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so101_test

Tasks:
Robotics
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Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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29.6
frame_index
int64
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889
episode_index
int64
0
9
index
int64
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7.66k
task_index
int64
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[ 5.09765625, 194.677734375, 180.791015625, 60.380859375, -2.28515625, 0.08510638028383255 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.5234375, -1.58203125, 0.5681818127632141 ]
2.433333
73
0
73
0
[ 5.185546875, 194.677734375, 180.791015625, 60.380859375, -2.373046875, 0.08510638028383255 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.466667
74
0
74
0
[ 5.185546875, 194.677734375, 180.791015625, 60.380859375, -2.373046875, 0.08510638028383255 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.5
75
0
75
0
[ 5.185546875, 194.677734375, 180.791015625, 60.380859375, -2.373046875, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.533333
76
0
76
0
[ 5.185546875, 194.677734375, 180.791015625, 60.380859375, -2.373046875, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.566667
77
0
77
0
[ 5.185546875, 194.677734375, 180.703125, 60.380859375, -2.4609375, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.6
78
0
78
0
[ 5.185546875, 194.501953125, 180.52734375, 60.29296875, -2.4609375, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.633333
79
0
79
0
[ 5.2734375, 194.150390625, 179.912109375, 60.29296875, -2.4609375, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.666667
80
0
80
0
[ 5.537109375, 194.150390625, 179.296875, 60.29296875, -2.8125, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.7
81
0
81
0
[ 5.80078125, 194.0625, 178.41796875, 60.380859375, -3.33984375, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.263671875, 61.435546875, -1.58203125, 0.5681818127632141 ]
2.733333
82
0
82
0
[ 5.80078125, 193.974609375, 177.275390625, 60.556640625, -3.8671875, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180.17578125, 61.435546875, -1.7578125, 0.5681818127632141 ]
2.766667
83
0
83
0
[ 5.80078125, 193.798828125, 175.869140625, 61.083984375, -4.21875, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 180, 61.435546875, -2.197265625, 0.5681818127632141 ]
2.8
84
0
84
0
[ 5.625, 193.18359375, 174.287109375, 61.259765625, -4.306640625, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 179.6484375, 61.435546875, -2.724609375, 0.5681818127632141 ]
2.833333
85
0
85
0
[ 5.537109375, 191.865234375, 172.44140625, 61.259765625, -4.306640625, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 179.296875, 61.435546875, -3.1640625, 0.5681818127632141 ]
2.866667
86
0
86
0
[ 5.2734375, 189.4921875, 170.5078125, 61.259765625, -4.306640625, 0.1702127605676651 ]
[ 5.537109375, 193.7109375, 178.681640625, 61.435546875, -3.515625, 0.5681818127632141 ]
2.9
87
0
87
0
[ 5.2734375, 186.50390625, 168.486328125, 61.171875, -4.306640625, 0.1702127605676651 ]
[ 5.537109375, 193.271484375, 177.802734375, 61.435546875, -3.603515625, 0.5681818127632141 ]
2.933333
88
0
88
0
[ 5.2734375, 182.8125, 166.2890625, 60.64453125, -4.130859375, 0.1702127605676651 ]
[ 5.625, 192.3046875, 176.396484375, 61.435546875, -3.69140625, 0.5681818127632141 ]
2.966667
89
0
89
0
[ 5.2734375, 178.505859375, 163.916015625, 60.46875, -4.130859375, 0.1702127605676651 ]
[ 5.712890625, 190.37109375, 174.814453125, 61.435546875, -3.779296875, 0.5681818127632141 ]
3
90
0
90
0
[ 5.185546875, 174.19921875, 161.3671875, 60.380859375, -4.130859375, 0.1702127605676651 ]
[ 5.80078125, 188.173828125, 173.14453125, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.033333
91
0
91
0
[ 5.185546875, 169.541015625, 158.5546875, 60.29296875, -4.130859375, 0.1702127605676651 ]
[ 5.888671875, 185.185546875, 171.298828125, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.066667
92
0
92
0
[ 5.185546875, 165.05859375, 155.830078125, 60.29296875, -4.04296875, 0.1702127605676651 ]
[ 5.888671875, 181.93359375, 169.189453125, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.1
93
0
93
0
[ 5.185546875, 161.19140625, 153.45703125, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 178.330078125, 166.904296875, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.133333
94
0
94
0
[ 5.185546875, 157.587890625, 150.99609375, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 174.287109375, 164.443359375, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.166667
95
0
95
0
[ 5.361328125, 154.599609375, 148.7109375, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 170.419921875, 162.0703125, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.2
96
0
96
0
[ 5.537109375, 152.138671875, 146.6015625, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 166.201171875, 159.609375, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.233333
97
0
97
0
[ 5.712890625, 150.29296875, 144.931640625, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 162.158203125, 157.1484375, 61.435546875, -3.779296875, 0.5681818127632141 ]
3.266667
98
0
98
0
[ 5.537109375, 148.974609375, 143.61328125, 60.29296875, -3.955078125, 0.1702127605676651 ]
[ 5.888671875, 158.73046875, 154.86328125, 61.435546875, -3.779296875, 0.5681818127632141 ]
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": 856,
    "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": {
            "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:
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