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Datasets:
bjb7
/
so101_pen_mug_10_12

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
17
frame_index
int64
0
511
episode_index
int64
0
9
index
int64
0
3.77k
task_index
int64
0
0
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[ 61.962890625, 167.16796875, 167.080078125, -5.09765625, -111.884765625, 2.3157894611358643 ]
[ 61.787109375, 164.619140625, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.4
72
0
72
0
[ 61.611328125, 168.22265625, 166.728515625, -5.09765625, -111.884765625, 2.3157894611358643 ]
[ 61.787109375, 164.619140625, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.433333
73
0
73
0
[ 61.5234375, 168.662109375, 166.201171875, -5.009765625, -111.884765625, 2.3157894611358643 ]
[ 61.787109375, 165.05859375, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.466667
74
0
74
0
[ 61.5234375, 169.189453125, 165.673828125, -5.009765625, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 165.673828125, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.5
75
0
75
0
[ 61.5234375, 169.541015625, 165.41015625, -4.921875, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 166.376953125, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.533333
76
0
76
0
[ 61.5234375, 169.541015625, 164.8828125, -4.39453125, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 167.080078125, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.566667
77
0
77
0
[ 61.5234375, 169.62890625, 164.53125, -3.251953125, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 167.51953125, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.6
78
0
78
0
[ 61.5234375, 170.244140625, 164.091796875, -1.58203125, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 167.87109375, 168.75, -3.251953125, -112.1484375, 4.978962421417236 ]
2.633333
79
0
79
0
[ 61.435546875, 170.5078125, 163.4765625, 0.615234375, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 168.134765625, 168.662109375, -3.076171875, -112.1484375, 4.978962421417236 ]
2.666667
80
0
80
0
[ 61.435546875, 170.947265625, 162.509765625, 3.1640625, -111.796875, 2.385964870452881 ]
[ 61.787109375, 168.662109375, 168.662109375, -2.28515625, -112.1484375, 4.978962421417236 ]
2.7
81
0
81
0
[ 61.435546875, 171.650390625, 161.279296875, 5.9765625, -111.796875, 2.385964870452881 ]
[ 61.787109375, 168.92578125, 168.662109375, -1.0546875, -112.1484375, 4.978962421417236 ]
2.733333
82
0
82
0
[ 61.435546875, 172.353515625, 159.9609375, 9.052734375, -111.796875, 2.385964870452881 ]
[ 61.787109375, 169.365234375, 168.486328125, 0.615234375, -112.1484375, 4.978962421417236 ]
2.766667
83
0
83
0
[ 61.435546875, 173.14453125, 158.642578125, 12.392578125, -111.796875, 2.385964870452881 ]
[ 61.787109375, 169.8046875, 168.046875, 2.724609375, -112.1484375, 4.978962421417236 ]
2.8
84
0
84
0
[ 61.435546875, 173.84765625, 157.32421875, 15.732421875, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 170.33203125, 167.255859375, 4.833984375, -112.1484375, 4.978962421417236 ]
2.833333
85
0
85
0
[ 61.5234375, 174.55078125, 156.005859375, 19.16015625, -111.796875, 2.3157894611358643 ]
[ 61.787109375, 170.947265625, 166.11328125, 7.3828125, -112.1484375, 4.978962421417236 ]
2.866667
86
0
86
0
[ 61.69921875, 175.341796875, 154.775390625, 22.67578125, -111.708984375, 2.2456140518188477 ]
[ 61.787109375, 171.73828125, 164.794921875, 10.37109375, -112.1484375, 4.978962421417236 ]
2.9
87
0
87
0
[ 61.875, 176.1328125, 153.720703125, 25.927734375, -111.708984375, 2.2456140518188477 ]
[ 61.787109375, 172.529296875, 163.388671875, 13.53515625, -112.1484375, 4.978962421417236 ]
2.933333
88
0
88
0
[ 62.05078125, 176.923828125, 152.666015625, 29.1796875, -111.357421875, 2.2456140518188477 ]
[ 61.787109375, 173.14453125, 162.24609375, 16.259765625, -112.1484375, 4.978962421417236 ]
2.966667
89
0
89
0
[ 62.138671875, 177.626953125, 151.875, 32.16796875, -110.7421875, 2.2456140518188477 ]
[ 61.787109375, 174.0234375, 161.015625, 19.599609375, -112.1484375, 4.978962421417236 ]
3
90
0
90
0
[ 62.138671875, 178.154296875, 151.083984375, 34.98046875, -109.775390625, 2.2456140518188477 ]
[ 61.787109375, 174.814453125, 159.873046875, 22.8515625, -112.1484375, 4.978962421417236 ]
3.033333
91
0
91
0
[ 62.138671875, 178.505859375, 150.46875, 37.6171875, -108.6328125, 2.2456140518188477 ]
[ 61.787109375, 175.60546875, 158.818359375, 26.19140625, -111.97265625, 4.978962421417236 ]
3.066667
92
0
92
0
[ 62.138671875, 178.76953125, 150.029296875, 40.078125, -107.40234375, 2.2456140518188477 ]
[ 61.787109375, 176.30859375, 157.8515625, 29.267578125, -111.357421875, 4.978962421417236 ]
3.1
93
0
93
0
[ 62.2265625, 178.9453125, 149.94140625, 42.1875, -105.99609375, 2.2456140518188477 ]
[ 61.787109375, 176.923828125, 156.884765625, 32.255859375, -110.390625, 4.978962421417236 ]
3.133333
94
0
94
0
[ 62.2265625, 179.296875, 150.029296875, 43.9453125, -104.765625, 2.2456140518188477 ]
[ 61.787109375, 177.451171875, 156.09375, 35.15625, -109.423828125, 4.978962421417236 ]
3.166667
95
0
95
0
[ 62.2265625, 179.384765625, 150.205078125, 45.703125, -103.623046875, 2.175438642501831 ]
[ 61.787109375, 177.890625, 155.56640625, 37.880859375, -108.28125, 4.978962421417236 ]
3.2
96
0
96
0
[ 62.2265625, 179.384765625, 150.29296875, 47.109375, -102.65625, 2.1052632331848145 ]
[ 61.787109375, 178.330078125, 155.302734375, 40.166015625, -107.138671875, 4.978962421417236 ]
3.233333
97
0
97
0
[ 62.2265625, 179.384765625, 150.29296875, 48.603515625, -101.77734375, 2.1052632331848145 ]
[ 61.787109375, 178.681640625, 155.302734375, 42.36328125, -105.99609375, 4.978962421417236 ]
3.266667
98
0
98
0
[ 62.2265625, 179.384765625, 150.29296875, 49.74609375, -101.337890625, 2.1052632331848145 ]
[ 61.787109375, 178.76953125, 155.302734375, 44.296875, -104.853515625, 4.978962421417236 ]
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": 10,
    "total_frames": 3766,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.camera_2": {
            "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
            }
        },
        "observation.images.camera_4": {
            "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",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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