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un1c0rnio
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so101_test1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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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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71
0
71
0
[ -2.021484375, 193.88671875, 172.265625, 60.556640625, -1.845703125, 0.08183306455612183 ]
[ -0.615234375, 193.447265625, 175.25390625, 60.732421875, -1.40625, 0.2054794430732727 ]
2.4
72
0
72
0
[ -2.8125, 193.88671875, 171.5625, 60.556640625, -1.93359375, 0.08183306455612183 ]
[ -0.615234375, 193.447265625, 174.814453125, 60.732421875, -1.40625, 0.2054794430732727 ]
2.433333
73
0
73
0
[ -3.779296875, 193.88671875, 171.03515625, 60.46875, -1.93359375, 0.08183306455612183 ]
[ -1.0546875, 193.447265625, 174.19921875, 60.732421875, -1.40625, 0.2054794430732727 ]
2.466667
74
0
74
0
[ -4.658203125, 193.88671875, 170.595703125, 60.46875, -1.93359375, 0.08183306455612183 ]
[ -2.109375, 193.447265625, 173.671875, 60.732421875, -1.40625, 0.2054794430732727 ]
2.5
75
0
75
0
[ -5.537109375, 193.88671875, 170.15625, 60.46875, -1.93359375, 0.08183306455612183 ]
[ -3.1640625, 193.447265625, 173.232421875, 60.732421875, -1.40625, 0.2054794430732727 ]
2.533333
76
0
76
0
[ -6.416015625, 193.88671875, 169.892578125, 60.380859375, -1.93359375, 0.08183306455612183 ]
[ -3.955078125, 193.447265625, 172.705078125, 60.732421875, -1.40625, 0.2054794430732727 ]
2.566667
77
0
77
0
[ -7.294921875, 193.88671875, 169.541015625, 60.205078125, -1.93359375, 0.08183306455612183 ]
[ -4.306640625, 193.447265625, 172.265625, 60.732421875, -1.40625, 0.2054794430732727 ]
2.6
78
0
78
0
[ -7.998046875, 193.88671875, 169.189453125, 59.58984375, -1.93359375, 0.08183306455612183 ]
[ -5.185546875, 193.447265625, 172.001953125, 60.732421875, -1.40625, 0.2054794430732727 ]
2.633333
79
0
79
0
[ -8.525390625, 193.88671875, 168.662109375, 58.88671875, -1.93359375, 0.08183306455612183 ]
[ -6.416015625, 193.447265625, 171.5625, 60.64453125, -1.40625, 0.2054794430732727 ]
2.666667
80
0
80
0
[ -8.96484375, 193.88671875, 167.6953125, 58.18359375, -1.93359375, 0.08183306455612183 ]
[ -7.3828125, 193.447265625, 171.123046875, 60.29296875, -1.40625, 0.2054794430732727 ]
2.7
81
0
81
0
[ -9.404296875, 193.88671875, 166.640625, 57.48046875, -1.93359375, 0.16366612911224365 ]
[ -7.646484375, 193.447265625, 170.595703125, 59.853515625, -1.40625, 0.2054794430732727 ]
2.733333
82
0
82
0
[ -9.931640625, 193.88671875, 165.41015625, 56.953125, -1.93359375, 0.16366612911224365 ]
[ -7.734375, 193.447265625, 169.8046875, 59.150390625, -1.40625, 0.2054794430732727 ]
2.766667
83
0
83
0
[ -10.458984375, 193.88671875, 164.00390625, 56.77734375, -1.93359375, 0.572831392288208 ]
[ -8.525390625, 193.447265625, 168.75, 58.623046875, -1.40625, 0.2054794430732727 ]
2.8
84
0
84
0
[ -10.986328125, 193.88671875, 162.59765625, 56.77734375, -1.93359375, 1.3911620378494263 ]
[ -9.580078125, 193.447265625, 167.783203125, 58.271484375, -1.40625, 0.2054794430732727 ]
2.833333
85
0
85
0
[ -11.513671875, 193.88671875, 161.19140625, 56.77734375, -1.93359375, 2.291325569152832 ]
[ -10.01953125, 193.447265625, 166.552734375, 58.0078125, -1.40625, 0.4109588861465454 ]
