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Datasets:
bobdingli
/
so101_test_1

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
1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.7
frame_index
int64
0
590
episode_index
int64
0
29
index
int64
0
17.6k
task_index
int64
0
0
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[ 13.974609375, 194.326171875, 159.345703125, 46.669921875, -3.33984375, 0.935251772403717 ]
2.366667
71
0
71
0
[ 15.556640625, 194.0625, 157.236328125, 43.2421875, -3.603515625, 0.717131495475769 ]
[ 13.974609375, 194.326171875, 159.169921875, 46.142578125, -3.33984375, 0.935251772403717 ]
2.4
72
0
72
0
[ 16.259765625, 194.0625, 157.236328125, 42.36328125, -3.603515625, 0.717131495475769 ]
[ 14.326171875, 194.326171875, 159.169921875, 45.52734375, -3.33984375, 0.935251772403717 ]
2.433333
73
0
73
0
[ 17.138671875, 194.0625, 157.412109375, 41.396484375, -3.603515625, 0.717131495475769 ]
[ 14.853515625, 194.326171875, 159.169921875, 44.82421875, -3.33984375, 0.935251772403717 ]
2.466667
74
0
74
0
[ 18.017578125, 193.974609375, 157.939453125, 40.4296875, -3.603515625, 0.717131495475769 ]
[ 15.556640625, 194.326171875, 159.169921875, 43.857421875, -3.33984375, 0.935251772403717 ]
2.5
75
0
75
0
[ 18.80859375, 193.974609375, 158.37890625, 39.462890625, -3.603515625, 0.717131495475769 ]
[ 16.171875, 194.326171875, 159.169921875, 43.06640625, -3.33984375, 0.935251772403717 ]
2.533333
76
0
76
0
[ 19.3359375, 193.798828125, 158.466796875, 38.84765625, -3.603515625, 0.717131495475769 ]
[ 16.962890625, 194.326171875, 159.169921875, 42.099609375, -3.33984375, 0.935251772403717 ]
2.566667
77
0
77
0
[ 19.599609375, 193.447265625, 158.5546875, 38.49609375, -3.603515625, 0.717131495475769 ]
[ 17.841796875, 194.326171875, 159.169921875, 41.220703125, -3.33984375, 0.935251772403717 ]
2.6
78
0
78
0
[ 19.599609375, 192.65625, 158.5546875, 38.408203125, -3.515625, 0.717131495475769 ]
[ 18.6328125, 194.326171875, 159.169921875, 40.517578125, -3.33984375, 0.935251772403717 ]
2.633333
79
0
79
0
[ 19.6875, 191.513671875, 158.5546875, 38.408203125, -2.98828125, 0.717131495475769 ]
[ 18.984375, 194.0625, 159.169921875, 39.90234375, -3.33984375, 0.935251772403717 ]
2.666667
80
0
80
0
[ 19.775390625, 190.458984375, 158.5546875, 38.232421875, -2.98828125, 0.717131495475769 ]
[ 19.072265625, 193.53515625, 159.169921875, 39.638671875, -3.33984375, 0.935251772403717 ]
2.7
81
0
81
0
[ 19.86328125, 189.404296875, 158.5546875, 38.14453125, -2.8125, 0.717131495475769 ]
[ 18.80859375, 192.83203125, 159.169921875, 39.462890625, -3.33984375, 0.935251772403717 ]
2.733333
82
0
82
0
[ 19.86328125, 188.349609375, 158.5546875, 38.14453125, -2.724609375, 0.717131495475769 ]
[ 18.984375, 191.77734375, 159.169921875, 39.19921875, -3.251953125, 0.935251772403717 ]
2.766667
83
0
83
0
[ 20.21484375, 187.3828125, 158.5546875, 37.96875, -2.63671875, 0.717131495475769 ]
[ 19.248046875, 190.986328125, 159.169921875, 39.111328125, -3.1640625, 0.935251772403717 ]
2.8
84
0
84
0
[ 20.91796875, 186.240234375, 158.5546875, 37.529296875, -2.63671875, 0.717131495475769 ]
[ 19.6875, 189.931640625, 159.169921875, 39.111328125, -3.076171875, 0.935251772403717 ]
2.833333
85
0
85
0
[ 22.060546875, 184.921875, 158.5546875, 36.826171875, -2.63671875, 0.717131495475769 ]
