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Datasets:
bap13
/
so101_test

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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observation.state
sequence
timestamp
float32
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37.6
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int64
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1.13k
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51
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35.8k
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[ -1.93359375, 130.4296875, 107.666015625, 97.646484375, -75.498046875, -1.7605634927749634 ]
2.366667
71
0
71
0
[ -2.109375, 126.03515625, 101.337890625, 98.876953125, -81.298828125, -3.1852471828460693 ]
[ -1.845703125, 129.19921875, 107.138671875, 97.91015625, -77.080078125, -1.7605634927749634 ]
2.4
72
0
72
0
[ -2.109375, 124.716796875, 100.37109375, 98.96484375, -82.44140625, -3.1014251708984375 ]
[ -1.845703125, 128.14453125, 106.435546875, 98.173828125, -78.3984375, -1.7605634927749634 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -1.845703125, 125.595703125, 104.58984375, 98.26171875, -80.771484375, -1.7605634927749634 ]
2.5
75
0
75
0
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[ -1.845703125, 124.541015625, 103.798828125, 98.26171875, -81.73828125, -1.7605634927749634 ]
2.533333
76
0
76
0
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[ -1.845703125, 123.046875, 102.744140625, 98.26171875, -82.529296875, -1.7605634927749634 ]
2.566667
77
0
77
0
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[ -1.93359375, 121.201171875, 101.77734375, 98.26171875, -83.056640625, -1.7605634927749634 ]
2.6
78
0
78
0
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[ -2.021484375, 119.1796875, 100.986328125, 98.26171875, -83.583984375, -1.7605634927749634 ]
2.633333
79
0
79
0
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[ -2.197265625, 117.158203125, 100.283203125, 98.26171875, -84.0234375, -1.7605634927749634 ]
2.666667
80
0
80
0
[ -1.845703125, 110.21484375, 94.482421875, 98.701171875, -84.7265625, -3.0176026821136475 ]
[ -2.28515625, 114.9609375, 99.66796875, 98.26171875, -84.19921875, -1.7605634927749634 ]
2.7
81
0
81
0
[ -1.318359375, 109.248046875, 93.515625, 98.7890625, -84.7265625, -3.0176026821136475 ]
[ -2.373046875, 112.32421875, 98.96484375, 98.26171875, -84.287109375, -1.7605634927749634 ]
2.733333
82
0
82
0
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[ -2.109375, 110.830078125, 98.349609375, 98.26171875, -84.287109375, -1.7605634927749634 ]
2.766667
83
0
83
0
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[ -1.669921875, 109.6875, 97.646484375, 98.26171875, -84.287109375, -1.7605634927749634 ]
2.8
84
0
84
0
[ 0, 108.369140625, 90.52734375, 98.525390625, -85.25390625, -3.0176026821136475 ]
[ -1.142578125, 108.896484375, 97.03125, 98.26171875, -84.287109375, -1.7605634927749634 ]
2.833333
85
0
85
0
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[ -0.615234375, 108.45703125, 96.240234375, 98.26171875, -84.375, -1.7605634927749634 ]
2.866667
86
0
86
0
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[ -0.263671875, 108.017578125, 95.185546875, 98.26171875, -84.55078125, -1.7605634927749634 ]
2.9
87
0
87
0
[ -1.318359375, 106.5234375, 85.95703125, 98.525390625, -84.990234375, -3.1852471828460693 ]
[ -0.263671875, 107.490234375, 93.955078125, 98.26171875, -84.638671875, -1.7605634927749634 ]
2.933333
88
0
88
0
[ -1.93359375, 105.556640625, 84.462890625, 98.7890625, -84.7265625, -3.1852471828460693 ]
[ -0.703125, 106.962890625, 92.724609375, 98.26171875, -84.7265625, -1.7605634927749634 ]
2.966667
89
0
89
0
[ -2.548828125, 104.4140625, 82.96875, 99.140625, -84.7265625, -3.1852471828460693 ]
[ -1.0546875, 106.259765625, 91.318359375, 98.26171875, -84.7265625, -1.7605634927749634 ]
3
90
0
90
0
[ -2.98828125, 103.0078125, 81.5625, 99.228515625, -84.638671875, -3.1852471828460693 ]
[ -1.318359375, 105.380859375, 89.736328125, 98.26171875, -84.638671875, -1.7605634927749634 ]
3.033333
91
0
91
0
[ -3.515625, 101.162109375, 80.068359375, 99.228515625, -84.638671875, -3.1852471828460693 ]
[ -1.93359375, 104.0625, 87.802734375, 98.26171875, -84.638671875, -1.7605634927749634 ]
3.066667
92
0
92
0
[ -3.955078125, 99.4921875, 78.837890625, 99.228515625, -84.638671875, -3.1852471828460693 ]
[ -2.4609375, 103.095703125, 86.66015625, 98.26171875, -84.638671875, -1.7605634927749634 ]
3.1
93
0
93
0
[ -4.306640625, 97.822265625, 77.6953125, 99.31640625, -85.078125, -3.1852471828460693 ]
[ -2.98828125, 101.953125, 85.4296875, 98.26171875, -84.638671875, -1.7605634927749634 ]
3.133333
94
0
94
0
[ -4.5703125, 96.240234375, 76.552734375, 99.31640625, -85.341796875, -3.1852471828460693 ]
[ -3.515625, 100.546875, 84.0234375, 98.26171875, -84.638671875, -1.7605634927749634 ]
3.166667
95
0
95
0
[ -5.09765625, 94.482421875, 75.322265625, 99.31640625, -85.4296875, -3.1852471828460693 ]
[ -4.04296875, 98.4375, 82.353515625, 98.4375, -84.638671875, -1.7605634927749634 ]
3.2
96
0
96
0
[ -5.44921875, 92.98828125, 74.1796875, 99.404296875, -85.693359375, -3.1852471828460693 ]
[ -4.5703125, 96.240234375, 80.947265625, 98.525390625, -84.638671875, -1.7605634927749634 ]
3.233333
97
0
97
0
[ -5.888671875, 91.7578125, 73.212890625, 99.404296875, -85.95703125, -3.1852471828460693 ]
[ -4.921875, 94.21875, 79.62890625, 98.525390625, -84.638671875, -1.7605634927749634 ]
3.266667
98
0
98
0
[ -6.240234375, 90.439453125, 72.0703125, 99.404296875, -86.8359375, -3.1852471828460693 ]
[ -5.09765625, 93.1640625, 78.837890625, 98.525390625, -84.90234375, -1.7605634927749634 ]
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": 15,
    "total_frames": 10721,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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": {
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            "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.context": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        },
        "observation.images.wrist": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "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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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
35,790