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Datasets:
JongwonP
/
so101_test2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
746
episode_index
int64
0
53
index
int64
0
40.3k
task_index
int64
0
0
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2.88
72
0
72
0
[ 13.359375, 191.953125, 167.87109375, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.216796875, 172.96875, 65.0390625, -9.931640625, 0.9071877002716064 ]
2.92
73
0
73
0
[ 13.359375, 191.865234375, 167.255859375, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 172.001953125, 65.126953125, -9.931640625, 0.9071877002716064 ]
2.96
74
0
74
0
[ 13.359375, 191.865234375, 166.904296875, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 171.2109375, 65.126953125, -9.931640625, 0.9071877002716064 ]
3
75
0
75
0
[ 13.359375, 191.865234375, 166.81640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 170.5078125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.04
76
0
76
0
[ 13.359375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 170.068359375, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.08
77
0
77
0
[ 13.447265625, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.12
78
0
78
0
[ 13.359375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.16
79
0
79
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.2
80
0
80
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.24
81
0
81
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.28
82
0
82
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.1953125, 1.0126582384109497 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.32
83
0
83
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.36
84
0
84
0
[ 13.271484375, 191.865234375, 166.640625, 65.21484375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.4
85
0
85
0
[ 13.271484375, 191.77734375, 166.640625, 65.21484375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.44
86
0
86
0
[ 13.359375, 191.07421875, 166.46484375, 65.21484375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 192.12890625, 169.892578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.48
87
0
87
0
[ 13.271484375, 189.4921875, 165.849609375, 65.21484375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 192.041015625, 169.8046875, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.52
88
0
88
0
[ 13.271484375, 187.03125, 164.794921875, 64.86328125, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 191.42578125, 169.453125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.56
89
0
89
0
[ 13.271484375, 183.955078125, 163.212890625, 64.423828125, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 190.37109375, 168.92578125, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.6
90
0
90
0
[ 13.271484375, 180.703125, 161.19140625, 63.984375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 188.61328125, 168.046875, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.64
91
0
91
0
[ 13.271484375, 177.275390625, 158.90625, 63.10546875, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 185.712890625, 166.640625, 65.126953125, -9.931640625, 0.9071877002716064 ]
3.68
92
0
92
0
[ 13.359375, 173.759765625, 156.533203125, 62.40234375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 182.8125, 164.970703125, 64.86328125, -9.931640625, 0.9071877002716064 ]
3.72
93
0
93
0
[ 13.359375, 170.5078125, 154.3359375, 61.787109375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 179.82421875, 162.94921875, 64.16015625, -9.931640625, 0.9071877002716064 ]
3.76
94
0
94
0
[ 13.095703125, 167.255859375, 152.490234375, 61.611328125, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 176.748046875, 160.751953125, 63.45703125, -9.931640625, 0.9071877002716064 ]
3.8
95
0
95
0
[ 12.919921875, 164.267578125, 150.64453125, 61.5234375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 173.3203125, 158.5546875, 62.9296875, -9.931640625, 0.9071877002716064 ]
3.84
96
0
96
0
[ 13.0078125, 161.455078125, 149.0625, 61.5234375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 170.244140625, 156.62109375, 62.578125, -9.931640625, 0.9071877002716064 ]
3.88
97
0
97
0
[ 13.271484375, 158.994140625, 147.568359375, 61.5234375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 167.080078125, 154.6875, 62.40234375, -9.931640625, 0.9071877002716064 ]
3.92
98
0
98
0
[ 13.359375, 157.060546875, 146.337890625, 61.5234375, -10.283203125, 1.0970463752746582 ]
[ 13.095703125, 164.00390625, 153.10546875, 62.40234375, -9.931640625, 0.9071877002716064 ]
3.96
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": 54,
    "total_frames": 40332,
    "total_tasks": 1,
    "total_videos": 54,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:54"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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