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Datasets:
bjb7
/
so101_pen_mug_10_15

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
Libraries:
Datasets
Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
10.9
frame_index
int64
0
326
episode_index
int64
0
9
index
int64
0
2.78k
task_index
int64
0
0
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[ -20.654296875, 134.736328125, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.366667
71
0
71
0
[ -23.02734375, 130.78125, 134.6484375, -9.140625, -111.708984375, 0.7017543911933899 ]
[ -20.654296875, 133.505859375, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.4
72
0
72
0
[ -24.08203125, 129.90234375, 134.6484375, -9.140625, -111.708984375, 0.7017543911933899 ]
[ -20.830078125, 132.36328125, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
[ -26.015625, 127.6171875, 134.6484375, -9.052734375, -111.708984375, 0.7017543911933899 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -24.697265625, 127.6171875, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -25.927734375, 124.892578125, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.7
81
0
81
0
[ -26.982421875, 123.046875, 133.9453125, -9.052734375, -112.587890625, 0.7719298601150513 ]
[ -26.015625, 124.1015625, 139.482421875, -7.119140625, -111.09375, 7.643758296966553 ]
2.733333
82
0
82
0
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[ -26.279296875, 123.310546875, 139.482421875, -7.119140625, -111.357421875, 7.643758296966553 ]
2.766667
83
0
83
0
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[ -26.3671875, 122.6953125, 139.482421875, -7.119140625, -111.62109375, 7.643758296966553 ]
2.8
84
0
84
0
[ -27.158203125, 122.16796875, 133.681640625, -9.84375, -112.587890625, 2.736842155456543 ]
[ -26.3671875, 122.080078125, 139.482421875, -7.20703125, -111.796875, 7.643758296966553 ]
2.833333
85
0
85
0
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[ -26.3671875, 121.640625, 139.482421875, -7.470703125, -111.97265625, 7.643758296966553 ]
2.866667
86
0
86
0
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[ -26.3671875, 121.46484375, 139.482421875, -7.55859375, -111.97265625, 7.643758296966553 ]
2.9
87
0
87
0
[ -27.0703125, 122.34375, 133.59375, -9.84375, -112.67578125, 7.5789475440979 ]
[ -26.3671875, 121.46484375, 139.482421875, -7.646484375, -111.97265625, 7.643758296966553 ]
2.933333
88
0
88
0
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[ -26.3671875, 121.376953125, 139.482421875, -7.646484375, -111.97265625, 7.643758296966553 ]
2.966667
89
0
89
0
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3
90
0
90
0
[ -26.455078125, 122.51953125, 133.505859375, -9.84375, -111.97265625, 12 ]
[ -26.3671875, 121.376953125, 139.39453125, -7.646484375, -111.97265625, 8.555399894714355 ]
3.033333
91
0
91
0
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[ -26.3671875, 121.376953125, 139.306640625, -7.646484375, -111.97265625, 9.116409301757812 ]
3.066667
92
0
92
0
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[ -26.3671875, 121.376953125, 139.306640625, -7.646484375, -111.97265625, 10.168302536010742 ]
3.1
93
0
93
0
[ -26.3671875, 122.783203125, 133.330078125, -9.84375, -111.708984375, 13.894737243652344 ]
[ -26.3671875, 121.376953125, 139.306640625, -7.646484375, -111.97265625, 11.360448837280273 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -26.3671875, 121.376953125, 139.21875, -7.646484375, -111.97265625, 12.692848205566406 ]
3.2
96
0
96
0
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[ -26.3671875, 121.376953125, 138.779296875, -7.646484375, -111.97265625, 13.183731079101562 ]
3.233333
97
0
97
0
[ -26.19140625, 124.716796875, 131.8359375, -8.876953125, -110.56640625, 13.894737243652344 ]
[ -26.3671875, 121.376953125, 138.427734375, -7.646484375, -111.97265625, 13.46423625946045 ]
3.266667
98
0
98
0
[ -26.015625, 125.15625, 132.01171875, -8.61328125, -108.984375, 13.543859481811523 ]
[ -26.3671875, 121.376953125, 137.98828125, -7.646484375, -111.97265625, 13.534360885620117 ]
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": 2782,
    "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": [
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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": [
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                640,
                3
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
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        "observation.images.camera_4": {
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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,
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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