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zlj666
/
so101_test2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial2
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
24.1
frame_index
int64
0
722
episode_index
int64
0
17
index
int64
0
9.17k
task_index
int64
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[ -20.7421875, 150.1171875, 178.59375, -5.185546875, 49.04296875, -1.3446567058563232 ]
2.366667
71
0
71
0
[ -19.6875, 150.029296875, 175.869140625, -6.15234375, 49.5703125, -0.9958506226539612 ]
[ -20.7421875, 150.1171875, 178.59375, -5.44921875, 49.21875, -1.3446567058563232 ]
2.4
72
0
72
0
[ -18.720703125, 150.029296875, 174.55078125, -4.658203125, 50.09765625, -0.9958506226539612 ]
[ -20.7421875, 150.1171875, 178.59375, -5.44921875, 49.21875, -1.3446567058563232 ]
2.433333
73
0
73
0
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[ -20.478515625, 150.029296875, 178.154296875, -5.09765625, 49.306640625, -1.3446567058563232 ]
2.466667
74
0
74
0
[ -16.962890625, 149.94140625, 171.5625, -0.439453125, 50.361328125, -0.9958506226539612 ]
[ -19.599609375, 150.029296875, 177.36328125, -4.21875, 49.5703125, -1.3446567058563232 ]
2.5
75
0
75
0
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[ -18.45703125, 150.029296875, 176.30859375, -2.8125, 49.74609375, -1.3446567058563232 ]
2.533333
76
0
76
0
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[ -17.490234375, 150.029296875, 174.990234375, -1.0546875, 49.74609375, -1.3446567058563232 ]
2.566667
77
0
77
0
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[ -16.962890625, 149.853515625, 173.671875, 0.703125, 50.009765625, -1.3446567058563232 ]
2.6
78
0
78
0
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[ -16.34765625, 149.58984375, 172.353515625, 2.548828125, 50.888671875, -1.3446567058563232 ]
2.633333
79
0
79
0
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[ -15.46875, 148.974609375, 170.859375, 4.21875, 52.470703125, -1.3446567058563232 ]
2.666667
80
0
80
0
[ -12.919921875, 142.55859375, 163.564453125, 6.15234375, 60.46875, -1.244813323020935 ]
[ -14.4140625, 147.919921875, 169.716796875, 5.185546875, 54.580078125, -1.3446567058563232 ]
2.7
81
0
81
0
[ -12.83203125, 139.658203125, 161.982421875, 5.185546875, 61.962890625, -1.3278008699417114 ]
[ -13.7109375, 146.337890625, 168.486328125, 5.537109375, 56.6015625, -1.3446567058563232 ]
2.733333
82
0
82
0
[ -12.83203125, 136.58203125, 160.3125, 4.04296875, 63.369140625, -1.3278008699417114 ]
[ -13.53515625, 144.4921875, 167.255859375, 5.537109375, 58.359375, -1.3446567058563232 ]
2.766667
83
0
83
0
[ -12.744140625, 133.681640625, 158.73046875, 2.724609375, 64.3359375, -1.3278008699417114 ]
[ -13.447265625, 142.3828125, 165.76171875, 5.44921875, 60.029296875, -1.3446567058563232 ]
2.8
84
0
84
0
[ -12.65625, 130.693359375, 157.060546875, 1.669921875, 65.830078125, -1.3278008699417114 ]
[ -13.53515625, 139.833984375, 164.267578125, 4.833984375, 61.34765625, -1.3446567058563232 ]
2.833333
85
0
85
0
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[ -13.53515625, 137.197265625, 162.685546875, 3.8671875, 62.75390625, -1.3446567058563232 ]
2.866667
86
0
86
0
[ -12.568359375, 126.03515625, 154.248046875, 0.17578125, 70.6640625, -1.3278008699417114 ]
[ -13.359375, 134.47265625, 160.927734375, 3.076171875, 64.51171875, -1.3446567058563232 ]
2.9
87
0
87
0
[ -12.568359375, 124.189453125, 153.28125, -0.263671875, 73.564453125, -1.3278008699417114 ]
[ -13.095703125, 131.572265625, 159.43359375, 2.28515625, 66.4453125, -1.3446567058563232 ]
2.933333
88
0
88
0
[ -12.65625, 122.783203125, 152.314453125, -0.3515625, 76.46484375, -1.3278008699417114 ]
[ -13.0078125, 128.935546875, 158.115234375, 1.669921875, 68.642578125, -1.3446567058563232 ]
2.966667
89
0
89
0
[ -12.83203125, 121.9921875, 152.05078125, -0.615234375, 78.662109375, -1.3278008699417114 ]
[ -13.0078125, 126.650390625, 157.060546875, 1.318359375, 71.3671875, -1.3446567058563232 ]
3
90
0
90
0
[ -13.095703125, 121.81640625, 151.962890625, -1.0546875, 80.771484375, -1.3278008699417114 ]
[ -13.0078125, 124.8046875, 156.181640625, 0.966796875, 73.828125, -1.3446567058563232 ]
3.033333
91
0
91
0
[ -13.271484375, 121.728515625, 152.05078125, -1.669921875, 82.265625, -1.3278008699417114 ]
[ -13.0078125, 123.3984375, 155.654296875, 0.52734375, 76.11328125, -1.3446567058563232 ]
3.066667
92
0
92
0
[ -13.447265625, 121.201171875, 152.138671875, -2.548828125, 83.14453125, -1.3278008699417114 ]
[ -13.0078125, 122.607421875, 155.390625, 0, 78.3984375, -1.3446567058563232 ]
3.1
93
0
93
0
[ -13.447265625, 121.11328125, 152.314453125, -3.33984375, 83.671875, -1.3278008699417114 ]
[ -13.0078125, 121.9921875, 155.302734375, -0.52734375, 79.892578125, -1.3446567058563232 ]
3.133333
94
0
94
0
[ -13.53515625, 121.025390625, 152.40234375, -3.8671875, 84.19921875, -1.3278008699417114 ]
[ -13.0078125, 121.376953125, 155.21484375, -1.318359375, 81.123046875, -1.3446567058563232 ]
3.166667
95
0
95
0
[ -13.974609375, 121.025390625, 152.841796875, -4.306640625, 84.111328125, -1.244813323020935 ]
[ -13.0078125, 121.201171875, 155.21484375, -1.93359375, 82.08984375, -1.3446567058563232 ]
3.2
96
0
96
0
[ -14.326171875, 121.025390625, 153.193359375, -4.833984375, 84.375, -1.0788382291793823 ]
[ -13.0078125, 121.025390625, 155.21484375, -2.4609375, 82.705078125, -1.3446567058563232 ]
3.233333
97
0
97
0
[ -14.4140625, 120.9375, 153.193359375, -5.9765625, 84.375, -1.0788382291793823 ]
[ -13.0078125, 121.025390625, 155.21484375, -2.98828125, 83.14453125, -1.3446567058563232 ]
3.266667
98
0
98
0
[ -14.150390625, 120.849609375, 153.193359375, -7.20703125, 84.287109375, -1.0788382291793823 ]
[ -13.359375, 120.9375, 155.21484375, -3.779296875, 83.49609375, -1.3446567058563232 ]
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": 18,
    "total_frames": 9166,
    "total_tasks": 1,
    "total_videos": 36,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:18"
    },
    "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.camera1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "shape": [
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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:
9,166