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eval_act_so101_test

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
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29.8
frame_index
int64
0
895
episode_index
int64
0
9
index
int64
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8.95k
task_index
int64
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2.133333
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0
64
0
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2.166667
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0
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2.2
66
0
66
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2.233333
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0
67
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2.266667
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0
68
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2.3
69
0
69
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2.333333
70
0
70
0
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2.366667
71
0
71
0
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2.4
72
0
72
0
[ 0.4677753448486328, 191.7721405029297, 183.03961181640625, 54.746910095214844, 41.79173278808594, 0.21848297119140625 ]
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2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
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2.533333
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76
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2.566667
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77
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2.6
78
0
78
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2.633333
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0
79
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2.666667
80
0
80
0
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2.7
81
0
81
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2.733333
82
0
82
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
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2.933333
88
0
88
0
[ 1.5045909881591797, 191.81842041015625, 184.67431640625, 54.32318878173828, 41.94805145263672, 0.143829345703125 ]
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2.966667
89
0
89
0
[ 1.511392593383789, 191.86502075195312, 184.74514770507812, 54.31602478027344, 41.95619201660156, 0.13624191284179688 ]
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3
90
0
90
0
[ 1.4996967315673828, 191.84683227539062, 184.74563598632812, 54.313720703125, 41.97223663330078, 0.1377887725830078 ]
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3.033333
91
0
91
0
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3.066667
92
0
92
0
[ 1.4631271362304688, 191.80770874023438, 184.71859741210938, 54.33033752441406, 41.98313903808594, 0.142608642578125 ]
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3.1
93
0
93
0
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
97
0
97
0
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3.266667
98
0
98
0
[ 1.4458293914794922, 191.74867248535156, 184.66964721679688, 54.363136291503906, 42.00246810913086, 0.15766143798828125 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
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": 10,
    "total_frames": 8947,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.wrist": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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