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Datasets:
tenkau
/
so101ver3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
9
index
int64
0
5.4k
task_index
int64
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[ -8.525390625, 191.6015625, 161.015625, 54.931640625, 5.44921875, 0.06988120079040527 ]
2.366667
71
0
71
0
[ -8.876953125, 191.25, 155.390625, 55.1953125, -0.3515625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 160.3125, 55.01953125, 3.8671875, 0.06988120079040527 ]
2.4
72
0
72
0
[ -8.876953125, 191.25, 154.3359375, 55.1953125, -1.669921875, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 159.345703125, 55.01953125, 2.4609375, 0.06988120079040527 ]
2.433333
73
0
73
0
[ -8.876953125, 191.162109375, 153.28125, 55.458984375, -2.8125, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 158.37890625, 55.01953125, 1.0546875, 0.06988120079040527 ]
2.466667
74
0
74
0
[ -8.876953125, 191.162109375, 152.2265625, 55.72265625, -3.779296875, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 157.32421875, 55.01953125, -0.3515625, 0.06988120079040527 ]
2.5
75
0
75
0
[ -8.876953125, 191.162109375, 151.259765625, 55.72265625, -4.306640625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 156.357421875, 55.283203125, -1.494140625, 0.06988120079040527 ]
2.533333
76
0
76
0
[ -8.876953125, 191.162109375, 150.29296875, 55.810546875, -4.833984375, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 155.21484375, 55.458984375, -2.373046875, 0.06988120079040527 ]
2.566667
77
0
77
0
[ -8.876953125, 191.07421875, 149.326171875, 55.810546875, -5.009765625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 154.3359375, 55.546875, -3.251953125, 0.06988120079040527 ]
2.6
78
0
78
0
[ -8.876953125, 191.07421875, 148.271484375, 55.810546875, -5.009765625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 153.28125, 55.546875, -3.779296875, 0.06988120079040527 ]
2.633333
79
0
79
0
[ -8.96484375, 191.07421875, 147.392578125, 55.8984375, -5.09765625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 152.314453125, 55.72265625, -4.130859375, 0.06988120079040527 ]
2.666667
80
0
80
0
[ -9.228515625, 190.986328125, 146.513671875, 55.8984375, -5.09765625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 151.259765625, 55.72265625, -4.39453125, 0.06988120079040527 ]
2.7
81
0
81
0
[ -9.84375, 190.986328125, 145.8984375, 55.986328125, -5.09765625, 0.1665278971195221 ]
[ -8.525390625, 191.6015625, 150.29296875, 55.72265625, -4.482421875, 0.06988120079040527 ]
2.733333
82
0
82
0
[ -10.8984375, 190.986328125, 145.1953125, 55.986328125, -5.09765625, 0.1665278971195221 ]
[ -8.876953125, 191.6015625, 149.326171875, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.766667
83
0
83
0
[ -12.216796875, 190.8984375, 144.580078125, 55.986328125, -5.009765625, 0.1665278971195221 ]
[ -9.580078125, 191.6015625, 148.53515625, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.8
84
0
84
0
[ -13.53515625, 190.8984375, 143.96484375, 56.07421875, -4.482421875, 0.1665278971195221 ]
[ -10.546875, 191.6015625, 147.83203125, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.833333
85
0
85
0
[ -15.1171875, 190.72265625, 143.4375, 56.162109375, -4.39453125, 0.1665278971195221 ]
[ -11.513671875, 191.6015625, 147.12890625, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.866667
86
0
86
0
[ -16.69921875, 190.107421875, 142.91015625, 56.513671875, -4.39453125, 0.1665278971195221 ]
[ -12.83203125, 191.6015625, 146.513671875, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.9
87
0
87
0
[ -18.45703125, 189.140625, 142.294921875, 57.041015625, -4.39453125, 0.08326394855976105 ]
[ -14.326171875, 191.337890625, 145.8984375, 55.8984375, -4.5703125, 0.06988120079040527 ]
2.933333
88
0
88
0
[ -20.0390625, 188.173828125, 141.50390625, 57.568359375, -4.39453125, 0.08326394855976105 ]
[ -15.8203125, 190.810546875, 145.283203125, 56.25, -4.5703125, 0.06988120079040527 ]
2.966667
89
0
89
0
[ -21.533203125, 186.943359375, 140.625, 58.095703125, -4.39453125, -0.08326394855976105 ]
[ -17.314453125, 189.931640625, 144.66796875, 56.77734375, -4.5703125, 0.06988120079040527 ]
3
90
0
90
0
[ -22.8515625, 185.44921875, 139.658203125, 58.623046875, -4.306640625, -0.24979184567928314 ]
[ -18.80859375, 189.052734375, 143.96484375, 57.3046875, -4.5703125, 0.06988120079040527 ]
3.033333
91
0
91
0
[ -23.73046875, 184.04296875, 138.69140625, 58.88671875, -4.306640625, -0.3330557942390442 ]
[ -20.478515625, 187.91015625, 143.26171875, 57.744140625, -4.5703125, 0.06988120079040527 ]
3.066667
92
0
92
0
[ -24.609375, 182.4609375, 137.548828125, 59.150390625, -4.306640625, -0.08326394855976105 ]
[ -21.884765625, 186.50390625, 142.294921875, 58.18359375, -4.5703125, 0.06988120079040527 ]
3.1
93
0
93
0
[ -25.224609375, 180.791015625, 136.23046875, 59.326171875, -4.306640625, 0.08326394855976105 ]
[ -22.8515625, 185.185546875, 141.416015625, 58.623046875, -4.5703125, 0 ]
3.133333
94
0
94
0
[ -25.48828125, 179.033203125, 135, 59.326171875, -4.306640625, 0.08326394855976105 ]
[ -23.466796875, 183.779296875, 140.361328125, 58.88671875, -4.5703125, 0 ]
3.166667
95
0
95
0
[ -25.6640625, 177.099609375, 133.59375, 59.326171875, -4.306640625, 0.08326394855976105 ]
[ -23.994140625, 182.109375, 139.130859375, 59.150390625, -4.5703125, 0 ]
3.2
96
0
96
0
[ -25.83984375, 174.990234375, 132.1875, 59.326171875, -4.306640625, 0.08326394855976105 ]
[ -24.697265625, 180.439453125, 137.98828125, 59.150390625, -4.5703125, 0 ]
3.233333
97
0
97
0
[ -25.927734375, 172.79296875, 130.869140625, 59.326171875, -4.306640625, 0.1665278971195221 ]
[ -25.224609375, 178.59375, 136.7578125, 59.150390625, -4.5703125, 0 ]
3.266667
98
0
98
0
[ -25.927734375, 170.419921875, 129.55078125, 59.326171875, -4.306640625, 0.1665278971195221 ]
[ -25.48828125, 176.66015625, 135.3515625, 59.150390625, -4.5703125, 0 ]
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": 5396,
    "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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        "observation.images.phone": {
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            "names": [
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                "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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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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
        }
    }
}

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:
5,396