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Datasets:
squareoctopus
/
so101_dataset1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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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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[ 6.328125, 57.041015625, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.5
75
0
75
0
[ 5.888671875, 58.447265625, 64.3359375, 73.388671875, 3.515625, 26.955074310302734 ]
[ 6.328125, 56.865234375, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.533333
76
0
76
0
[ 5.888671875, 58.447265625, 64.072265625, 73.388671875, 3.427734375, 26.788684844970703 ]
[ 6.328125, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.566667
77
0
77
0
[ 5.888671875, 58.359375, 63.80859375, 73.388671875, 3.427734375, 26.788684844970703 ]
[ 6.240234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.6
78
0
78
0
[ 5.888671875, 58.359375, 63.720703125, 73.388671875, 3.33984375, 26.788684844970703 ]
[ 6.240234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.633333
79
0
79
0
[ 5.9765625, 58.359375, 63.720703125, 73.388671875, 3.33984375, 26.87188148498535 ]
[ 6.240234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.666667
80
0
80
0
[ 5.9765625, 58.359375, 63.6328125, 73.388671875, 3.33984375, 26.87188148498535 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.7
81
0
81
0
[ 6.15234375, 58.623046875, 63.544921875, 73.388671875, 3.33984375, 26.87188148498535 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.733333
82
0
82
0
[ 6.328125, 58.88671875, 63.544921875, 73.037109375, 3.251953125, 26.70549201965332 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.766667
83
0
83
0
[ 6.50390625, 59.0625, 63.45703125, 72.861328125, 3.1640625, 26.70549201965332 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.8
84
0
84
0
[ 6.591796875, 59.150390625, 63.193359375, 72.94921875, 2.8125, 26.70549201965332 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.833333
85
0
85
0
[ 6.591796875, 59.150390625, 62.490234375, 73.388671875, 2.109375, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 67.32421875, 73.212890625, 3.515625, 26.86882972717285 ]
2.866667
86
0
86
0
[ 6.6796875, 59.0625, 61.962890625, 73.4765625, 1.494140625, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 67.236328125, 73.212890625, 3.33984375, 26.86882972717285 ]
2.9
87
0
87
0
[ 6.767578125, 58.798828125, 61.34765625, 73.4765625, 1.0546875, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 66.884765625, 73.212890625, 2.900390625, 26.86882972717285 ]
2.933333
88
0
88
0
[ 6.767578125, 58.623046875, 60.8203125, 73.388671875, 0.52734375, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 66.4453125, 73.212890625, 2.4609375, 26.86882972717285 ]
2.966667
89
0
89
0
[ 6.767578125, 58.53515625, 60.205078125, 73.388671875, 0, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 65.830078125, 73.212890625, 1.93359375, 26.86882972717285 ]
3
90
0
90
0
[ 6.943359375, 58.53515625, 59.677734375, 73.4765625, -0.3515625, 26.622295379638672 ]
[ 6.15234375, 56.689453125, 65.21484375, 73.212890625, 1.40625, 26.86882972717285 ]
3.033333
91
0
91
0
[ 7.3828125, 58.7109375, 59.4140625, 73.4765625, -0.615234375, 26.53910255432129 ]
[ 6.15234375, 56.689453125, 64.599609375, 73.212890625, 0.966796875, 26.86882972717285 ]
3.066667
92
0
92
0
[ 7.998046875, 59.0625, 59.4140625, 73.4765625, -1.0546875, 26.53910255432129 ]
[ 6.15234375, 56.689453125, 64.072265625, 73.212890625, 0.52734375, 26.86882972717285 ]
3.1
93
0
93
0
[ 8.349609375, 59.0625, 59.4140625, 73.4765625, -1.318359375, 26.53910255432129 ]
[ 6.15234375, 56.689453125, 63.6328125, 73.212890625, 0.087890625, 26.86882972717285 ]
3.133333
94
0
94
0
[ 8.525390625, 59.150390625, 59.4140625, 73.4765625, -1.318359375, 26.53910255432129 ]
[ 6.416015625, 56.689453125, 63.369140625, 73.212890625, -0.263671875, 26.86882972717285 ]
3.166667
95
0
95
0
[ 8.96484375, 59.150390625, 59.23828125, 73.4765625, -1.58203125, 26.53910255432129 ]
[ 6.767578125, 56.689453125, 63.193359375, 73.212890625, -0.615234375, 26.86882972717285 ]
3.2
96
0
96
0
[ 9.228515625, 58.974609375, 59.0625, 73.4765625, -1.93359375, 26.53910255432129 ]
[ 7.294921875, 56.689453125, 63.10546875, 73.212890625, -0.791015625, 26.86882972717285 ]
3.233333
97
0
97
0
[ 9.31640625, 58.7109375, 58.798828125, 73.4765625, -2.021484375, 26.53910255432129 ]
[ 7.822265625, 56.689453125, 63.10546875, 73.212890625, -1.0546875, 26.86882972717285 ]
3.266667
98
0
98
0
[ 9.404296875, 58.623046875, 58.798828125, 73.388671875, -2.021484375, 26.53910255432129 ]
[ 8.349609375, 56.689453125, 63.10546875, 73.212890625, -1.318359375, 26.86882972717285 ]
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": 2558,
    "total_tasks": 1,
    "total_videos": 2,
    "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": {
            "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.laptop": {
            "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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