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Datasets:
yuzhous
/
so101_elevator_1stfloor

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
elevator
Libraries:
Datasets
Dask
License:
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xet
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observation.state
list
timestamp
float32
0
18.1
frame_index
int64
0
543
episode_index
int64
0
19
index
int64
0
6.43k
task_index
int64
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[ -2.373046875, 198.45703125, 177.978515625, 37.001953125, 11.25, 0.2024291455745697 ]
2.466667
74
0
74
0
[ -3.955078125, 198.45703125, 171.826171875, 25.751953125, 10.546875, -0.17196904122829437 ]
[ -2.900390625, 198.45703125, 177.36328125, 33.75, 11.25, 0.2024291455745697 ]
2.5
75
0
75
0
[ -4.04296875, 198.45703125, 170.068359375, 25.83984375, 10.634765625, -0.08598452061414719 ]
[ -3.251953125, 198.45703125, 176.484375, 31.025390625, 11.25, 0.2024291455745697 ]
2.533333
76
0
76
0
[ -3.69140625, 198.45703125, 168.22265625, 25.927734375, 10.72265625, -0.08598452061414719 ]
[ -3.515625, 198.45703125, 175.341796875, 29.443359375, 11.25, 0.2024291455745697 ]
2.566667
77
0
77
0
[ -3.515625, 198.369140625, 166.640625, 26.455078125, 10.8984375, 0 ]
[ -3.69140625, 198.45703125, 173.935546875, 28.65234375, 11.25, 0.2024291455745697 ]
2.6
78
0
78
0
[ -3.251953125, 198.369140625, 164.794921875, 27.94921875, 10.986328125, 0.08598452061414719 ]
[ -3.69140625, 198.45703125, 172.265625, 28.212890625, 11.25, 0.2024291455745697 ]
2.633333
79
0
79
0
[ -2.63671875, 198.28125, 162.509765625, 30.05859375, 11.25, 0.08598452061414719 ]
[ -3.69140625, 198.45703125, 170.68359375, 28.125, 11.25, 0.2024291455745697 ]
2.666667
80
0
80
0
[ -0.966796875, 198.28125, 159.609375, 32.958984375, 12.48046875, 0.17196904122829437 ]
[ -3.603515625, 198.45703125, 169.013671875, 28.125, 11.25, 0.2024291455745697 ]
2.7
81
0
81
0
[ 1.23046875, 198.28125, 156.26953125, 36.73828125, 14.0625, 0.25795355439186096 ]
[ -3.515625, 198.45703125, 167.080078125, 29.00390625, 11.337890625, 0.2024291455745697 ]
2.733333
82
0
82
0
[ 3.33984375, 198.193359375, 152.578125, 41.30859375, 15.556640625, 0.25795355439186096 ]
[ -2.724609375, 198.45703125, 164.8828125, 30.41015625, 11.865234375, 0.2024291455745697 ]
2.766667
83
0
83
0
[ 5.44921875, 197.666015625, 148.623046875, 46.142578125, 16.435546875, 0.25795355439186096 ]
[ -1.142578125, 198.45703125, 162.24609375, 32.783203125, 13.095703125, 0.2024291455745697 ]
2.8
84
0
84
0
[ 7.646484375, 196.435546875, 144.66796875, 50.80078125, 16.69921875, 0.25795355439186096 ]
[ 1.23046875, 198.544921875, 158.90625, 35.947265625, 14.4140625, 0.2024291455745697 ]
2.833333
85
0
85
0
[ 10.01953125, 194.677734375, 140.361328125, 55.01953125, 16.787109375, 0.25795355439186096 ]
[ 2.900390625, 198.544921875, 155.830078125, 39.287109375, 15.205078125, 0.2024291455745697 ]
2.866667
86
0
86
0
[ 12.65625, 192.216796875, 136.142578125, 58.53515625, 17.138671875, 0.25795355439186096 ]
[ 4.5703125, 198.193359375, 152.314453125, 43.330078125, 15.732421875, 0.2024291455745697 ]
2.9
87
0
87
0
[ 15.29296875, 189.228515625, 131.923828125, 61.5234375, 17.578125, 0.25795355439186096 ]
[ 6.416015625, 196.962890625, 148.447265625, 47.4609375, 16.171875, 0.2024291455745697 ]
2.933333
88
0
88
0
[ 17.666015625, 185.80078125, 127.6171875, 64.16015625, 18.017578125, 0.25795355439186096 ]
[ 9.052734375, 195.29296875, 144.580078125, 51.85546875, 16.611328125, 0.2024291455745697 ]
2.966667
89
0
89
0
[ 19.86328125, 182.109375, 123.57421875, 66.181640625, 18.544921875, 0.25795355439186096 ]
[ 11.77734375, 193.18359375, 140.44921875, 55.72265625, 17.05078125, 0.2024291455745697 ]
3
90
0
90
0
[ 21.796875, 178.154296875, 119.794921875, 67.939453125, 19.3359375, 0.25795355439186096 ]
[ 14.0625, 190.458984375, 135.87890625, 59.58984375, 17.578125, 0.2024291455745697 ]
3.033333
91
0
91
0
[ 23.5546875, 174.111328125, 116.19140625, 69.345703125, 20.302734375, 0.25795355439186096 ]
[ 15.8203125, 187.822265625, 132.01171875, 62.314453125, 18.017578125, 0.2024291455745697 ]
3.066667
92
0
92
0
[ 25.13671875, 170.068359375, 112.587890625, 70.751953125, 21.533203125, 0.25795355439186096 ]
[ 18.017578125, 184.658203125, 127.880859375, 64.775390625, 18.720703125, 0.2024291455745697 ]
3.1
93
0
93
0
[ 26.455078125, 166.201171875, 109.16015625, 72.24609375, 23.02734375, 0.25795355439186096 ]
[ 20.390625, 181.23046875, 123.92578125, 66.796875, 19.423828125, 0.2024291455745697 ]
3.133333
94
0
94
0
[ 27.509765625, 162.509765625, 105.908203125, 73.916015625, 24.9609375, 0.25795355439186096 ]
[ 22.67578125, 177.099609375, 119.794921875, 68.73046875, 20.478515625, 0.2024291455745697 ]
3.166667
95
0
95
0
[ 28.30078125, 158.90625, 102.744140625, 75.673828125, 26.982421875, 0.25795355439186096 ]
[ 24.08203125, 173.49609375, 116.3671875, 70.13671875, 21.708984375, 0.2024291455745697 ]
3.2
96
0
96
0
[ 29.00390625, 155.654296875, 99.931640625, 77.255859375, 29.1796875, 0.25795355439186096 ]
[ 25.224609375, 169.716796875, 112.763671875, 71.806640625, 23.115234375, 0.2024291455745697 ]
3.233333
97
0
97
0
[ 29.619140625, 152.490234375, 97.470703125, 78.92578125, 31.46484375, 0.25795355439186096 ]
[ 26.19140625, 165.9375, 109.248046875, 73.4765625, 24.873046875, 0.2024291455745697 ]
3.266667
98
0
98
0
[ 30.146484375, 149.501953125, 95.185546875, 80.595703125, 34.189453125, 0.25795355439186096 ]
[ 27.0703125, 162.158203125, 106.083984375, 75.234375, 26.71875, 0.2024291455745697 ]
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": 6434,
    "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.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": 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",
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
6,434

Models trained or fine-tuned on yuzhous/so101_elevator_1stfloor