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Datasets:
vicwu666
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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float32
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int64
episode_index
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int64
task_index
int64
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2.92
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73
0
[ -0.52734375, 140.625, 130.4296875, 47.4609375, 85.517578125, 46.45103073120117 ]
[ -0.52734375, 142.734375, 130.78125, 47.197265625, 85.341796875, 45.44139099121094 ]
2.96
74
0
74
0
[ -0.52734375, 140.9765625, 131.572265625, 47.4609375, 85.517578125, 46.45103073120117 ]
[ -0.52734375, 141.591796875, 130.78125, 47.197265625, 85.341796875, 45.44139099121094 ]
3
75
0
75
0
[ -0.52734375, 141.416015625, 132.890625, 47.4609375, 85.25390625, 46.45103073120117 ]
[ -0.52734375, 141.240234375, 131.220703125, 47.373046875, 85.341796875, 45.44139099121094 ]
3.04
76
0
76
0
[ -0.52734375, 141.591796875, 134.6484375, 47.4609375, 84.638671875, 46.45103073120117 ]
[ -0.52734375, 141.240234375, 132.275390625, 47.373046875, 85.341796875, 45.44139099121094 ]
3.08
77
0
77
0
[ -0.52734375, 141.591796875, 136.58203125, 47.4609375, 84.55078125, 46.45103073120117 ]
[ -0.52734375, 141.240234375, 133.41796875, 47.373046875, 85.078125, 45.44139099121094 ]
3.12
78
0
78
0
[ -0.52734375, 141.591796875, 138.603515625, 47.4609375, 84.462890625, 46.45103073120117 ]
[ -0.439453125, 141.240234375, 134.82421875, 47.373046875, 84.90234375, 45.44139099121094 ]
3.16
79
0
79
0
[ -0.17578125, 141.591796875, 140.625, 47.4609375, 84.375, 46.45103073120117 ]
[ -0.3515625, 141.240234375, 136.58203125, 47.373046875, 84.814453125, 45.44139099121094 ]
3.2
80
0
80
0
[ 0.3515625, 141.591796875, 142.646484375, 47.373046875, 84.375, 46.45103073120117 ]
[ -0.263671875, 141.240234375, 138.603515625, 47.373046875, 84.814453125, 45.44139099121094 ]
3.24
81
0
81
0
[ 0.3515625, 141.591796875, 144.66796875, 47.373046875, 84.287109375, 46.45103073120117 ]
[ -0.17578125, 141.240234375, 140.537109375, 47.373046875, 84.814453125, 45.44139099121094 ]
3.28
82
0
82
0
[ 0.3515625, 141.6796875, 146.337890625, 47.373046875, 84.287109375, 46.45103073120117 ]
[ 0, 141.240234375, 142.470703125, 47.373046875, 84.814453125, 45.44139099121094 ]
3.32
83
0
83
0
[ 0.3515625, 141.6796875, 147.83203125, 47.28515625, 84.287109375, 46.45103073120117 ]
[ 0.087890625, 141.240234375, 144.4921875, 47.373046875, 84.814453125, 45.44139099121094 ]
3.36
84
0
84
0
[ 0.3515625, 141.767578125, 149.0625, 47.28515625, 84.55078125, 46.45103073120117 ]
[ 0.17578125, 141.240234375, 146.162109375, 47.373046875, 84.814453125, 45.44139099121094 ]
3.4
85
0
85
0
[ 0.3515625, 141.767578125, 150.1171875, 47.28515625, 84.90234375, 46.45103073120117 ]
[ 0.263671875, 141.240234375, 147.568359375, 47.373046875, 84.814453125, 45.44139099121094 ]
3.44
86
0
86
0
[ 0.3515625, 141.767578125, 150.908203125, 47.28515625, 85.166015625, 46.45103073120117 ]
[ 0.263671875, 141.328125, 149.0625, 47.373046875, 84.814453125, 45.44139099121094 ]
3.48
87
0
87
0
[ 0.3515625, 141.767578125, 150.908203125, 47.28515625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.328125, 150.29296875, 47.373046875, 84.90234375, 45.44139099121094 ]
3.52
88
0
88
0
[ 0.3515625, 141.85546875, 149.765625, 47.197265625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.328125, 150.99609375, 47.373046875, 84.990234375, 45.44139099121094 ]
3.56
89
0
89
0
[ 0.3515625, 141.943359375, 149.326171875, 45.87890625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.328125, 151.083984375, 47.373046875, 84.990234375, 45.44139099121094 ]
3.6
90
0
90
0
[ 0.3515625, 142.822265625, 148.359375, 45.87890625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.328125, 151.083984375, 47.28515625, 84.990234375, 45.44139099121094 ]
3.64
91
0
91
0
[ 0.3515625, 144.580078125, 146.865234375, 45.87890625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.328125, 151.083984375, 46.669921875, 84.990234375, 45.44139099121094 ]
3.68
92
0
92
0
[ 0.3515625, 147.3046875, 145.01953125, 46.669921875, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 141.85546875, 150.99609375, 46.58203125, 84.990234375, 45.44139099121094 ]
3.72
93
0
93
0
[ 0.3515625, 150.64453125, 143.173828125, 46.845703125, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 142.998046875, 150.29296875, 46.58203125, 84.990234375, 45.44139099121094 ]
3.76
94
0
94
0
[ 0.17578125, 153.45703125, 141.591796875, 45.87890625, 85.341796875, 46.45103073120117 ]
[ 0.263671875, 144.931640625, 149.0625, 46.845703125, 84.990234375, 45.44139099121094 ]
3.8
95
0
95
0
[ 0.3515625, 156.533203125, 140.2734375, 45.791015625, 85.25390625, 46.45103073120117 ]
[ 0.263671875, 147.48046875, 147.392578125, 46.845703125, 84.990234375, 45.44139099121094 ]
3.84
96
0
96
0
[ 0.3515625, 159.08203125, 138.955078125, 45.791015625, 85.166015625, 46.45103073120117 ]
[ 0.263671875, 150.380859375, 145.986328125, 46.58203125, 84.990234375, 45.44139099121094 ]
3.88
97
0
97
0
[ 0.3515625, 161.3671875, 137.8125, 46.669921875, 85.25390625, 46.45103073120117 ]
[ 0.263671875, 153.193359375, 144.404296875, 46.58203125, 84.990234375, 45.44139099121094 ]
3.92
98
0
98
0
[ 0.3515625, 164.00390625, 137.021484375, 47.197265625, 84.375, 46.45103073120117 ]
[ 0.263671875, 156.09375, 142.998046875, 46.58203125, 84.990234375, 45.44139099121094 ]
3.96
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": 1490,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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.laptop": {
            "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": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                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": 25,
                "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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