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Datasets:
Bapt120
/
so101_cup1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
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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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[ 7.55859375, 124.27734375, 172.96875, -10.1953125, -4.5703125, 43.0555534362793 ]
2.466667
74
0
74
0
[ 7.470703125, 124.189453125, 171.2109375, -11.865234375, -3.603515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.283203125, -4.5703125, 43.0555534362793 ]
2.5
75
0
75
0
[ 7.470703125, 124.189453125, 171.2109375, -11.953125, -3.603515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.458984375, -4.5703125, 43.0555534362793 ]
2.533333
76
0
76
0
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[ 7.55859375, 124.27734375, 172.96875, -10.546875, -4.5703125, 43.0555534362793 ]
2.566667
77
0
77
0
[ 7.470703125, 124.189453125, 171.2109375, -12.216796875, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.546875, -4.5703125, 43.0555534362793 ]
2.6
78
0
78
0
[ 7.470703125, 124.189453125, 171.2109375, -13.0078125, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.546875, -4.5703125, 43.0555534362793 ]
2.633333
79
0
79
0
[ 7.470703125, 124.189453125, 171.2109375, -14.326171875, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.546875, -4.39453125, 43.0555534362793 ]
2.666667
80
0
80
0
[ 7.3828125, 124.189453125, 171.298828125, -16.083984375, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -10.8984375, -4.21875, 43.0555534362793 ]
2.7
81
0
81
0
[ 7.3828125, 124.1015625, 171.38671875, -18.017578125, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -11.689453125, -4.04296875, 43.0555534362793 ]
2.733333
82
0
82
0
[ 7.3828125, 124.1015625, 171.73828125, -19.951171875, -3.515625, 42.81709671020508 ]
[ 7.55859375, 124.27734375, 172.96875, -12.744140625, -4.04296875, 43.0555534362793 ]
2.766667
83
0
83
0
[ 7.470703125, 123.92578125, 172.177734375, -22.1484375, -3.515625, 42.81709671020508 ]
[ 7.646484375, 124.27734375, 172.96875, -14.0625, -4.04296875, 43.0555534362793 ]
2.8
84
0
84
0
[ 7.55859375, 123.92578125, 172.880859375, -24.345703125, -3.515625, 42.81709671020508 ]
[ 7.646484375, 124.27734375, 172.96875, -15.556640625, -4.04296875, 43.0555534362793 ]
2.833333
85
0
85
0
[ 7.734375, 123.837890625, 173.583984375, -26.71875, -3.603515625, 42.81709671020508 ]
[ 7.646484375, 124.27734375, 172.96875, -17.314453125, -4.04296875, 43.0555534362793 ]
2.866667
86
0
86
0
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[ 7.734375, 124.1015625, 172.96875, -19.16015625, -4.04296875, 43.0555534362793 ]
2.9
87
0
87
0
[ 7.734375, 123.57421875, 174.990234375, -31.025390625, -3.603515625, 42.81709671020508 ]
[ 7.734375, 123.837890625, 173.056640625, -21.09375, -4.04296875, 43.0555534362793 ]
2.933333
88
0
88
0
[ 7.734375, 123.57421875, 175.4296875, -32.783203125, -3.69140625, 42.81709671020508 ]
[ 7.734375, 123.662109375, 173.056640625, -23.115234375, -4.04296875, 43.0555534362793 ]
2.966667
89
0
89
0
[ 7.734375, 123.486328125, 175.78125, -34.1015625, -3.69140625, 42.81709671020508 ]
[ 7.734375, 123.57421875, 173.232421875, -25.224609375, -4.04296875, 43.0555534362793 ]
3
90
0
90
0
[ 7.734375, 123.3984375, 176.220703125, -35.33203125, -3.69140625, 42.81709671020508 ]
[ 7.646484375, 123.57421875, 173.84765625, -27.158203125, -4.04296875, 43.0555534362793 ]
3.033333
91
0
91
0
[ 7.734375, 123.3984375, 176.484375, -36.2109375, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.19921875, -29.00390625, -4.04296875, 43.0555534362793 ]
3.066667
92
0
92
0
[ 7.734375, 123.3984375, 176.572265625, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.462890625, -30.5859375, -4.04296875, 43.0555534362793 ]
3.1
93
0
93
0
[ 7.734375, 123.3984375, 176.572265625, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.638671875, -31.9921875, -4.04296875, 43.0555534362793 ]
3.133333
94
0
94
0
[ 7.734375, 123.3984375, 176.572265625, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.7265625, -32.958984375, -4.04296875, 43.0555534362793 ]
3.166667
95
0
95
0
[ 7.646484375, 123.3984375, 176.484375, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.7265625, -33.662109375, -4.04296875, 43.0555534362793 ]
3.2
96
0
96
0
[ 7.55859375, 123.310546875, 176.396484375, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.7265625, -34.1015625, -4.04296875, 43.0555534362793 ]
3.233333
97
0
97
0
[ 7.470703125, 123.310546875, 176.30859375, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.7265625, -34.453125, -4.04296875, 43.0555534362793 ]
3.266667
98
0
98
0
[ 7.3828125, 123.310546875, 176.220703125, -36.5625, -3.69140625, 42.81709671020508 ]
[ 7.55859375, 123.57421875, 174.7265625, -34.62890625, -4.04296875, 43.0555534362793 ]
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": 1793,
    "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.arm": {
            "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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