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nicholasluschaeffler
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.433333
73
0
73
0
[ -9.31640625, 192.65625, 185.625, 41.66015625, -5.80078125, 3.1107046604156494 ]
[ -7.470703125, 192.3046875, 185.44921875, 42.099609375, -4.482421875, 3.4509804248809814 ]
2.466667
74
0
74
0
[ -10.72265625, 192.65625, 185.625, 41.66015625, -6.416015625, 3.1107046604156494 ]
[ -7.822265625, 192.3046875, 185.44921875, 42.099609375, -4.921875, 3.4509804248809814 ]
2.5
75
0
75
0
[ -11.865234375, 192.568359375, 185.625, 42.099609375, -6.416015625, 3.1107046604156494 ]
[ -8.0859375, 192.3046875, 185.44921875, 42.099609375, -5.2734375, 3.4509804248809814 ]
2.533333
76
0
76
0
[ -12.041015625, 192.568359375, 185.2734375, 42.626953125, -4.658203125, 3.1107046604156494 ]
[ -9.140625, 192.3046875, 185.44921875, 42.099609375, -5.537109375, 3.4509804248809814 ]
2.566667
77
0
77
0
[ -12.041015625, 192.568359375, 184.658203125, 42.626953125, -2.900390625, 3.1107046604156494 ]
[ -10.1953125, 192.3046875, 185.44921875, 42.099609375, -5.712890625, 3.4509804248809814 ]
2.6
78
0
78
0
[ -12.48046875, 192.568359375, 184.21875, 42.626953125, -2.109375, 3.1107046604156494 ]
[ -11.162109375, 192.3046875, 185.44921875, 42.275390625, -5.625, 3.4509804248809814 ]
2.633333
79
0
79
0
[ -13.271484375, 192.568359375, 183.69140625, 42.890625, -1.23046875, 3.293687105178833 ]
[ -11.513671875, 192.3046875, 185.44921875, 42.5390625, -4.5703125, 3.4509804248809814 ]
2.666667
80
0
80
0
[ -14.23828125, 192.568359375, 182.8125, 43.9453125, -0.263671875, 4.208600044250488 ]
[ -11.953125, 192.3046875, 185.2734375, 42.5390625, -3.603515625, 3.4509804248809814 ]
2.7
81
0
81
0
[ -15.029296875, 192.568359375, 182.021484375, 45, 0.52734375, 4.483074188232422 ]
[ -12.568359375, 192.3046875, 185.185546875, 42.5390625, -2.63671875, 3.4509804248809814 ]
2.733333
82
0
82
0
[ -15.732421875, 192.568359375, 181.0546875, 46.0546875, 1.23046875, 4.574565410614014 ]
[ -13.095703125, 192.3046875, 185.009765625, 43.505859375, -1.494140625, 3.843137264251709 ]
2.766667
83
0
83
0
[ -16.083984375, 192.568359375, 180.439453125, 46.7578125, 1.58203125, 4.574565410614014 ]
[ -13.623046875, 192.3046875, 185.009765625, 44.033203125, -0.87890625, 4 ]
2.8
84
0
84
0
[ -16.34765625, 192.48046875, 179.82421875, 47.373046875, 1.7578125, 4.574565410614014 ]
[ -14.4140625, 192.3046875, 185.009765625, 44.912109375, -0.263671875, 4.235293865203857 ]
2.833333
85
0
85
0
[ -16.611328125, 191.77734375, 178.857421875, 47.98828125, 1.93359375, 4.574565410614014 ]
[ -15.46875, 192.3046875, 185.009765625, 45.87890625, 0.52734375, 4.235293865203857 ]
2.866667
86
0
86
0
[ -16.875, 189.931640625, 177.451171875, 48.515625, 2.109375, 4.574565410614014 ]
[ -15.908203125, 192.3046875, 184.658203125, 46.669921875, 0.966796875, 4.235293865203857 ]
2.9
87
0
87
0
[ -17.05078125, 186.15234375, 175.25390625, 48.603515625, 2.548828125, 4.574565410614014 ]
[ -16.259765625, 192.041015625, 183.955078125, 47.373046875, 1.40625, 4.235293865203857 ]
2.933333
88
0
88
0
[ -17.05078125, 183.33984375, 173.49609375, 48.515625, 2.548828125, 4.574565410614014 ]
[ -16.34765625, 191.337890625, 182.98828125, 47.98828125, 1.669921875, 4.235293865203857 ]
2.966667
89
0
89
0
[ -17.05078125, 179.033203125, 170.947265625, 48.1640625, 2.63671875, 4.574565410614014 ]
[ -16.34765625, 189.931640625, 181.58203125, 48.251953125, 2.021484375, 4.235293865203857 ]
3
90
0
90
0
[ -17.05078125, 173.408203125, 167.783203125, 47.63671875, 2.4609375, 4.208600044250488 ]
[ -16.611328125, 188.0859375, 180.087890625, 48.251953125, 2.197265625, 4.235293865203857 ]
3.033333
91
0
91
0
[ -17.05078125, 168.837890625, 164.8828125, 47.548828125, 2.197265625, 4.208600044250488 ]
[ -17.05078125, 185.185546875, 178.330078125, 48.251953125, 2.28515625, 4.235293865203857 ]
3.066667
92
0
92
0
[ -17.138671875, 164.091796875, 161.455078125, 47.8125, 1.93359375, 4.208600044250488 ]
[ -17.138671875, 182.021484375, 175.95703125, 48.251953125, 2.28515625, 4.235293865203857 ]
3.1
93
0
93
0
[ -17.138671875, 160.048828125, 158.203125, 48.515625, 1.669921875, 4.208600044250488 ]
[ -17.138671875, 177.71484375, 173.14453125, 48.251953125, 2.28515625, 4.235293865203857 ]
3.133333
94
0
94
0
[ -17.314453125, 156.708984375, 155.126953125, 49.39453125, 1.318359375, 4.208600044250488 ]
[ -17.138671875, 173.3203125, 170.419921875, 48.251953125, 2.28515625, 4.235293865203857 ]
3.166667
95
0
95
0
[ -17.40234375, 154.248046875, 152.578125, 50.185546875, 0.966796875, 4.208600044250488 ]
[ -16.962890625, 169.013671875, 167.87109375, 48.33984375, 2.197265625, 4.235293865203857 ]
3.2
96
0
96
0
[ -17.666015625, 152.05078125, 150.380859375, 50.712890625, 0.703125, 4.208600044250488 ]
[ -16.875, 164.794921875, 164.794921875, 48.955078125, 1.7578125, 4.235293865203857 ]
3.233333
97
0
97
0
[ -17.75390625, 150.380859375, 148.88671875, 50.888671875, 0.439453125, 4.30009126663208 ]
[ -16.875, 161.103515625, 162.158203125, 49.482421875, 1.669921875, 4.235293865203857 ]
3.266667
98
0
98
0
[ -17.75390625, 148.7109375, 147.568359375, 50.9765625, 0.263671875, 4.574565410614014 ]
[ -17.2265625, 157.939453125, 159.78515625, 50.09765625, 1.23046875, 4.235293865203857 ]
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": 2,
    "total_frames": 1699,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
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            "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.right": {
            "dtype": "video",
            "shape": [
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                640,
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                "has_audio": false
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        "observation.images.front": {
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
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                "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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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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