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Datasets:
Aadhavan
/
so101_test1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
27.5
frame_index
int64
0
826
episode_index
int64
0
49
index
int64
0
22.6k
task_index
int64
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[ -7.294921875, 96.85546875, 83.14453125, 37.705078125, 0.3515625, -0.4142501950263977 ]
[ -6.767578125, 102.216796875, 89.6484375, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.366667
71
0
71
0
[ -7.470703125, 95.361328125, 82.6171875, 37.705078125, 0.3515625, -0.4142501950263977 ]
[ -6.767578125, 99.052734375, 87.71484375, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.4
72
0
72
0
[ -8.525390625, 94.21875, 82.177734375, 37.705078125, 0.3515625, -0.4142501950263977 ]
[ -6.85546875, 97.470703125, 86.923828125, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.433333
73
0
73
0
[ -10.01953125, 93.779296875, 82.177734375, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -6.943359375, 95.361328125, 86.044921875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.466667
74
0
74
0
[ -11.25, 93.779296875, 82.177734375, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -7.55859375, 94.306640625, 85.60546875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.5
75
0
75
0
[ -11.953125, 93.8671875, 82.177734375, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -8.4375, 93.69140625, 85.4296875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.533333
76
0
76
0
[ -12.744140625, 93.8671875, 82.265625, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -9.4921875, 93.515625, 85.4296875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.566667
77
0
77
0
[ -13.53515625, 93.8671875, 82.265625, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -10.546875, 93.427734375, 85.4296875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.6
78
0
78
0
[ -14.326171875, 93.8671875, 82.265625, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -11.953125, 93.33984375, 85.341796875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.633333
79
0
79
0
[ -15.029296875, 93.8671875, 82.265625, 37.353515625, 0.3515625, -0.4142501950263977 ]
[ -13.095703125, 93.33984375, 85.341796875, 37.79296875, 0.615234375, -0.6306937336921692 ]
2.666667
80
0
80
0
[ -15.8203125, 93.955078125, 82.265625, 37.44140625, 0.263671875, -0.4142501950263977 ]
[ -13.974609375, 93.33984375, 85.341796875, 37.79296875, 0.703125, -0.6306937336921692 ]
2.7
81
0
81
0
[ -16.435546875, 93.955078125, 82.177734375, 37.44140625, -0.615234375, -0.4142501950263977 ]
[ -14.501953125, 93.33984375, 85.341796875, 37.79296875, 0.791015625, -0.6306937336921692 ]
2.733333
82
0
82
0
[ -17.05078125, 93.955078125, 82.177734375, 37.44140625, -2.4609375, -0.4142501950263977 ]
[ -15.29296875, 93.33984375, 85.341796875, 37.79296875, 0.52734375, -0.6306937336921692 ]
2.766667
83
0
83
0
[ -17.841796875, 93.955078125, 82.177734375, 37.44140625, -5.537109375, -0.4142501950263977 ]
[ -15.64453125, 93.33984375, 85.341796875, 37.79296875, -0.263671875, -0.6306937336921692 ]
2.8
84
0
84
0
[ -18.80859375, 93.955078125, 82.177734375, 37.353515625, -8.7890625, -0.4142501950263977 ]
[ -15.908203125, 93.33984375, 85.341796875, 37.79296875, -1.23046875, -0.6306937336921692 ]
2.833333
85
0
85
0
[ -19.775390625, 93.955078125, 82.177734375, 37.353515625, -12.12890625, -0.4142501950263977 ]
[ -16.611328125, 93.33984375, 85.341796875, 37.79296875, -2.98828125, -0.6306937336921692 ]
2.866667
86
0
86
0
[ -20.654296875, 93.955078125, 82.177734375, 37.529296875, -15.380859375, -0.4142501950263977 ]
[ -17.490234375, 93.33984375, 85.341796875, 37.79296875, -6.064453125, -0.6306937336921692 ]
2.9
87
0
87
0
[ -21.62109375, 93.955078125, 82.177734375, 37.6171875, -18.6328125, -0.4142501950263977 ]
[ -18.45703125, 93.33984375, 85.341796875, 37.79296875, -8.61328125, -0.6306937336921692 ]
2.933333
88
0
88
0
[ -22.412109375, 93.955078125, 82.353515625, 37.6171875, -21.708984375, -0.4142501950263977 ]
[ -19.51171875, 93.33984375, 85.341796875, 37.79296875, -11.07421875, -0.6306937336921692 ]
2.966667
89
0
89
0
[ -23.203125, 93.955078125, 82.353515625, 37.6171875, -24.521484375, -0.4142501950263977 ]
[ -20.7421875, 93.33984375, 85.341796875, 37.79296875, -14.23828125, -0.6306937336921692 ]
3
90
0
90
0
[ -23.90625, 94.04296875, 82.353515625, 37.6171875, -27.158203125, -0.4142501950263977 ]
[ -21.796875, 93.33984375, 85.341796875, 37.79296875, -17.138671875, -0.6306937336921692 ]
3.033333
91
0
91
0
[ -24.169921875, 94.130859375, 82.265625, 37.6171875, -29.619140625, -0.4142501950263977 ]
[ -22.763671875, 93.33984375, 85.341796875, 37.79296875, -20.654296875, -0.6306937336921692 ]
3.066667
92
0
92
0
[ -24.08203125, 94.74609375, 82.265625, 37.6171875, -30.5859375, -0.4142501950263977 ]
[ -23.5546875, 93.33984375, 85.341796875, 37.79296875, -24.697265625, -0.6306937336921692 ]
3.1
93
0
93
0
[ -23.818359375, 96.85546875, 82.96875, 37.6171875, -30.76171875, -0.4142501950263977 ]
[ -23.73046875, 93.33984375, 85.341796875, 37.79296875, -28.037109375, -0.6306937336921692 ]
3.133333
94
0
94
0
[ -23.73046875, 97.998046875, 83.232421875, 37.705078125, -30.76171875, -0.4142501950263977 ]
[ -23.73046875, 93.33984375, 85.341796875, 37.79296875, -29.00390625, -0.6306937336921692 ]
3.166667
95
0
95
0
[ -23.642578125, 99.140625, 83.84765625, 37.79296875, -30.673828125, -0.4142501950263977 ]
[ -23.5546875, 93.515625, 85.341796875, 37.79296875, -29.619140625, -0.6306937336921692 ]
3.2
96
0
96
0
[ -23.642578125, 100.37109375, 84.90234375, 37.79296875, -30.322265625, -0.4142501950263977 ]
[ -23.37890625, 94.04296875, 85.341796875, 37.79296875, -29.8828125, -0.6306937336921692 ]
3.233333
97
0
97
0
[ -23.5546875, 101.6015625, 85.869140625, 37.79296875, -29.091796875, -0.4142501950263977 ]
[ -23.115234375, 94.833984375, 85.341796875, 37.79296875, -30.05859375, -0.6306937336921692 ]
3.266667
98
0
98
0
[ -23.466796875, 102.919921875, 86.748046875, 37.79296875, -26.806640625, -0.4142501950263977 ]
[ -22.939453125, 95.888671875, 85.78125, 37.79296875, -30.05859375, -0.6306937336921692 ]
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": 50,
    "total_frames": 22571,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "names": [
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                "width",
                "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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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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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
22,571