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Datasets:
RickRain
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
893
episode_index
int64
0
21
index
int64
0
19.6k
task_index
int64
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69
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[ 13.095703125, 190.810546875, 154.51171875, 56.689453125, 84.814453125, -0.7468879818916321 ]
[ 9.404296875, 191.162109375, 162.685546875, 54.84375, 85.078125, -1.0138249397277832 ]
2.333333
70
0
70
0
[ 13.623046875, 190.72265625, 152.138671875, 57.83203125, 84.814453125, -0.7468879818916321 ]
[ 11.162109375, 191.162109375, 160.400390625, 55.72265625, 85.25390625, -1.0138249397277832 ]
2.366667
71
0
71
0
[ 13.974609375, 190.72265625, 149.765625, 59.0625, 84.814453125, -0.497925341129303 ]
[ 12.12890625, 191.162109375, 158.203125, 56.6015625, 85.341796875, -0.7373272180557251 ]
2.4
72
0
72
0
[ 14.0625, 190.72265625, 147.48046875, 60.46875, 84.814453125, 0.497925341129303 ]
[ 12.48046875, 191.25, 155.91796875, 57.568359375, 85.166015625, -0.7373272180557251 ]
2.433333
73
0
73
0
[ 14.0625, 190.634765625, 145.107421875, 61.787109375, 84.814453125, 1.8257262706756592 ]
[ 12.48046875, 191.25, 153.45703125, 58.7109375, 84.7265625, -0.7373272180557251 ]
2.466667
74
0
74
0
[ 13.974609375, 190.634765625, 142.822265625, 63.10546875, 84.814453125, 2.8215768337249756 ]
[ 13.271484375, 191.337890625, 151.083984375, 60.1171875, 84.7265625, 0.18433180451393127 ]
2.5
75
0
75
0
[ 13.623046875, 190.283203125, 140.361328125, 64.423828125, 84.814453125, 3.15352725982666 ]
[ 13.798828125, 191.42578125, 148.798828125, 61.259765625, 84.90234375, 1.382488489151001 ]
2.533333
76
0
76
0
[ 13.447265625, 189.580078125, 137.8125, 65.654296875, 84.814453125, 3.0705394744873047 ]
[ 13.974609375, 191.25, 146.42578125, 62.490234375, 85.078125, 2.0276498794555664 ]
2.566667
77
0
77
0
[ 13.359375, 188.349609375, 135.17578125, 66.708984375, 84.814453125, 3.0705394744873047 ]
[ 13.447265625, 190.810546875, 143.876953125, 63.896484375, 85.078125, 2.304147481918335 ]
2.6
78
0
78
0
[ 13.271484375, 186.6796875, 132.451171875, 67.412109375, 84.90234375, 3.0705394744873047 ]
[ 13.095703125, 190.01953125, 141.50390625, 65.0390625, 84.814453125, 2.5806450843811035 ]
2.633333
79
0
79
0
[ 13.271484375, 184.482421875, 129.638671875, 67.8515625, 84.90234375, 3.0705394744873047 ]
[ 13.18359375, 188.876953125, 138.779296875, 66.005859375, 85.078125, 2.5806450843811035 ]
2.666667
80
0
80
0
[ 13.271484375, 181.7578125, 126.73828125, 68.02734375, 84.990234375, 3.0705394744873047 ]
[ 13.18359375, 187.3828125, 135.966796875, 66.884765625, 85.078125, 2.5806450843811035 ]
2.7
81
0
81
0
[ 13.271484375, 178.59375, 123.57421875, 68.115234375, 84.990234375, 3.0705394744873047 ]
[ 13.271484375, 185.712890625, 133.330078125, 67.32421875, 85.078125, 2.764976978302002 ]
2.733333
82
0
82
0
[ 13.623046875, 175.25390625, 120.322265625, 68.115234375, 84.990234375, 3.0705394744873047 ]
[ 13.18359375, 183.427734375, 130.517578125, 67.67578125, 85.078125, 2.764976978302002 ]
2.766667
83
0
83
0
[ 14.0625, 171.474609375, 116.89453125, 68.115234375, 84.990234375, 3.0705394744873047 ]
[ 13.095703125, 180.439453125, 127.353515625, 67.939453125, 85.078125, 2.764976978302002 ]
2.8
84
0
84
0
[ 14.150390625, 167.6953125, 113.5546875, 68.203125, 84.990234375, 3.0705394744873047 ]
