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Datasets:
kaiserbuffle
/
hanoiv2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so101
hanoi tower
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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Auto-converted to Parquet
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action
sequence
observation.state
sequence
timestamp
float32
0
295
frame_index
int64
0
8.84k
episode_index
int64
0
21
index
int64
0
160k
task_index
int64
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0
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70
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[ 6.767578125, 193.798828125, 182.197265625, 53.876953125, 59.94140625, 0.08598452806472778 ]
[ 6.591796875, 192.392578125, 181.845703125, 55.01953125, 52.91015625, 0.7317073345184326 ]
2.366667
71
0
71
0
[ 6.6796875, 193.798828125, 182.197265625, 53.7890625, 61.875, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 55.72265625, 0.7317073345184326 ]
2.4
72
0
72
0
[ 6.591796875, 193.798828125, 182.197265625, 53.7890625, 63.369140625, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 57.83203125, 0.7317073345184326 ]
2.433333
73
0
73
0
[ 6.50390625, 193.798828125, 182.197265625, 53.7890625, 65.126953125, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 59.853515625, 0.7317073345184326 ]
2.466667
74
0
74
0
[ 6.416015625, 193.798828125, 182.197265625, 53.7890625, 66.62109375, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 61.875, 0.7317073345184326 ]
2.5
75
0
75
0
[ 6.240234375, 193.798828125, 182.197265625, 53.7890625, 67.763671875, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 63.544921875, 0.7317073345184326 ]
2.533333
76
0
76
0
[ 6.064453125, 193.798828125, 182.197265625, 53.701171875, 68.818359375, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 55.01953125, 65.0390625, 0.7317073345184326 ]
2.566667
77
0
77
0
[ 5.888671875, 193.798828125, 182.197265625, 53.26171875, 69.697265625, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 54.931640625, 66.4453125, 0.7317073345184326 ]
2.6
78
0
78
0
[ 5.80078125, 193.798828125, 182.197265625, 52.91015625, 70.400390625, 0.08598452806472778 ]
[ 6.6796875, 192.392578125, 181.845703125, 54.84375, 67.587890625, 0.7317073345184326 ]
2.633333
79
0
79
0
[ 5.80078125, 193.798828125, 182.197265625, 52.734375, 71.279296875, 0.08598452806472778 ]
[ 6.50390625, 192.392578125, 181.845703125, 54.404296875, 68.5546875, 0.7317073345184326 ]
2.666667
80
0
80
0
[ 5.712890625, 193.798828125, 182.197265625, 52.294921875, 71.630859375, 0.08598452806472778 ]
[ 6.328125, 192.392578125, 181.845703125, 54.140625, 69.521484375, 0.7317073345184326 ]
2.7
81
0
81
0
[ 5.625, 193.798828125, 182.197265625, 52.119140625, 71.630859375, 0.08598452806472778 ]
[ 6.240234375, 192.392578125, 181.845703125, 53.7890625, 70.3125, 0.7317073345184326 ]
2.733333
82
0
82
0
[ 5.44921875, 193.798828125, 182.197265625, 51.943359375, 71.630859375, 0.08598452806472778 ]
[ 6.240234375, 192.392578125, 181.845703125, 53.525390625, 70.6640625, 0.7317073345184326 ]
2.766667
83
0
83
0
[ 5.2734375, 193.798828125, 182.197265625, 51.85546875, 71.630859375, 0.08598452806472778 ]
[ 6.15234375, 192.392578125, 181.845703125, 53.26171875, 70.927734375, 0.7317073345184326 ]
2.8
84
0
84
0
[ 5.185546875, 193.798828125, 182.197265625, 51.85546875, 71.630859375, 0.08598452806472778 ]
[ 5.888671875, 192.392578125, 181.845703125, 53.26171875, 71.103515625, 0.7317073345184326 ]
2.833333
