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Datasets:
un1c0rnio
/
so101_box_pencil2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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Auto-converted to Parquet Duplicate
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action
sequence
observation.state
sequence
timestamp
float32
0
16
frame_index
int64
0
481
episode_index
int64
0
24
index
int64
0
8.71k
task_index
int64
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[ -2.8125, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.3
69
0
69
0
[ -3.33984375, 193.798828125, 171.123046875, 74.794921875, 2.4609375, -0.24549919366836548 ]
[ -2.900390625, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.333333
70
0
70
0
[ -3.33984375, 193.798828125, 171.123046875, 74.70703125, 2.4609375, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.366667
71
0
71
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.8125, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.4
72
0
72
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.433333
73
0
73
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.466667
74
0
74
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.5
75
0
75
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.533333
76
0
76
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.197265625, 0.42134830355644226 ]
2.566667
77
0
77
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.6
78
0
78
0
[ -3.427734375, 193.798828125, 171.123046875, 74.619140625, 2.900390625, -0.24549919366836548 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.633333
79
0
79
0
[ -3.515625, 193.798828125, 171.123046875, 74.619140625, 2.63671875, 0 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.666667
80
0
80
0
[ -3.515625, 193.798828125, 171.123046875, 74.619140625, 2.373046875, 0 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.7
81
0
81
0
[ -3.69140625, 193.798828125, 171.123046875, 74.619140625, 2.373046875, 0 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.733333
82
0
82
0
[ -4.130859375, 193.798828125, 171.123046875, 74.619140625, 2.373046875, 0.08183306455612183 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.766667
83
0
83
0
[ -4.482421875, 193.798828125, 171.123046875, 74.619140625, 2.373046875, 0.08183306455612183 ]
[ -3.076171875, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.8
84
0
84
0
[ -4.5703125, 193.88671875, 171.123046875, 74.443359375, 2.4609375, 0.08183306455612183 ]
[ -3.69140625, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.833333
85
0
85
0
[ -4.04296875, 193.88671875, 171.03515625, 73.916015625, 2.373046875, 0.08183306455612183 ]
[ -4.130859375, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.866667
86
0
86
0
[ -3.955078125, 193.88671875, 171.03515625, 73.212890625, 2.28515625, 0.08183306455612183 ]
[ -4.39453125, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.9
87
0
87
0
[ -3.955078125, 193.88671875, 171.03515625, 72.7734375, 2.197265625, 0.08183306455612183 ]
[ -4.306640625, 193.447265625, 171.123046875, 74.619140625, 2.28515625, 0.42134830355644226 ]
2.933333
88
0
88
0
[ -3.955078125, 193.88671875, 170.947265625, 72.24609375, 2.109375, 0.08183306455612183 ]
[ -4.04296875, 193.447265625, 171.123046875, 74.443359375, 2.28515625, 0.42134830355644226 ]
2.966667
89
0
89
0
[ -3.955078125, 193.88671875, 170.947265625, 71.279296875, 2.021484375, 0.24549919366836548 ]
[ -3.779296875, 193.447265625, 171.123046875, 73.916015625, 2.28515625, 0.42134830355644226 ]
3
90
0
90
0
[ -3.955078125, 193.88671875, 170.947265625, 70.224609375, 1.669921875, 1.2274959087371826 ]
[ -3.779296875, 193.447265625, 171.123046875, 73.388671875, 2.28515625, 0.42134830355644226 ]
3.033333
91
0
91
0
[ -3.955078125, 193.88671875, 170.947265625, 69.2578125, 0.703125, 2.536824941635132 ]
[ -3.8671875, 193.447265625, 171.123046875, 72.685546875, 2.28515625, 0.42134830355644226 ]
3.066667
92
0
92
0
[ -3.955078125, 193.88671875, 170.947265625, 68.5546875, -0.263671875, 3.9279870986938477 ]
[ -3.8671875, 193.447265625, 171.123046875, 71.806640625, 2.109375, 0.8426966071128845 ]
3.1
93
0
93
0
[ -3.955078125, 193.88671875, 170.947265625, 67.763671875, -0.87890625, 4.991816520690918 ]
[ -3.779296875, 193.447265625, 171.123046875, 70.927734375, 1.58203125, 1.685393214225769 ]
3.133333
94
0
94
0
[ -3.955078125, 193.88671875, 170.859375, 66.708984375, -1.23046875, 5.482815265655518 ]
[ -3.779296875, 193.447265625, 171.123046875, 70.13671875, 0.966796875, 2.317415714263916 ]
3.166667
95
0
95
0
[ -3.955078125, 193.88671875, 170.15625, 65.654296875, -1.494140625, 5.400981903076172 ]
[ -3.779296875, 193.447265625, 171.123046875, 69.43359375, 0.263671875, 3.4410111904144287 ]
3.2
96
0
96
0
[ -3.955078125, 193.798828125, 169.013671875, 64.86328125, -1.7578125, 5.155482769012451 ]
[ -3.779296875, 193.447265625, 171.123046875, 68.466796875, -0.17578125, 4.2134833335876465 ]
3.233333
97
0
97
0
[ -3.955078125, 193.798828125, 167.51953125, 64.51171875, -2.109375, 5.073649883270264 ]
[ -3.779296875, 193.447265625, 171.123046875, 67.412109375, -0.52734375, 4.42415714263916 ]
3.266667
98
0
98
0
[ -3.955078125, 193.798828125, 165.498046875, 64.51171875, -2.109375, 5.073649883270264 ]
[ -3.779296875, 193.447265625, 171.03515625, 66.62109375, -0.966796875, 4.494381904602051 ]
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": 8707,
    "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.base": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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        },
        "observation.images.extside": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "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:
8,707