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Datasets:
sincostangerines
/
stack_cubes_p2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
19
index
int64
0
12.9k
task_index
int64
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74
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[ 8.4375, 152.314453125, 138.603515625, 72.685546875, 2.98828125, -0.08896797150373459 ]
[ 8.26171875, 159.873046875, 150.556640625, 73.65234375, 1.0546875, 0.20862308144569397 ]
2.5
75
0
75
0
[ 8.4375, 149.0625, 135.966796875, 72.685546875, 3.779296875, -0.08896797150373459 ]
[ 8.26171875, 157.060546875, 147.65625, 73.65234375, 1.58203125, 0.20862308144569397 ]
2.533333
76
0
76
0
[ 8.4375, 145.634765625, 133.330078125, 72.861328125, 4.658203125, -0.08896797150373459 ]
[ 8.26171875, 154.248046875, 144.931640625, 73.65234375, 2.197265625, 0.20862308144569397 ]
2.566667
77
0
77
0
[ 8.349609375, 142.119140625, 130.517578125, 73.125, 5.09765625, -0.08896797150373459 ]
[ 8.26171875, 150.99609375, 142.20703125, 73.65234375, 2.900390625, 0.20862308144569397 ]
2.6
78
0
78
0
[ 8.349609375, 138.515625, 127.6171875, 73.125, 5.625, -0.08896797150373459 ]
[ 8.26171875, 147.744140625, 139.482421875, 73.65234375, 3.69140625, 0.20862308144569397 ]
2.633333
79
0
79
0
[ 8.4375, 135.263671875, 124.716796875, 73.125, 6.328125, -0.08896797150373459 ]
[ 8.26171875, 144.4921875, 136.845703125, 73.65234375, 4.21875, 0.20862308144569397 ]
2.666667
80
0
80
0
[ 8.4375, 131.923828125, 121.552734375, 73.212890625, 6.85546875, -0.08896797150373459 ]
[ 8.26171875, 140.888671875, 133.9453125, 73.65234375, 4.833984375, 0.20862308144569397 ]
2.7
81
0
81
0
[ 8.4375, 128.84765625, 118.4765625, 73.388671875, 7.294921875, -0.08896797150373459 ]
[ 8.26171875, 137.373046875, 131.1328125, 73.65234375, 5.44921875, 0.20862308144569397 ]
2.733333
82
0
82
0
[ 8.4375, 125.859375, 115.576171875, 73.4765625, 7.822265625, -0.08896797150373459 ]
[ 8.26171875, 134.296875, 128.232421875, 73.65234375, 5.9765625, 0.20862308144569397 ]
2.766667
83
0
83
0
[ 8.4375, 123.046875, 112.763671875, 73.564453125, 8.4375, -0.08896797150373459 ]
[ 8.26171875, 130.95703125, 125.33203125, 73.65234375, 6.50390625, 0.20862308144569397 ]
2.8
84
0
84
0
[ 8.4375, 120.5859375, 110.126953125, 73.564453125, 8.7890625, -0.08896797150373459 ]
[ 8.26171875, 127.79296875, 122.255859375, 73.65234375, 7.03125, 0.20862308144569397 ]
2.833333
85
0
85
0
[ 8.525390625, 118.212890625, 107.75390625, 73.564453125, 9.140625, -0.08896797150373459 ]
[ 8.26171875, 124.892578125, 119.35546875, 73.65234375, 7.646484375, 0.20862308144569397 ]
2.866667
86
0
86
0
[ 8.525390625, 116.19140625, 105.64453125, 73.65234375, 9.404296875, -0.08896797150373459 ]
[ 8.26171875, 122.255859375, 116.54296875, 73.65234375, 8.0859375, 0.20862308144569397 ]
2.9
87
0
87
0
[ 8.525390625, 114.345703125, 103.88671875, 73.65234375, 9.66796875, -0.08896797150373459 ]
[ 8.26171875, 119.53125, 113.818359375, 73.65234375, 8.525390625, 0.20862308144569397 ]
2.933333
88
0
88
0
[ 8.525390625, 112.67578125, 102.48046875, 73.740234375, 10.107421875, -0.08896797150373459 ]
[ 8.26171875, 117.333984375, 111.26953125, 73.65234375, 8.7890625, 0.20862308144569397 ]
2.966667
89
0
89
0
[ 8.525390625, 111.357421875, 101.513671875, 73.740234375, 10.1953125, -0.08896797150373459 ]
[ 8.26171875, 115.400390625, 109.248046875, 73.65234375, 9.140625, 0.20862308144569397 ]
3
90
0
90
0
[ 8.525390625, 110.0390625, 100.72265625, 73.740234375, 10.283203125, -0.08896797150373459 ]
[ 8.26171875, 113.37890625, 107.314453125, 73.65234375, 9.4921875, 0.20862308144569397 ]
3.033333
91
0
91
0
[ 8.525390625, 109.072265625, 100.107421875, 74.00390625, 10.458984375, -0.08896797150373459 ]
[ 8.26171875, 111.884765625, 105.908203125, 73.65234375, 9.66796875, 0.20862308144569397 ]
3.066667
92
0
92
0
[ 8.525390625, 108.28125, 99.84375, 74.794921875, 10.546875, -0.08896797150373459 ]
[ 8.26171875, 110.478515625, 104.765625, 73.65234375, 9.84375, 0.20862308144569397 ]
3.1
93
0
93
0
[ 8.525390625, 107.75390625, 99.580078125, 76.025390625, 10.72265625, -0.08896797150373459 ]
[ 8.26171875, 109.248046875, 103.798828125, 74.091796875, 10.01953125, 0.20862308144569397 ]
3.133333
94
0
94
0
[ 8.349609375, 107.40234375, 99.4921875, 77.783203125, 10.72265625, -0.08896797150373459 ]
[ 8.26171875, 108.28125, 103.271484375, 74.794921875, 10.107421875, 0.20862308144569397 ]
3.166667
95
0
95
0
[ 8.0859375, 107.2265625, 99.4921875, 79.892578125, 10.72265625, -0.08896797150373459 ]
[ 8.26171875, 107.578125, 102.83203125, 75.9375, 10.37109375, 0.20862308144569397 ]
3.2
96
0
96
0
[ 7.822265625, 107.05078125, 99.4921875, 81.9140625, 10.634765625, -0.08896797150373459 ]
[ 8.26171875, 107.314453125, 102.48046875, 77.431640625, 10.37109375, 0.20862308144569397 ]
3.233333
97
0
97
0
[ 7.646484375, 107.05078125, 99.4921875, 83.935546875, 10.546875, -0.08896797150373459 ]
[ 8.26171875, 107.138671875, 102.392578125, 79.1015625, 10.37109375, 0.20862308144569397 ]
3.266667
98
0
98
0
[ 7.55859375, 106.962890625, 99.4921875, 85.693359375, 10.546875, -0.08896797150373459 ]
[ 8.173828125, 107.05078125, 102.3046875, 80.771484375, 10.37109375, 0.20862308144569397 ]
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": 20,
    "total_frames": 12913,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.laptop": {
            "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
            }
        },
        "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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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