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Datasets:
bjb7
/
so101_pen_mug

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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27
frame_index
int64
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811
episode_index
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[ 10.634765625, 71.71875, 92.373046875, 49.74609375, 70.224609375, 16.760168075561523 ]
2.466667
74
0
74
0
[ 8.701171875, 71.630859375, 90.87890625, 48.427734375, 70.400390625, 17.122806549072266 ]
[ 10.37109375, 71.19140625, 92.373046875, 49.74609375, 70.224609375, 16.760168075561523 ]
2.5
75
0
75
0
[ 8.61328125, 71.279296875, 90.966796875, 47.900390625, 70.400390625, 17.122806549072266 ]
[ 10.01953125, 70.83984375, 92.373046875, 49.74609375, 70.224609375, 16.760168075561523 ]
2.533333
76
0
76
0
[ 8.61328125, 71.015625, 91.0546875, 47.4609375, 70.400390625, 17.122806549072266 ]
[ 9.580078125, 70.400390625, 92.373046875, 49.482421875, 70.224609375, 16.760168075561523 ]
2.566667
77
0
77
0
[ 8.525390625, 70.6640625, 91.0546875, 47.021484375, 70.400390625, 17.122806549072266 ]
[ 9.140625, 70.048828125, 92.373046875, 49.130859375, 70.224609375, 16.760168075561523 ]
2.6
78
0
78
0
[ 8.525390625, 70.3125, 91.0546875, 46.58203125, 70.400390625, 17.122806549072266 ]
[ 8.876953125, 69.78515625, 92.373046875, 48.69140625, 70.224609375, 16.760168075561523 ]
2.633333
79
0
79
0
[ 8.525390625, 70.13671875, 90.966796875, 46.142578125, 70.400390625, 17.122806549072266 ]
[ 8.701171875, 69.43359375, 92.373046875, 48.1640625, 70.224609375, 16.760168075561523 ]
2.666667
80
0
80
0
[ 8.525390625, 69.9609375, 90.966796875, 45.703125, 70.400390625, 17.122806549072266 ]
[ 8.701171875, 68.994140625, 92.373046875, 47.8125, 70.224609375, 16.760168075561523 ]
2.7
81
0
81
0
[ 8.525390625, 69.78515625, 90.966796875, 45.17578125, 70.400390625, 17.122806549072266 ]
[ 8.701171875, 68.818359375, 92.373046875, 47.373046875, 70.224609375, 16.760168075561523 ]
2.733333
82
0
82
0
[ 8.525390625, 69.521484375, 90.966796875, 44.560546875, 70.400390625, 17.122806549072266 ]
[ 8.7890625, 68.5546875, 92.373046875, 46.845703125, 70.224609375, 16.760168075561523 ]
2.766667
83
0
83
0
[ 8.525390625, 69.169921875, 90.966796875, 44.033203125, 70.400390625, 17.122806549072266 ]
[ 8.7890625, 68.37890625, 92.373046875, 46.40625, 70.224609375, 16.760168075561523 ]
2.8
84
0
84
0
[ 8.525390625, 68.73046875, 90.966796875, 43.59375, 70.400390625, 17.122806549072266 ]
[ 8.7890625, 68.115234375, 92.373046875, 45.87890625, 70.224609375, 16.760168075561523 ]
2.833333
85
0
85
0
[ 8.525390625, 68.291015625, 90.966796875, 43.154296875, 70.400390625, 17.122806549072266 ]
[ 8.7890625, 67.763671875, 92.373046875, 45.3515625, 70.224609375, 16.760168075561523 ]
2.866667
86
0
86
0
[ 8.525390625, 68.02734375, 90.966796875, 42.802734375, 70.400390625, 17.052631378173828 ]
[ 8.7890625, 67.412109375, 92.373046875, 44.82421875, 70.224609375, 16.760168075561523 ]
2.9
87
0
87
0
[ 8.525390625, 67.763671875, 90.966796875, 42.5390625, 70.400390625, 16.91227912902832 ]
[ 8.7890625, 66.97265625, 92.373046875, 44.384765625, 70.224609375, 16.760168075561523 ]
2.933333
88
0
88
0
[ 8.525390625, 67.412109375, 90.966796875, 42.275390625, 70.400390625, 16.631580352783203 ]
[ 8.7890625, 66.62109375, 92.373046875, 44.033203125, 70.224609375, 16.760168075561523 ]
2.966667
89
0
89
0
[ 8.525390625, 67.236328125, 90.966796875, 42.099609375, 70.400390625, 16.631580352783203 ]
[ 8.7890625, 66.357421875, 92.373046875, 43.59375, 70.224609375, 16.760168075561523 ]
3
90
0
90
0
[ 8.525390625, 67.236328125, 91.142578125, 41.8359375, 70.400390625, 16.561403274536133 ]
[ 8.7890625, 66.09375, 92.373046875, 43.2421875, 70.224609375, 16.760168075561523 ]
3.033333
91
0
91
0
[ 8.525390625, 67.236328125, 91.40625, 41.66015625, 70.400390625, 16.561403274536133 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.978515625, 70.224609375, 16.760168075561523 ]
3.066667
92
0
92
0
[ 8.525390625, 67.32421875, 91.58203125, 41.66015625, 70.400390625, 16.491228103637695 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.71484375, 70.224609375, 16.760168075561523 ]
3.1
93
0
93
0
[ 8.525390625, 67.5, 91.7578125, 41.66015625, 70.3125, 16.491228103637695 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.5390625, 70.224609375, 16.760168075561523 ]
3.133333
94
0
94
0
[ 8.525390625, 67.587890625, 91.845703125, 41.66015625, 70.3125, 16.491228103637695 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.36328125, 70.224609375, 16.760168075561523 ]
3.166667
95
0
95
0
[ 8.525390625, 67.587890625, 91.845703125, 41.66015625, 70.3125, 16.421052932739258 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.36328125, 70.224609375, 16.760168075561523 ]
3.2
96
0
96
0
[ 8.525390625, 67.587890625, 91.845703125, 41.66015625, 70.3125, 16.421052932739258 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.36328125, 70.224609375, 16.760168075561523 ]
3.233333
97
0
97
0
[ 8.525390625, 67.587890625, 91.93359375, 41.748046875, 70.3125, 16.421052932739258 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.36328125, 70.224609375, 16.760168075561523 ]
3.266667
98
0
98
0
[ 8.525390625, 67.67578125, 91.93359375, 41.748046875, 70.3125, 16.35087776184082 ]
[ 8.7890625, 65.91796875, 92.373046875, 42.36328125, 70.224609375, 16.760168075561523 ]
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": 50,
    "total_frames": 25138,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.camera_4": {
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            "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
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "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:
25,138