
3.066667
92
0
92
0
[ -14.4140625, 81.123046875, 80.419921875, 92.63671875, 12.744140625, 18.038528442382812 ]
[ -14.677734375, 79.892578125, 82.705078125, 92.8125, 12.48046875, 25.155494689941406 ]
3.1
93
0
93
0
[ -14.4140625, 81.123046875, 81.03515625, 92.4609375, 12.568359375, 17.60070037841797 ]
[ -14.58984375, 79.892578125, 82.705078125, 92.8125, 12.48046875, 23.911540985107422 ]
3.133333
94
0
94
0
[ -14.4140625, 81.123046875, 81.474609375, 92.4609375, 12.48046875, 17.425569534301758 ]
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3.166667
95
0
95
0
[ -14.326171875, 81.123046875, 81.9140625, 92.4609375, 12.48046875, 17.425569534301758 ]
[ -14.58984375, 79.8046875, 82.705078125, 92.8125, 12.48046875, 21.838285446166992 ]
3.2
96
0
96
0
[ -14.326171875, 81.123046875, 82.177734375, 92.4609375, 12.48046875, 17.338003158569336 ]
[ -14.58984375, 79.8046875, 82.705078125, 92.8125, 12.48046875, 21.078092575073242 ]
3.233333
97
0
97
0
[ -14.326171875, 81.123046875, 82.265625, 92.4609375, 12.392578125, 17.338003158569336 ]
[ -14.58984375, 79.8046875, 82.705078125, 92.8125, 12.48046875, 20.663440704345703 ]
3.266667
98
0
98
0
[ -14.326171875, 81.2109375, 82.265625, 92.4609375, 12.3046875, 17.075305938720703 ]
[ -14.58984375, 79.8046875, 82.705078125, 92.8125, 12.48046875, 20.525224685668945 ]
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": 15,
    "total_frames": 2526,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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.wrist": {
            "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": {
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                1
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            "names": null
        },
        "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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