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Datasets:
bjb7
/
so101_pen_mug_10_5

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
19.2
frame_index
int64
0
576
episode_index
int64
0
9
index
int64
0
3.16k
task_index
int64
0
0
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[ -9.84375, 141.85546875, 150.908203125, -5.888671875, 56.42578125, 1.824561357498169 ]
[ -8.701171875, 142.119140625, 149.94140625, 0.439453125, 49.21875, 5.610098361968994 ]
2.366667
71
0
71
0
[ -10.01953125, 141.6796875, 151.69921875, -6.591796875, 57.744140625, 1.824561357498169 ]
[ -8.876953125, 141.943359375, 150.8203125, -0.87890625, 51.064453125, 5.610098361968994 ]
2.4
72
0
72
0
[ -10.283203125, 141.591796875, 152.314453125, -7.119140625, 58.88671875, 1.824561357498169 ]
[ -9.228515625, 141.767578125, 151.69921875, -2.021484375, 52.822265625, 5.610098361968994 ]
2.433333
73
0
73
0
[ -10.546875, 141.416015625, 152.666015625, -7.470703125, 59.853515625, 1.824561357498169 ]
[ -9.404296875, 141.591796875, 152.40234375, -3.076171875, 54.4921875, 5.610098361968994 ]
2.466667
74
0
74
0
[ -10.810546875, 141.328125, 153.017578125, -7.646484375, 60.64453125, 1.824561357498169 ]
[ -9.66796875, 141.416015625, 153.10546875, -3.8671875, 55.8984375, 5.610098361968994 ]
2.5
75
0
75
0
[ -11.162109375, 141.328125, 153.28125, -7.646484375, 61.435546875, 1.824561357498169 ]
[ -9.84375, 141.240234375, 153.544921875, -4.5703125, 57.12890625, 5.610098361968994 ]
2.533333
76
0
76
0
[ -11.42578125, 141.240234375, 153.45703125, -7.734375, 62.05078125, 1.824561357498169 ]
[ -10.107421875, 141.064453125, 153.984375, -5.009765625, 58.271484375, 5.610098361968994 ]
2.566667
77
0
77
0
[ -11.689453125, 141.15234375, 153.720703125, -7.734375, 62.841796875, 1.824561357498169 ]
[ -10.458984375, 141.064453125, 154.248046875, -5.2734375, 59.23828125, 5.610098361968994 ]
2.6
78
0
78
0
[ -11.865234375, 141.15234375, 154.072265625, -7.734375, 63.6328125, 1.824561357498169 ]
[ -10.72265625, 140.9765625, 154.599609375, -5.537109375, 60.205078125, 5.610098361968994 ]
2.633333
79
0
79
0
[ -11.865234375, 141.15234375, 154.423828125, -7.734375, 64.51171875, 1.824561357498169 ]
[ -10.986328125, 140.9765625, 154.775390625, -5.712890625, 60.99609375, 5.610098361968994 ]
2.666667
80
0
80
0
[ -11.865234375, 141.15234375, 154.86328125, -7.734375, 65.56640625, 1.824561357498169 ]
[ -11.25, 140.888671875, 155.0390625, -5.712890625, 61.787109375, 5.610098361968994 ]
2.7
81
0
81
0
[ -11.865234375, 141.15234375, 155.302734375, -7.734375, 66.357421875, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 155.390625, -5.712890625, 62.75390625, 5.610098361968994 ]
2.733333
82
0
82
0
[ -11.865234375, 141.15234375, 155.7421875, -7.734375, 66.4453125, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 155.7421875, -5.712890625, 63.6328125, 5.610098361968994 ]
2.766667
83
0
83
0
[ -11.865234375, 141.15234375, 156.181640625, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 156.181640625, -5.712890625, 64.51171875, 5.610098361968994 ]
2.8
84
0
84
0
[ -11.953125, 141.15234375, 156.62109375, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 156.62109375, -5.712890625, 65.0390625, 5.610098361968994 ]
2.833333
85
0
85
0
[ -12.041015625, 141.15234375, 156.796875, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 157.060546875, -5.712890625, 65.390625, 5.610098361968994 ]
2.866667
86
0
86
0
[ -12.216796875, 141.15234375, 156.708984375, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.337890625, 140.80078125, 157.5, -5.712890625, 65.654296875, 5.610098361968994 ]
2.9
87
0
87
0
[ -12.392578125, 141.15234375, 156.62109375, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.42578125, 140.80078125, 157.763671875, -5.712890625, 65.7421875, 5.610098361968994 ]
2.933333
88
0
88
0
[ -12.568359375, 141.15234375, 156.533203125, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.689453125, 140.80078125, 157.8515625, -5.712890625, 65.91796875, 5.610098361968994 ]
2.966667
89
0
89
0
[ -12.65625, 141.15234375, 156.533203125, -7.734375, 66.533203125, 1.824561357498169 ]
[ -11.77734375, 140.80078125, 157.8515625, -5.712890625, 65.91796875, 5.610098361968994 ]
3
90
0
90
0
[ -12.744140625, 141.240234375, 156.533203125, -7.734375, 66.796875, 1.824561357498169 ]
[ -11.953125, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.033333
91
0
91
0
[ -12.744140625, 141.240234375, 156.708984375, -7.734375, 66.97265625, 1.824561357498169 ]
[ -12.12890625, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.066667
92
0
92
0
[ -12.744140625, 141.240234375, 156.97265625, -7.734375, 66.796875, 1.894736886024475 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.1
93
0
93
0
[ -12.744140625, 141.240234375, 157.060546875, -7.734375, 66.62109375, 1.894736886024475 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.133333
94
0
94
0
[ -12.568359375, 141.240234375, 157.060546875, -7.734375, 66.62109375, 1.894736886024475 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.166667
95
0
95
0
[ -12.48046875, 141.240234375, 157.1484375, -7.734375, 66.62109375, 1.894736886024475 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.2
96
0
96
0
[ -12.392578125, 141.240234375, 157.1484375, -7.734375, 66.62109375, 1.9649121761322021 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.233333
97
0
97
0
[ -12.3046875, 141.240234375, 157.1484375, -7.734375, 66.62109375, 2.1052632331848145 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
3.266667
98
0
98
0
[ -12.3046875, 141.240234375, 157.1484375, -7.646484375, 66.62109375, 2.736842155456543 ]
[ -12.216796875, 140.80078125, 157.8515625, -5.712890625, 66.09375, 5.610098361968994 ]
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": 3156,
    "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": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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