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Datasets:
igaewa
/
so101_smolvla_50_epochs

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
smolvla
50 epochs
Libraries:
Datasets
Dask
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Community
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
49
index
int64
0
14.9k
task_index
int64
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[ -15.908203125, 196.611328125, 176.484375, 71.015625, -1.40625, -0.10277492552995682 ]
[ -18.45703125, 193.88671875, 176.572265625, 71.279296875, -0.615234375, 0.21802325546741486 ]
2.3
69
0
69
0
[ -15.1171875, 196.611328125, 176.484375, 71.103515625, -1.58203125, -0.10277492552995682 ]
[ -17.666015625, 193.88671875, 176.572265625, 71.279296875, -0.966796875, 0.21802325546741486 ]
2.333333
70
0
70
0
[ -14.23828125, 196.611328125, 176.484375, 70.927734375, -1.7578125, -0.10277492552995682 ]
[ -16.962890625, 193.88671875, 176.572265625, 71.279296875, -1.142578125, 0.21802325546741486 ]
2.366667
71
0
71
0
[ -13.53515625, 196.611328125, 176.572265625, 70.6640625, -1.7578125, -0.10277492552995682 ]
[ -16.259765625, 193.88671875, 176.572265625, 71.279296875, -1.318359375, 0.21802325546741486 ]
2.4
72
0
72
0
[ -13.095703125, 196.611328125, 176.572265625, 70.576171875, -1.845703125, -0.10277492552995682 ]
[ -15.46875, 193.88671875, 176.572265625, 71.279296875, -1.494140625, 0.21802325546741486 ]
2.433333
73
0
73
0
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[ -15.029296875, 193.88671875, 176.572265625, 71.19140625, -1.494140625, 0.21802325546741486 ]
2.466667
74
0
74
0
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[ -14.326171875, 193.88671875, 176.572265625, 71.103515625, -1.494140625, 0.21802325546741486 ]
2.5
75
0
75
0
[ -12.65625, 196.611328125, 176.572265625, 70.576171875, -2.197265625, -0.10277492552995682 ]
[ -13.88671875, 193.798828125, 176.572265625, 71.103515625, -1.494140625, 0.21802325546741486 ]
2.533333
76
0
76
0
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[ -13.447265625, 193.798828125, 176.572265625, 71.103515625, -1.845703125, 0.21802325546741486 ]
2.566667
77
0
77
0
[ -12.65625, 196.611328125, 176.572265625, 70.576171875, -2.28515625, -0.10277492552995682 ]
[ -13.271484375, 193.798828125, 176.572265625, 71.103515625, -1.845703125, 0.21802325546741486 ]
2.6
78
0
78
0
[ -12.568359375, 196.611328125, 176.572265625, 70.576171875, -2.28515625, -0.10277492552995682 ]
[ -13.18359375, 193.798828125, 176.572265625, 71.103515625, -2.109375, 0.21802325546741486 ]
2.633333
79
0
79
0
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[ -13.18359375, 193.798828125, 176.572265625, 71.103515625, -2.109375, 0.21802325546741486 ]
2.666667
80
0
80
0
[ -12.568359375, 196.611328125, 176.572265625, 70.6640625, -2.4609375, -0.10277492552995682 ]
[ -13.18359375, 193.798828125, 176.572265625, 71.103515625, -2.197265625, 0.21802325546741486 ]
2.7
81
0
81
0
[ -12.568359375, 196.611328125, 176.572265625, 70.6640625, -2.63671875, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 71.103515625, -2.197265625, 0.21802325546741486 ]
2.733333
82
0
82
0
[ -12.65625, 196.611328125, 176.572265625, 70.6640625, -2.8125, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 71.103515625, -2.197265625, 0.21802325546741486 ]
2.766667
83
0
83
0
[ -12.65625, 196.611328125, 176.572265625, 70.576171875, -3.076171875, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 71.103515625, -2.373046875, 0.21802325546741486 ]
2.8
84
0
84
0
[ -12.65625, 196.611328125, 176.572265625, 70.3125, -3.427734375, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 71.103515625, -2.548828125, 0.21802325546741486 ]
2.833333
85
0
85
0
[ -12.65625, 196.611328125, 176.572265625, 69.9609375, -3.8671875, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 71.103515625, -2.900390625, 0.21802325546741486 ]
2.866667
86
0
86
0
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[ -13.0078125, 193.798828125, 176.572265625, 70.83984375, -3.076171875, 0.21802325546741486 ]
2.9
87
0
87
0
[ -13.271484375, 195.556640625, 175.78125, 68.994140625, -5.625, -0.10277492552995682 ]
[ -13.0078125, 193.798828125, 176.572265625, 70.48828125, -3.515625, 0.21802325546741486 ]
2.933333
88
0
88
0
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[ -13.0078125, 193.798828125, 176.572265625, 70.13671875, -3.955078125, 0.21802325546741486 ]
2.966667
89
0
89
0
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[ -13.095703125, 193.798828125, 176.572265625, 69.697265625, -4.833984375, 0.21802325546741486 ]
3
90
0
90
0
[ -14.326171875, 186.50390625, 169.365234375, 67.060546875, -9.228515625, -0.10277492552995682 ]
[ -13.271484375, 193.271484375, 176.396484375, 69.169921875, -6.15234375, 0.21802325546741486 ]
3.033333
91
0
91
0
[ -14.765625, 182.28515625, 165.9375, 66.533203125, -9.580078125, -0.10277492552995682 ]
[ -13.798828125, 192.48046875, 175.4296875, 68.642578125, -7.20703125, 0.21802325546741486 ]
3.066667
92
0
92
0
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[ -14.4140625, 190.546875, 173.671875, 67.939453125, -7.822265625, 0.21802325546741486 ]
3.1
93
0
93
0
[ -15.556640625, 172.529296875, 157.8515625, 66.4453125, -8.701171875, 15.621788024902344 ]
[ -14.501953125, 187.20703125, 171.123046875, 67.412109375, -8.61328125, 0.21802325546741486 ]
3.133333
94
0
94
0
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[ -14.4140625, 182.900390625, 168.22265625, 67.236328125, -8.701171875, 0.4360465109348297 ]
3.166667
95
0
95
0
[ -16.435546875, 162.685546875, 150.46875, 65.7421875, -8.173828125, 34.22404861450195 ]
[ -15.205078125, 178.76953125, 164.970703125, 67.1484375, -8.61328125, 3.052325487136841 ]
3.2
96
0
96
0
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[ -15.908203125, 174.814453125, 161.54296875, 66.884765625, -8.525390625, 6.831395149230957 ]
3.233333
97
0
97
0
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[ -16.083984375, 170.947265625, 157.8515625, 66.4453125, -8.349609375, 12.35465145111084 ]
3.266667
98
0
98
0
[ -17.40234375, 148.88671875, 141.943359375, 61.34765625, -8.525390625, 41.82939529418945 ]
[ -15.99609375, 166.46484375, 154.248046875, 65.56640625, -8.4375, 18.822673797607422 ]
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": 14881,
    "total_tasks": 1,
    "total_videos": 50,
    "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": [
                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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.phone": {
            "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
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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