2.866667
86
0
86
0
[ -12.041015625, 193.798828125, 159.873046875, 56.77734375, -1.93359375, 3.0278232097625732 ]
[ -10.283203125, 193.447265625, 165.05859375, 57.83203125, -1.40625, 0.8904109597206116 ]
2.9
87
0
87
0
[ -12.568359375, 193.798828125, 158.642578125, 56.77734375, -1.93359375, 3.1914894580841064 ]
[ -10.458984375, 193.447265625, 163.740234375, 57.744140625, -1.40625, 1.5753424167633057 ]
2.933333
88
0
88
0
[ -13.0078125, 193.798828125, 157.5, 56.77734375, -1.93359375, 3.273322343826294 ]
[ -11.337890625, 193.447265625, 162.59765625, 57.744140625, -1.40625, 2.1917808055877686 ]
2.966667
89
0
89
0
[ -13.447265625, 193.798828125, 156.4453125, 56.77734375, -1.93359375, 3.3551554679870605 ]
[ -12.12890625, 193.447265625, 161.19140625, 57.744140625, -1.40625, 2.4657535552978516 ]
3
90
0
90
0
[ -13.974609375, 193.7109375, 155.56640625, 56.865234375, -1.93359375, 3.3551554679870605 ]
[ -12.568359375, 193.447265625, 160.048828125, 57.744140625, -1.40625, 2.6027398109436035 ]
3.033333
91
0
91
0
[ -14.4140625, 193.7109375, 154.86328125, 56.953125, -1.93359375, 3.273322343826294 ]
[ -12.919921875, 193.447265625, 159.08203125, 57.744140625, -1.40625, 2.7397260665893555 ]
3.066667
92
0
92
0
[ -14.765625, 193.7109375, 154.3359375, 57.12890625, -1.93359375, 3.1914894580841064 ]
[ -13.0078125, 193.447265625, 158.02734375, 57.744140625, -1.40625, 2.9452056884765625 ]
3.1
93
0
93
0
[ -15.1171875, 193.623046875, 153.896484375, 57.392578125, -1.93359375, 3.1914894580841064 ]
[ -13.7109375, 193.447265625, 157.236328125, 57.744140625, -1.40625, 2.9452056884765625 ]
3.133333
94
0
94
0
[ -15.556640625, 193.623046875, 153.6328125, 57.48046875, -1.93359375, 3.10965633392334 ]
[ -14.326171875, 193.447265625, 156.62109375, 57.744140625, -1.40625, 2.9452056884765625 ]
3.166667
95
0
95
0
[ -15.908203125, 193.623046875, 153.369140625, 57.568359375, -1.93359375, 3.0278232097625732 ]
[ -14.765625, 193.447265625, 156.09375, 57.744140625, -1.40625, 3.0136985778808594 ]
3.2
96
0
96
0
[ -16.259765625, 193.359375, 153.369140625, 57.568359375, -1.93359375, 3.0278232097625732 ]
[ -15.029296875, 193.447265625, 155.654296875, 57.744140625, -1.40625, 3.0136985778808594 ]
3.233333
97
0
97
0
[ -16.435546875, 192.744140625, 153.017578125, 57.568359375, -1.93359375, 3.0278232097625732 ]
[ -15.205078125, 193.447265625, 155.390625, 57.744140625, -1.40625, 3.0821917057037354 ]
3.266667
98
0
98
0
[ -16.5234375, 191.513671875, 152.490234375, 57.65625, -1.93359375, 2.9459900856018066 ]
[ -15.8203125, 193.447265625, 155.126953125, 57.744140625, -1.40625, 3.0821917057037354 ]
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": 1789,
    "total_tasks": 1,
    "total_videos": 4,
    "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": [
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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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            "names": [
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        "observation.images.extside": {
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                "channels"
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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