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Datasets:
yuzhous
/
so101_elevator_5thfloor

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
elevator
Libraries:
Datasets
Dask
License:
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action
list
observation.state
list
timestamp
float32
0
14.9
frame_index
int64
0
446
episode_index
int64
0
19
index
int64
0
6.23k
task_index
int64
0
0
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73
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[ 0.17578125, 187.20703125, 144.755859375, 55.458984375, 10.72265625, 0.17196904122829437 ]
[ 0, 195.380859375, 156.005859375, 56.689453125, 11.25, 0.2024291455745697 ]
2.466667
74
0
74
0
[ 0.439453125, 183.515625, 141.240234375, 55.458984375, 11.07421875, 0.17196904122829437 ]
[ 0.087890625, 193.53515625, 153.544921875, 56.689453125, 11.25, 0.2024291455745697 ]
2.5
75
0
75
0
[ 0.791015625, 179.6484375, 137.373046875, 55.546875, 12.041015625, 0.17196904122829437 ]
[ 0.087890625, 191.07421875, 150.732421875, 56.689453125, 11.25, 0.2024291455745697 ]
2.533333
76
0
76
0
[ 0.87890625, 175.60546875, 133.59375, 55.546875, 13.18359375, 0.17196904122829437 ]
[ 0.087890625, 188.349609375, 147.65625, 56.689453125, 11.337890625, 0.2024291455745697 ]
2.566667
77
0
77
0
[ 0.703125, 171.5625, 129.7265625, 55.634765625, 14.4140625, 0.17196904122829437 ]
[ 0.087890625, 185.2734375, 144.31640625, 56.689453125, 11.689453125, 0.2024291455745697 ]
2.6
78
0
78
0
[ 0.615234375, 167.51953125, 126.03515625, 55.72265625, 15.8203125, 0.17196904122829437 ]
[ 0.087890625, 181.845703125, 140.80078125, 56.689453125, 12.48046875, 0.2024291455745697 ]
2.633333
79
0
79
0
[ 0.703125, 163.65234375, 122.607421875, 56.07421875, 17.40234375, 0.08598452061414719 ]
[ 0.087890625, 178.154296875, 137.197265625, 56.689453125, 13.447265625, 0.2024291455745697 ]
2.666667
80
0
80
0
[ 0.966796875, 160.048828125, 119.267578125, 56.6015625, 19.16015625, 0.08598452061414719 ]
[ 0.087890625, 174.375, 133.41796875, 56.689453125, 14.58984375, 0.2024291455745697 ]
2.7
81
0
81
0
[ 1.0546875, 156.62109375, 116.015625, 57.392578125, 21.09375, 0.08598452061414719 ]
[ 0.087890625, 170.5078125, 129.7265625, 56.689453125, 15.908203125, 0.2024291455745697 ]
2.733333
82
0
82
0
[ 1.142578125, 153.369140625, 112.8515625, 58.271484375, 23.466796875, 0.08598452061414719 ]
[ 0.087890625, 166.81640625, 126.298828125, 56.77734375, 17.40234375, 0.2024291455745697 ]
2.766667
83
0
83
0
[ 1.40625, 150.29296875, 109.775390625, 59.150390625, 26.3671875, 0.08598452061414719 ]
[ 0.3515625, 162.7734375, 122.783203125, 57.041015625, 19.16015625, 0.2024291455745697 ]
2.8
84
0
84
0
[ 2.109375, 147.568359375, 106.875, 60.029296875, 29.70703125, 0.08598452061414719 ]
[ 0.52734375, 159.08203125, 119.53125, 57.65625, 20.91796875, 0.2024291455745697 ]
2.833333
85
0
85
0
[ 2.8125, 144.84375, 104.23828125, 61.171875, 33.134765625, 0.08598452061414719 ]
[ 0.87890625, 155.56640625, 116.279296875, 58.271484375, 23.115234375, 0.2024291455745697 ]
2.866667
86
0
86
0
[ 3.251953125, 142.3828125, 101.953125, 62.490234375, 36.5625, 0.08598452061414719 ]
[ 1.142578125, 151.962890625, 112.939453125, 59.150390625, 25.927734375, 0.2024291455745697 ]
2.9
87
0
87
0
[ 3.515625, 140.185546875, 99.755859375, 63.984375, 39.814453125, 0 ]
[ 1.7578125, 149.150390625, 110.21484375, 59.94140625, 28.4765625, 0.2024291455745697 ]
2.933333
88
0
88
0
[ 4.04296875, 138.33984375, 97.91015625, 65.478515625, 43.2421875, 0 ]
[ 2.28515625, 146.42578125, 107.40234375, 60.99609375, 31.640625, 0.2024291455745697 ]
2.966667
89
0
89
0
[ 4.833984375, 136.494140625, 96.328125, 66.97265625, 46.669921875, 0 ]
[ 3.076171875, 143.876953125, 104.94140625, 62.314453125, 34.892578125, 0.2024291455745697 ]
3
90
0
90
0
[ 5.712890625, 134.82421875, 94.921875, 68.37890625, 50.2734375, 0 ]
[ 3.251953125, 141.416015625, 102.48046875, 63.720703125, 38.14453125, 0.2024291455745697 ]
3.033333
91
0
91
0
[ 6.50390625, 133.41796875, 93.8671875, 69.78515625, 53.7890625, 0 ]
[ 3.515625, 139.306640625, 100.634765625, 65.21484375, 41.396484375, 0.2024291455745697 ]
3.066667
92
0
92
0
[ 7.294921875, 132.1875, 93.076171875, 70.927734375, 57.216796875, 0 ]
[ 4.21875, 137.28515625, 98.7890625, 66.533203125, 44.82421875, 0.2024291455745697 ]
3.1
93
0
93
0
[ 8.4375, 130.95703125, 92.63671875, 71.71875, 60.46875, 0 ]
[ 5.09765625, 135.615234375, 97.470703125, 67.939453125, 48.33984375, 0.2024291455745697 ]
3.133333
94
0
94
0
[ 9.84375, 129.814453125, 92.548828125, 72.333984375, 63.369140625, 0 ]
[ 6.15234375, 133.9453125, 96.240234375, 69.345703125, 52.03125, 0.2024291455745697 ]
3.166667
95
0
95
0
[ 11.337890625, 128.671875, 92.548828125, 72.685546875, 65.830078125, 0 ]
[ 7.294921875, 132.626953125, 95.537109375, 70.3125, 55.107421875, 0.2024291455745697 ]
3.2
96
0
96
0
[ 12.744140625, 127.529296875, 92.63671875, 72.94921875, 68.02734375, 0 ]
[ 8.0859375, 131.30859375, 95.09765625, 71.19140625, 58.447265625, 0.2024291455745697 ]
3.233333
97
0
97
0
[ 14.0625, 126.38671875, 92.8125, 73.30078125, 69.9609375, 0 ]
[ 9.228515625, 129.990234375, 94.921875, 71.806640625, 61.435546875, 0.2024291455745697 ]
3.266667
98
0
98
0
[ 15.556640625, 125.15625, 92.8125, 73.740234375, 71.71875, 0 ]
[ 10.546875, 128.759765625, 94.74609375, 72.24609375, 64.16015625, 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": 6229,
    "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": [
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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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                640,
                3
            ],
            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.phone": {
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "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",
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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:
6,229