[ 19.6875, 188.876953125, 159.169921875, 39.0234375, -2.98828125, 0.935251772403717 ]
2.866667
86
0
86
0
[ 23.291015625, 183.427734375, 158.466796875, 35.859375, -2.63671875, 0.717131495475769 ]
[ 19.951171875, 187.822265625, 159.169921875, 38.583984375, -2.900390625, 0.935251772403717 ]
2.9
87
0
87
0
[ 24.78515625, 181.494140625, 158.37890625, 34.541015625, -2.63671875, 0.717131495475769 ]
[ 20.91796875, 186.416015625, 159.169921875, 37.96875, -2.900390625, 0.935251772403717 ]
2.933333
88
0
88
0
[ 26.19140625, 179.384765625, 158.37890625, 32.958984375, -2.63671875, 0.717131495475769 ]
[ 22.236328125, 185.185546875, 159.169921875, 37.265625, -2.900390625, 0.935251772403717 ]
2.966667
89
0
89
0
[ 27.421875, 177.099609375, 157.939453125, 31.201171875, -2.63671875, 0.717131495475769 ]
[ 23.291015625, 183.603515625, 159.169921875, 36.2109375, -2.900390625, 0.935251772403717 ]
3
90
0
90
0
[ 28.212890625, 174.814453125, 157.5, 29.1796875, -2.63671875, 0.717131495475769 ]
[ 24.2578125, 181.845703125, 159.169921875, 34.98046875, -2.900390625, 0.935251772403717 ]
3.033333
91
0
91
0
[ 28.916015625, 172.44140625, 157.236328125, 26.89453125, -2.63671875, 0.717131495475769 ]
[ 25.576171875, 179.912109375, 159.169921875, 33.486328125, -2.900390625, 0.935251772403717 ]
3.066667
92
0
92
0
[ 29.1796875, 170.15625, 157.236328125, 24.521484375, -2.63671875, 0.717131495475769 ]
[ 26.89453125, 177.36328125, 159.169921875, 31.640625, -2.900390625, 0.935251772403717 ]
3.1
93
0
93
0
[ 29.35546875, 167.958984375, 157.1484375, 22.1484375, -2.63671875, 0.717131495475769 ]
[ 27.94921875, 175.078125, 159.169921875, 29.8828125, -2.900390625, 0.935251772403717 ]
3.133333
94
0
94
0
[ 29.35546875, 166.025390625, 157.1484375, 19.599609375, -2.63671875, 0.717131495475769 ]
[ 28.30078125, 172.79296875, 159.169921875, 27.94921875, -2.900390625, 0.935251772403717 ]
3.166667
95
0
95
0
[ 29.35546875, 164.091796875, 157.1484375, 17.314453125, -2.63671875, 0.717131495475769 ]
[ 28.564453125, 170.5078125, 159.2578125, 25.576171875, -2.900390625, 0.935251772403717 ]
3.2
96
0
96
0
[ 29.443359375, 162.158203125, 157.1484375, 15.205078125, -2.63671875, 0.717131495475769 ]
[ 28.564453125, 168.57421875, 159.2578125, 23.291015625, -2.900390625, 0.935251772403717 ]
3.233333
97
0
97
0
[ 29.443359375, 160.048828125, 157.1484375, 13.359375, -2.63671875, 0.717131495475769 ]
[ 28.65234375, 166.552734375, 159.2578125, 21.09375, -2.900390625, 0.935251772403717 ]
3.266667
98
0
98
0
[ 29.443359375, 158.115234375, 157.060546875, 11.689453125, -2.63671875, 0.717131495475769 ]
[ 29.00390625, 164.53125, 159.2578125, 18.80859375, -2.900390625, 0.935251772403717 ]
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": 30,
    "total_frames": 17609,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "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
            }
        },
        "observation.images.phone": {
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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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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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:
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