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Datasets:
xiaoweihiat
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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xet
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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72
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[ 2.197265625, 124.365234375, 109.51171875, 59.501953125, -44.82421875, 0 ]
[ 1.669921875, 126.826171875, 123.837890625, 61.083984375, -38.3203125, -0.1395673304796219 ]
2.433333
73
0
73
0
[ 2.197265625, 123.046875, 107.841796875, 59.501953125, -48.33984375, 0 ]
[ 1.669921875, 124.8046875, 122.16796875, 61.083984375, -41.748046875, -0.1395673304796219 ]
2.466667
74
0
74
0
[ 2.197265625, 121.728515625, 106.171875, 59.501953125, -51.416015625, 0 ]
[ 1.669921875, 123.046875, 120.5859375, 61.083984375, -45.17578125, -0.1395673304796219 ]
2.5
75
0
75
0
[ 2.197265625, 120.498046875, 104.765625, 59.501953125, -54.31640625, 0 ]
[ 1.669921875, 121.376953125, 119.1796875, 61.083984375, -48.515625, -0.1395673304796219 ]
2.533333
76
0
76
0
[ 2.197265625, 119.1796875, 103.447265625, 59.501953125, -56.689453125, 0 ]
[ 1.669921875, 119.970703125, 117.7734375, 61.083984375, -51.591796875, -0.1395673304796219 ]
2.566667
77
0
77
0
[ 2.197265625, 117.861328125, 102.3046875, 59.501953125, -58.7109375, 0 ]
[ 1.669921875, 118.564453125, 116.279296875, 61.083984375, -54.755859375, -0.1395673304796219 ]
2.6
78
0
78
0
[ 2.197265625, 116.54296875, 101.162109375, 59.4140625, -60.380859375, 0.3303055465221405 ]
[ 1.669921875, 117.421875, 115.13671875, 61.083984375, -56.689453125, -0.1395673304796219 ]
2.633333
79
0
79
0
[ 2.197265625, 115.13671875, 100.107421875, 59.326171875, -61.875, 1.0734930038452148 ]
[ 1.669921875, 116.103515625, 113.818359375, 61.083984375, -58.7109375, -0.1395673304796219 ]
2.666667
80
0
80
0
[ 2.197265625, 113.73046875, 98.876953125, 59.326171875, -63.45703125, 2.312138557434082 ]
[ 1.669921875, 114.609375, 112.5, 61.083984375, -60.46875, -0.1395673304796219 ]
2.7
81
0
81
0
[ 2.197265625, 112.5, 97.55859375, 59.326171875, -65.126953125, 3.9636664390563965 ]
[ 1.669921875, 113.203125, 111.26953125, 61.083984375, -61.962890625, 0.20935100317001343 ]
2.733333
82
0
82
0
[ 2.197265625, 111.181640625, 96.15234375, 59.4140625, -66.796875, 6.110652446746826 ]
[ 1.669921875, 111.796875, 110.0390625, 61.083984375, -63.6328125, 1.1863224506378174 ]
2.766667
83
0
83
0
[ 2.197265625, 109.775390625, 94.833984375, 59.4140625, -68.203125, 8.340214729309082 ]
[ 1.669921875, 110.302734375, 108.896484375, 61.083984375, -65.0390625, 2.4424285888671875 ]
2.8
84
0
84
0
[ 2.197265625, 108.369140625, 93.69140625, 59.4140625, -69.521484375, 10.734930038452148 ]
[ 1.669921875, 108.80859375, 107.841796875, 61.083984375, -66.796875, 4.117236614227295 ]
2.833333
85
0
85
0
[ 2.197265625, 107.05078125, 92.63671875, 59.4140625, -70.48828125, 13.129645347595215 ]
[ 1.669921875, 107.40234375, 106.69921875, 61.083984375, -68.02734375, 6.071179389953613 ]
2.866667
86
0
86
0
[ 2.197265625, 105.732421875, 91.7578125, 59.4140625, -71.3671875, 15.441783905029297 ]
[ 1.669921875, 105.908203125, 105.46875, 61.083984375, -69.43359375, 8.23447322845459 ]
2.9
87
0
87
0
[ 2.197265625, 104.501953125, 90.87890625, 59.4140625, -72.0703125, 17.506193161010742 ]
[ 1.669921875, 104.4140625, 104.326171875, 61.083984375, -70.224609375, 10.467551231384277 ]
2.933333
88
0
88
0
[ 2.197265625, 103.271484375, 90.17578125, 59.4140625, -72.7734375, 19.240297317504883 ]
[ 1.669921875, 103.0078125, 103.18359375, 61.083984375, -71.19140625, 12.840194702148438 ]
2.966667
89
0
89
0
[ 2.197265625, 101.953125, 89.560546875, 59.4140625, -73.4765625, 20.72667121887207 ]
[ 1.669921875, 101.689453125, 102.3046875, 61.083984375, -71.806640625, 15.14305591583252 ]
3
90
0
90
0
[ 2.197265625, 100.634765625, 88.9453125, 59.4140625, -74.35546875, 21.8001651763916 ]
[ 1.669921875, 100.37109375, 101.42578125, 61.083984375, -72.509765625, 17.16678237915039 ]
3.033333
91
0
91
0
[ 2.197265625, 99.228515625, 88.505859375, 59.4140625, -75.322265625, 22.62592887878418 ]
[ 1.669921875, 99.140625, 100.810546875, 61.083984375, -73.388671875, 19.050941467285156 ]
3.066667
92
0
92
0
[ 2.197265625, 97.822265625, 87.978515625, 59.4140625, -76.376953125, 23.03881072998047 ]
[ 1.669921875, 97.822265625, 100.634765625, 61.083984375, -74.1796875, 20.516399383544922 ]
3.1
93
0
93
0
[ 2.109375, 96.50390625, 87.626953125, 59.501953125, -77.607421875, 23.203962326049805 ]
[ 1.669921875, 96.591796875, 100.546875, 61.083984375, -75.146484375, 21.563154220581055 ]
3.133333
94
0
94
0
[ 2.109375, 95.361328125, 87.36328125, 59.501953125, -78.92578125, 23.203962326049805 ]
[ 1.669921875, 95.09765625, 100.283203125, 61.083984375, -76.376953125, 22.260990142822266 ]
3.166667
95
0
95
0
[ 2.021484375, 94.482421875, 87.1875, 59.501953125, -80.244140625, 23.28653907775879 ]
[ 1.669921875, 93.515625, 99.931640625, 61.083984375, -77.431640625, 22.6796932220459 ]
3.2
96
0
96
0
[ 2.021484375, 93.69140625, 87.099609375, 59.501953125, -81.5625, 23.28653907775879 ]
[ 1.669921875, 91.93359375, 99.404296875, 61.083984375, -78.75, 22.819259643554688 ]
3.233333
97
0
97
0
[ 2.109375, 93.1640625, 87.01171875, 59.501953125, -82.705078125, 23.28653907775879 ]
[ 1.669921875, 90.703125, 98.876953125, 61.083984375, -80.068359375, 22.8890438079834 ]
3.266667
98
0
98
0
[ 2.109375, 92.724609375, 87.01171875, 59.501953125, -83.84765625, 23.28653907775879 ]
[ 1.669921875, 89.736328125, 98.701171875, 61.083984375, -81.298828125, 22.8890438079834 ]
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": 1788,
    "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": {
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            "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": [
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            "names": [
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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