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bjb7
/
so101_berm_build_test_2

Tasks:
Robotics
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Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
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Dask
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sequence
observation.state
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float32
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59.5
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[ -2.021484375, 190.458984375, 177.099609375, 37.529296875, -4.833984375, 2.6647965908050537 ]
2.4
72
0
72
0
[ -1.669921875, 188.0859375, 168.046875, 35.595703125, -2.109375, 0.9824560880661011 ]
[ -2.021484375, 190.283203125, 176.484375, 37.529296875, -4.39453125, 2.6647965908050537 ]
2.433333
73
0
73
0
[ -1.93359375, 185.625, 166.11328125, 35.595703125, -1.142578125, 0.9824560880661011 ]
[ -2.021484375, 190.01953125, 175.78125, 37.529296875, -3.779296875, 2.6647965908050537 ]
2.466667
74
0
74
0
[ -2.021484375, 182.724609375, 163.828125, 35.595703125, 0, 0.9824560880661011 ]
[ -2.021484375, 188.96484375, 174.638671875, 37.529296875, -3.076171875, 2.6647965908050537 ]
2.5
75
0
75
0
[ -2.109375, 179.12109375, 161.279296875, 35.595703125, 0.966796875, 0.9824560880661011 ]
[ -2.021484375, 187.294921875, 173.408203125, 37.529296875, -2.28515625, 2.6647965908050537 ]
2.533333
76
0
76
0
[ -2.4609375, 175.25390625, 158.73046875, 35.595703125, 1.142578125, 0.9824560880661011 ]
[ -2.021484375, 184.921875, 171.73828125, 37.529296875, -1.40625, 2.6647965908050537 ]
2.566667
77
0
77
0
[ -3.1640625, 171.03515625, 156.181640625, 35.595703125, 1.40625, 0.9824560880661011 ]
[ -2.021484375, 181.845703125, 169.98046875, 37.529296875, -0.703125, 2.6647965908050537 ]
2.6
78
0
78
0
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[ -2.021484375, 178.857421875, 167.958984375, 37.529296875, -0.17578125, 2.6647965908050537 ]
2.633333
79
0
79
0
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[ -2.109375, 175.4296875, 165.849609375, 37.529296875, 0.17578125, 2.6647965908050537 ]
2.666667
80
0
80
0
[ -5.625, 158.02734375, 148.974609375, 35.595703125, 1.40625, 0.9824560880661011 ]
[ -2.548828125, 171.474609375, 163.30078125, 37.529296875, 0.439453125, 2.6647965908050537 ]
2.7
81
0
81
0
[ -6.328125, 153.984375, 146.77734375, 35.595703125, 1.40625, 0.9824560880661011 ]
[ -3.33984375, 167.6953125, 161.015625, 37.529296875, 0.615234375, 2.6647965908050537 ]
2.733333
82
0
82
0
[ -7.294921875, 150.46875, 144.66796875, 35.595703125, 1.93359375, 0.9824560880661011 ]
[ -4.306640625, 163.564453125, 158.642578125, 37.529296875, 0.703125, 2.6647965908050537 ]
2.766667
83
0
83
0
[ -8.525390625, 146.953125, 142.646484375, 35.595703125, 2.021484375, 0.9824560880661011 ]
[ -5.185546875, 159.169921875, 156.181640625, 37.529296875, 0.966796875, 2.6647965908050537 ]
2.8
84
0
84
0
[ -10.1953125, 144.140625, 140.80078125, 35.947265625, 2.021484375, 0.9824560880661011 ]
[ -5.80078125, 155.56640625, 154.072265625, 37.44140625, 1.142578125, 2.6647965908050537 ]
2.833333
85
0
85
0
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[ -6.767578125, 151.5234375, 151.611328125, 37.44140625, 1.318359375, 2.6647965908050537 ]
2.866667
86
0
86
0
[ -12.744140625, 138.8671875, 138.427734375, 36.474609375, 2.021484375, 0.9824560880661011 ]
[ -7.822265625, 148.447265625, 149.853515625, 37.44140625, 1.318359375, 2.6647965908050537 ]
2.9
87
0
87
0
[ -13.798828125, 136.669921875, 137.8125, 36.474609375, 2.021484375, 0.9824560880661011 ]
[ -9.228515625, 145.283203125, 147.919921875, 37.44140625, 1.318359375, 2.6647965908050537 ]
2.933333
88
0
88
0
[ -14.501953125, 134.384765625, 137.28515625, 36.474609375, 2.021484375, 0.9824560880661011 ]
[ -10.634765625, 142.294921875, 146.25, 37.44140625, 1.318359375, 2.6647965908050537 ]
2.966667
89
0
89
0
[ -15.205078125, 132.01171875, 136.40625, 36.474609375, 2.021484375, 0.7719298601150513 ]
[ -11.865234375, 139.5703125, 144.931640625, 37.44140625, 1.318359375, 2.6647965908050537 ]
3
90
0
90
0
[ -15.46875, 129.814453125, 135.439453125, 36.474609375, 2.021484375, 0.5614035129547119 ]
[ -13.0078125, 137.109375, 143.96484375, 37.44140625, 1.318359375, 2.6647965908050537 ]
3.033333
91
0
91
0
[ -16.083984375, 127.353515625, 133.857421875, 36.650390625, 2.109375, 0.49122804403305054 ]
[ -13.798828125, 134.560546875, 142.998046875, 37.44140625, 1.318359375, 2.6647965908050537 ]
3.066667
92
0
92
0
[ -16.875, 124.98046875, 132.01171875, 37.177734375, 2.197265625, 0.42105260491371155 ]
[ -14.326171875, 131.8359375, 142.03125, 37.44140625, 1.318359375, 2.6647965908050537 ]
3.1
93
0
93
0
[ -17.9296875, 122.607421875, 130.166015625, 38.583984375, 2.197265625, 0.42105260491371155 ]
[ -14.853515625, 129.462890625, 140.9765625, 37.529296875, 1.318359375, 2.6647965908050537 ]
3.133333
94
0
94
0
[ -18.720703125, 120.673828125, 128.232421875, 40.95703125, 2.197265625, 0.42105260491371155 ]
[ -15.29296875, 127.001953125, 139.5703125, 37.79296875, 1.318359375, 2.6647965908050537 ]
3.166667
95
0
95
0
[ -19.423828125, 118.828125, 126.03515625, 44.033203125, 2.197265625, 0.42105260491371155 ]
[ -16.083984375, 124.453125, 137.98828125, 38.671875, 1.318359375, 2.6647965908050537 ]
3.2
96
0
96
0
[ -20.126953125, 117.0703125, 123.486328125, 47.900390625, 2.197265625, 0.35087719559669495 ]
[ -17.2265625, 122.080078125, 136.142578125, 40.25390625, 1.318359375, 2.6647965908050537 ]
3.233333
97
0
97
0
[ -20.830078125, 115.576171875, 120.76171875, 52.20703125, 2.28515625, 0.35087719559669495 ]
[ -18.28125, 120.05859375, 134.296875, 42.36328125, 1.318359375, 2.6647965908050537 ]
3.266667
98
0
98
0
[ -21.181640625, 114.169921875, 117.861328125, 56.953125, 2.28515625, 0.28070175647735596 ]
[ -19.16015625, 117.94921875, 132.1875, 45.17578125, 1.318359375, 2.6647965908050537 ]
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": 74683,
    "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": [
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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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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                "video.width": 640,
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                "video.channels": 3,
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        "observation.images.camera_4": {
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            "shape": [
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                640,
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            "names": [
                "height",
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                "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
3.55 MB
Number of rows:
74,683