[ 13.359375, 177.5390625, 124.189453125, 67.939453125, 85.078125, 2.764976978302002 ]
2.833333
85
0
85
0
[ 14.501953125, 163.740234375, 110.126953125, 68.5546875, 84.990234375, 3.0705394744873047 ]
[ 13.7109375, 174.287109375, 121.025390625, 68.02734375, 85.078125, 2.764976978302002 ]
2.866667
86
0
86
0
[ 15.64453125, 159.78515625, 106.611328125, 69.609375, 84.90234375, 3.0705394744873047 ]
[ 13.88671875, 170.68359375, 117.685546875, 68.37890625, 85.078125, 2.764976978302002 ]
2.9
87
0
87
0
[ 16.962890625, 155.7421875, 103.095703125, 70.927734375, 84.814453125, 3.0705394744873047 ]
[ 14.23828125, 166.728515625, 113.994140625, 68.994140625, 85.078125, 2.764976978302002 ]
2.933333
88
0
88
0
[ 17.9296875, 151.875, 99.4921875, 72.421875, 84.7265625, 3.0705394744873047 ]
[ 14.94140625, 163.212890625, 110.91796875, 69.697265625, 85.078125, 2.764976978302002 ]
2.966667
89
0
89
0
[ 18.720703125, 147.919921875, 96.15234375, 74.1796875, 83.84765625, 3.0705394744873047 ]
[ 15.908203125, 159.169921875, 107.40234375, 70.83984375, 85.078125, 2.764976978302002 ]
3
90
0
90
0
[ 19.51171875, 144.228515625, 92.900390625, 76.11328125, 82.177734375, 3.0705394744873047 ]
[ 16.875, 155.126953125, 103.7109375, 72.24609375, 85.078125, 2.764976978302002 ]
3.033333
91
0
91
0
[ 20.21484375, 140.625, 90.087890625, 78.134765625, 80.947265625, 3.0705394744873047 ]
[ 17.9296875, 151.34765625, 100.546875, 73.740234375, 84.462890625, 2.764976978302002 ]
3.066667
92
0
92
0
[ 21.26953125, 137.373046875, 87.802734375, 80.068359375, 79.453125, 3.0705394744873047 ]
[ 18.896484375, 147.041015625, 97.20703125, 75.498046875, 83.3203125, 2.764976978302002 ]
3.1
93
0
93
0
[ 22.5, 134.384765625, 85.869140625, 81.9140625, 77.607421875, 3.0705394744873047 ]
[ 19.3359375, 143.173828125, 94.306640625, 77.080078125, 82.177734375, 2.764976978302002 ]
3.133333
94
0
94
0
[ 23.818359375, 131.66015625, 84.287109375, 83.408203125, 75.9375, 3.0705394744873047 ]
[ 19.86328125, 139.74609375, 91.845703125, 79.189453125, 80.947265625, 2.764976978302002 ]
3.166667
95
0
95
0
[ 25.3125, 129.287109375, 83.14453125, 84.375, 74.443359375, 3.0705394744873047 ]
[ 21.005859375, 136.494140625, 89.82421875, 80.859375, 79.365234375, 2.764976978302002 ]
3.2
96
0
96
0
[ 26.89453125, 127.08984375, 82.265625, 85.166015625, 72.94921875, 3.0705394744873047 ]
[ 22.1484375, 133.59375, 88.06640625, 82.265625, 77.51953125, 2.764976978302002 ]
3.233333
97
0
97
0
[ 28.740234375, 125.33203125, 81.826171875, 85.517578125, 71.015625, 3.0705394744873047 ]
[ 23.818359375, 131.1328125, 86.572265625, 83.408203125, 76.2890625, 2.764976978302002 ]
3.266667
98
0
98
0
[ 30.76171875, 123.837890625, 81.73828125, 85.60546875, 68.818359375, 3.0705394744873047 ]
[ 25.3125, 128.759765625, 85.517578125, 84.287109375, 74.8828125, 2.764976978302002 ]
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": 2,
    "total_frames": 1786,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.channels": 3,
                "has_audio": false
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        "observation.images.webcam": {
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            "shape": [
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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,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "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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