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Datasets:
squareoctopus
/
so101_dataset2

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
0
36
frame_index
int64
0
1.08k
episode_index
int64
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3
index
int64
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3.43k
task_index
int64
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0
73
0
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[ -1.58203125, 96.416015625, 102.48046875, 36.5625, 0.52734375, 22.56699562072754 ]
2.466667
74
0
74
0
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[ -1.58203125, 93.779296875, 99.931640625, 37.177734375, 0.52734375, 22.56699562072754 ]
2.5
75
0
75
0
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[ -1.58203125, 91.318359375, 97.20703125, 38.232421875, 0.52734375, 22.56699562072754 ]
2.533333
76
0
76
0
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[ -1.58203125, 88.76953125, 94.21875, 39.375, 0.52734375, 22.56699562072754 ]
2.566667
77
0
77
0
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[ -1.58203125, 86.30859375, 91.0546875, 40.869140625, 0.52734375, 22.56699562072754 ]
2.6
78
0
78
0
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[ -1.58203125, 83.935546875, 87.978515625, 42.626953125, 0.52734375, 22.56699562072754 ]
2.633333
79
0
79
0
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[ -1.58203125, 81.73828125, 84.7265625, 44.47265625, 0.52734375, 22.56699562072754 ]
2.666667
80
0
80
0
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[ -1.58203125, 79.365234375, 81.474609375, 46.494140625, 0.52734375, 22.56699562072754 ]
2.7
81
0
81
0
[ -1.7578125, 74.53125, 61.69921875, 58.359375, 0.3515625, 22.37936782836914 ]
[ -1.58203125, 77.255859375, 78.310546875, 48.515625, 0.52734375, 22.56699562072754 ]
2.733333
82
0
82
0
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[ -1.58203125, 75.322265625, 75.322265625, 50.712890625, 0.615234375, 22.56699562072754 ]
2.766667
83
0
83
0
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[ -1.58203125, 73.740234375, 72.59765625, 53.0859375, 0.615234375, 22.56699562072754 ]
2.8
84
0
84
0
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[ -1.58203125, 72.158203125, 69.9609375, 55.634765625, 0.615234375, 22.56699562072754 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -1.58203125, 69.873046875, 65.390625, 60.8203125, 0.703125, 22.56699562072754 ]
2.9
87
0
87
0
[ -1.845703125, 69.609375, 54.4921875, 72.421875, 0.439453125, 23.044923782348633 ]
[ -1.58203125, 69.169921875, 63.6328125, 63.193359375, 0.703125, 22.56699562072754 ]
2.933333
88
0
88
0
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[ -1.58203125, 68.466796875, 62.138671875, 65.7421875, 0.791015625, 22.56699562072754 ]
2.966667
89
0
89
0
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[ -1.58203125, 68.02734375, 60.99609375, 67.939453125, 0.791015625, 22.56699562072754 ]
3
90
0
90
0
[ -1.845703125, 68.994140625, 54.931640625, 76.728515625, 0.087890625, 23.044923782348633 ]
[ -1.58203125, 67.67578125, 60.29296875, 69.9609375, 0.791015625, 22.56699562072754 ]
3.033333
91
0
91
0
[ -1.845703125, 68.73046875, 54.931640625, 78.134765625, -0.966796875, 23.044923782348633 ]
[ -1.58203125, 67.412109375, 59.853515625, 71.71875, 0.791015625, 22.56699562072754 ]
3.066667
92
0
92
0
[ -1.845703125, 68.37890625, 54.931640625, 79.1015625, -2.197265625, 23.044923782348633 ]
[ -1.58203125, 67.1484375, 59.58984375, 73.4765625, 0.791015625, 22.56699562072754 ]
3.1
93
0
93
0
[ -1.845703125, 67.939453125, 54.931640625, 80.15625, -3.427734375, 23.044923782348633 ]
[ -1.58203125, 66.97265625, 59.501953125, 74.970703125, 0, 22.56699562072754 ]
3.133333
94
0
94
0
[ -1.845703125, 67.412109375, 54.931640625, 81.38671875, -4.39453125, 23.044923782348633 ]
[ -1.58203125, 66.708984375, 59.4140625, 76.376953125, -0.87890625, 22.56699562072754 ]
3.166667
95
0
95
0
[ -1.845703125, 66.796875, 55.01953125, 82.44140625, -5.361328125, 23.044923782348633 ]
[ -1.58203125, 66.26953125, 59.326171875, 77.607421875, -1.845703125, 22.56699562072754 ]
3.2
96
0
96
0
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[ -1.58203125, 65.7421875, 59.326171875, 78.92578125, -2.8125, 22.56699562072754 ]
3.233333
97
0
97
0
[ -1.494140625, 65.21484375, 55.01953125, 84.19921875, -6.943359375, 23.044923782348633 ]
[ -1.58203125, 65.21484375, 59.326171875, 80.068359375, -3.69140625, 22.56699562072754 ]
3.266667
98
0
98
0
[ -1.318359375, 64.51171875, 55.01953125, 84.814453125, -7.734375, 23.044923782348633 ]
[ -1.58203125, 64.51171875, 59.326171875, 81.2109375, -4.5703125, 22.56699562072754 ]
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": 4,
    "total_frames": 3431,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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