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Datasets:
AshBastian9
/
so101_init_5episodes

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
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action
sequence
observation.state
sequence
timestamp
float32
0
53.1
frame_index
int64
0
1.59k
episode_index
int64
0
4
index
int64
0
6.41k
task_index
int64
0
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[ -0.3515625, 201.4453125, 174.638671875, 76.640625, 4.74609375, 3.2214765548706055 ]
2.466667
74
0
74
0
[ 0.087890625, 202.060546875, 168.57421875, 78.486328125, -0.3515625, 3.220738410949707 ]
[ -0.3515625, 201.4453125, 174.111328125, 76.81640625, 3.955078125, 3.2214765548706055 ]
2.5
75
0
75
0
[ 0.087890625, 201.708984375, 168.486328125, 78.837890625, -2.021484375, 3.220738410949707 ]
[ -0.3515625, 201.4453125, 173.759765625, 76.904296875, 2.8125, 3.2214765548706055 ]
2.533333
76
0
76
0
[ 0.087890625, 201.708984375, 168.3984375, 79.453125, -3.33984375, 3.220738410949707 ]
[ -0.3515625, 201.4453125, 173.3203125, 77.16796875, 1.494140625, 3.2214765548706055 ]
2.566667
77
0
77
0
[ 0.087890625, 201.796875, 168.310546875, 79.8046875, -4.04296875, 3.220738410949707 ]
[ -0.3515625, 201.357421875, 173.056640625, 77.431640625, 0.17578125, 3.2214765548706055 ]
2.6
78
0
78
0
[ 0.52734375, 201.97265625, 168.134765625, 79.892578125, -5.009765625, 3.220738410949707 ]
[ -0.3515625, 201.357421875, 172.880859375, 77.783203125, -1.40625, 3.2214765548706055 ]
2.633333
79
0
79
0
[ 0.791015625, 201.97265625, 168.046875, 79.892578125, -5.712890625, 3.220738410949707 ]
[ -0.3515625, 201.357421875, 172.6171875, 77.958984375, -2.109375, 3.2214765548706055 ]
2.666667
80
0
80
0
[ 0.791015625, 201.97265625, 167.607421875, 79.892578125, -6.064453125, 3.299293041229248 ]
[ -0.3515625, 201.357421875, 172.44140625, 77.958984375, -3.076171875, 3.2214765548706055 ]
2.7
81
0
81
0
[ 0.791015625, 201.357421875, 166.552734375, 79.98046875, -6.064453125, 3.299293041229248 ]
[ -0.3515625, 201.357421875, 172.265625, 78.046875, -3.8671875, 3.2214765548706055 ]
2.733333
82
0
82
0
[ 0.87890625, 201.005859375, 165.234375, 79.98046875, -6.064453125, 3.299293041229248 ]
[ -0.3515625, 201.357421875, 172.177734375, 78.046875, -4.39453125, 3.2214765548706055 ]
2.766667
83
0
83
0
[ 0.87890625, 200.390625, 163.65234375, 79.8046875, -5.9765625, 3.377847671508789 ]
[ -0.3515625, 201.357421875, 172.001953125, 78.046875, -4.658203125, 3.2214765548706055 ]
2.8
84
0
84
0
[ 0.791015625, 199.248046875, 161.806640625, 79.453125, -5.9765625, 3.377847671508789 ]
[ -0.263671875, 201.26953125, 171.38671875, 78.046875, -5.009765625, 3.2214765548706055 ]
2.833333
85
0
85
0
[ 0.791015625, 197.578125, 159.9609375, 79.189453125, -5.9765625, 3.377847671508789 ]
[ -0.17578125, 201.09375, 170.244140625, 79.013671875, -5.185546875, 3.2214765548706055 ]
2.866667
86
0
86
0
[ 0.615234375, 195.556640625, 158.115234375, 79.189453125, -5.9765625, 3.377847671508789 ]
[ -0.17578125, 200.390625, 168.57421875, 79.013671875, -5.361328125, 3.2214765548706055 ]
2.9
87
0
87
0
[ 0.52734375, 193.271484375, 156.26953125, 79.189453125, -5.888671875, 3.377847671508789 ]
[ -0.17578125, 199.248046875, 166.9921875, 79.013671875, -5.537109375, 3.2214765548706055 ]
2.933333
88
0
88
0
[ 0.439453125, 190.986328125, 154.423828125, 79.189453125, -5.888671875, 3.377847671508789 ]
[ -0.263671875, 197.841796875, 165.234375, 79.013671875, -5.537109375, 3.2214765548706055 ]
2.966667
89
0
89
0
[ 0.52734375, 188.525390625, 152.490234375, 79.1015625, -5.80078125, 3.377847671508789 ]
[ -0.263671875, 196.083984375, 163.564453125, 79.013671875, -5.537109375, 3.2214765548706055 ]
3
90
0
90
0
[ 0.439453125, 186.064453125, 150.205078125, 79.1015625, -5.80078125, 3.377847671508789 ]
[ -0.263671875, 194.150390625, 161.806640625, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.033333
91
0
91
0
[ 0.3515625, 183.69140625, 147.919921875, 79.1015625, -5.80078125, 3.377847671508789 ]
[ -0.263671875, 192.041015625, 160.048828125, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.066667
92
0
92
0
[ 0.263671875, 181.23046875, 145.546875, 79.1015625, -5.80078125, 3.377847671508789 ]
[ -0.263671875, 189.931640625, 158.115234375, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.1
93
0
93
0
[ 0.17578125, 178.681640625, 142.998046875, 79.1015625, -5.712890625, 3.377847671508789 ]
[ -0.263671875, 187.646484375, 156.09375, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.133333
94
0
94
0
[ 0.087890625, 176.220703125, 140.361328125, 79.013671875, -5.712890625, 3.377847671508789 ]
[ -0.263671875, 185.361328125, 154.072265625, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.166667
95
0
95
0
[ 0.087890625, 173.671875, 137.63671875, 78.837890625, -5.361328125, 3.377847671508789 ]
[ -0.17578125, 182.900390625, 151.787109375, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.2
96
0
96
0
[ 0.087890625, 170.947265625, 135, 78.3984375, -4.74609375, 3.377847671508789 ]
[ -0.17578125, 180.439453125, 149.501953125, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.233333
97
0
97
0
[ 0.087890625, 167.958984375, 132.275390625, 77.87109375, -3.955078125, 3.377847671508789 ]
[ -0.17578125, 177.978515625, 147.041015625, 79.013671875, -5.537109375, 3.2214765548706055 ]
3.266667
98
0
98
0
[ 0.087890625, 164.970703125, 129.7265625, 77.431640625, -3.33984375, 3.377847671508789 ]
[ -0.17578125, 175.4296875, 144.66796875, 79.013671875, -5.537109375, 3.2214765548706055 ]
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": 5,
    "total_frames": 6414,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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