85
0
85
0
[ 5.185546875, 193.798828125, 182.197265625, 52.03125, 71.630859375, 0.08598452806472778 ]
[ 5.625, 192.392578125, 181.845703125, 53.26171875, 71.19140625, 0.7317073345184326 ]
2.866667
86
0
86
0
[ 5.185546875, 193.798828125, 182.197265625, 52.119140625, 71.54296875, 0.08598452806472778 ]
[ 5.537109375, 192.392578125, 181.845703125, 53.26171875, 71.19140625, 0.7317073345184326 ]
2.9
87
0
87
0
[ 5.185546875, 193.798828125, 182.197265625, 52.119140625, 71.455078125, 0.08598452806472778 ]
[ 5.537109375, 192.392578125, 181.845703125, 53.26171875, 71.19140625, 0.7317073345184326 ]
2.933333
88
0
88
0
[ 5.009765625, 193.798828125, 182.197265625, 51.85546875, 71.455078125, 0.08598452806472778 ]
[ 5.537109375, 192.392578125, 181.845703125, 53.26171875, 71.19140625, 0.7317073345184326 ]
2.966667
89
0
89
0
[ 4.658203125, 193.798828125, 182.197265625, 51.240234375, 71.3671875, 0.08598452806472778 ]
[ 5.44921875, 192.392578125, 181.845703125, 53.26171875, 71.19140625, 0.7317073345184326 ]
3
90
0
90
0
[ 4.04296875, 193.798828125, 182.197265625, 50.361328125, 71.3671875, 0.08598452806472778 ]
[ 5.2734375, 192.392578125, 181.845703125, 52.91015625, 71.19140625, 0.7317073345184326 ]
3.033333
91
0
91
0
[ 3.251953125, 193.798828125, 182.197265625, 49.39453125, 71.3671875, 0.08598452806472778 ]
[ 4.921875, 192.392578125, 181.845703125, 52.294921875, 71.19140625, 0.7317073345184326 ]
3.066667
92
0
92
0
[ 2.548828125, 193.798828125, 182.197265625, 48.33984375, 71.455078125, 0.08598452806472778 ]
[ 4.306640625, 192.392578125, 181.845703125, 51.416015625, 71.19140625, 0.7317073345184326 ]
3.1
93
0
93
0
[ 1.845703125, 193.798828125, 182.197265625, 47.197265625, 71.54296875, 0.08598452806472778 ]
[ 3.69140625, 192.392578125, 181.845703125, 50.625, 71.19140625, 0.7317073345184326 ]
3.133333
94
0
94
0
[ 1.40625, 193.798828125, 182.197265625, 46.23046875, 71.89453125, 0.08598452806472778 ]
[ 3.076171875, 192.392578125, 181.845703125, 49.658203125, 71.19140625, 0.7317073345184326 ]
3.166667
95
0
95
0
[ 0.966796875, 193.798828125, 181.7578125, 45.791015625, 71.89453125, 0.08598452806472778 ]
[ 2.4609375, 192.392578125, 181.845703125, 48.603515625, 71.3671875, 0.7317073345184326 ]
3.2
96
0
96
0
[ 0.703125, 193.798828125, 181.142578125, 45.703125, 71.89453125, 0.08598452806472778 ]
[ 1.93359375, 192.392578125, 181.845703125, 47.8125, 71.54296875, 0.7317073345184326 ]
3.233333
97
0
97
0
[ 0.439453125, 193.798828125, 180.439453125, 45.966796875, 72.0703125, 0.08598452806472778 ]
[ 1.669921875, 192.392578125, 181.845703125, 47.373046875, 71.54296875, 0.7317073345184326 ]
3.266667
98
0
98
0
[ 0.3515625, 193.359375, 179.47265625, 46.318359375, 72.24609375, 0.08598452806472778 ]
[ 1.23046875, 192.392578125, 181.845703125, 47.197265625, 71.54296875, 0.7317073345184326 ]
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": 22,
    "total_frames": 159764,
    "total_tasks": 1,
    "total_videos": 44,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:22"
    },
    "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.wrist": {
            "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.base": {
            "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",
            "shape": [
                1
            ],
            "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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Size of the auto-converted Parquet files:
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Number of rows:
159,764