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Datasets:
WayneChengV
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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observation.state
sequence
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 38.759765625, 130.78125, 103.7109375, 52.822265625, 82.529296875, 0 ]
2.566667
77
0
77
0
[ 41.66015625, 127.529296875, 99.31640625, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 39.375, 129.90234375, 103.0078125, 52.822265625, 82.529296875, 0 ]
2.6
78
0
78
0
[ 42.1875, 127.001953125, 99.404296875, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 40.078125, 128.84765625, 102.392578125, 52.822265625, 82.529296875, 0 ]
2.633333
79
0
79
0
[ 42.5390625, 126.474609375, 99.404296875, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 40.693359375, 127.96875, 102.12890625, 52.822265625, 82.529296875, 0 ]
2.666667
80
0
80
0
[ 42.890625, 125.947265625, 99.404296875, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 41.30859375, 127.265625, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.7
81
0
81
0
[ 43.2421875, 125.5078125, 99.4921875, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 41.748046875, 126.650390625, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.733333
82
0
82
0
[ 43.2421875, 125.419921875, 99.580078125, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 42.1875, 125.947265625, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.766667
83
0
83
0
[ 42.978515625, 125.419921875, 99.580078125, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 42.5390625, 125.595703125, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.8
84
0
84
0
[ 42.71484375, 125.33203125, 99.580078125, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 42.802734375, 125.595703125, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.833333
85
0
85
0
[ 42.626953125, 125.244140625, 99.580078125, 51.943359375, 82.08984375, -0.3843197524547577 ]
[ 42.802734375, 125.33203125, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.866667
86
0
86
0
[ 42.36328125, 125.15625, 99.4921875, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 42.71484375, 125.33203125, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.9
87
0
87
0
[ 41.923828125, 125.15625, 99.4921875, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 42.626953125, 125.33203125, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.933333
88
0
88
0
[ 41.220703125, 125.15625, 99.580078125, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 42.451171875, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
2.966667
89
0
89
0
[ 40.4296875, 125.068359375, 99.580078125, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 42.451171875, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3
90
0
90
0
[ 39.375, 125.068359375, 99.580078125, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 42.01171875, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.033333
91
0
91
0
[ 38.232421875, 125.068359375, 99.580078125, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 41.396484375, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.066667
92
0
92
0
[ 37.08984375, 125.068359375, 99.66796875, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 40.341796875, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.1
93
0
93
0
[ 35.947265625, 124.98046875, 99.66796875, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 39.287109375, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.133333
94
0
94
0
[ 34.8046875, 124.98046875, 99.66796875, 51.943359375, 82.177734375, -0.3843197524547577 ]
[ 38.3203125, 125.15625, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.166667
95
0
95
0
[ 33.75, 124.98046875, 99.66796875, 51.943359375, 82.265625, -0.3843197524547577 ]
[ 37.353515625, 125.068359375, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.2
96
0
96
0
[ 32.607421875, 124.98046875, 99.66796875, 51.943359375, 82.353515625, -0.3843197524547577 ]
[ 36.298828125, 125.068359375, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.233333
97
0
97
0
[ 31.552734375, 124.8046875, 99.755859375, 51.943359375, 82.44140625, -0.3843197524547577 ]
[ 35.244140625, 124.98046875, 102.041015625, 52.822265625, 82.529296875, 0 ]
3.266667
98
0
98
0
[ 30.41015625, 124.189453125, 99.755859375, 51.943359375, 82.44140625, -0.3843197524547577 ]
[ 34.013671875, 124.8046875, 102.041015625, 52.822265625, 82.529296875, 0 ]
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": 1792,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.laptop": {
            "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
            ],
            "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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