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Datasets:
Bapt120
/
so101_cup3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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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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[ 21.97265625, 57.3046875, 157.1484375, -95.361328125, -1.142578125, 4.484933376312256 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 7.602339267730713 ]
2.4
72
0
72
0
[ 21.97265625, 57.3046875, 157.1484375, -95.361328125, -1.142578125, 4.625087738037109 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 6.7251458168029785 ]
2.433333
73
0
73
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 6.140350818634033 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
[ 21.97265625, 57.216796875, 157.1484375, -95.361328125, -1.142578125, 4.695164680480957 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.482456207275391 ]
2.533333
76
0
76
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.336257457733154 ]
2.566667
77
0
77
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.19005823135376 ]
2.6
78
0
78
0
[ 21.97265625, 57.3046875, 157.1484375, -95.361328125, -1.142578125, 4.695164680480957 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.19005823135376 ]
2.633333
79
0
79
0
[ 21.97265625, 57.3046875, 157.1484375, -95.44921875, -1.0546875, 4.695164680480957 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.043859958648682 ]
2.666667
80
0
80
0
[ 21.97265625, 57.3046875, 157.1484375, -95.44921875, -0.87890625, 4.765241622924805 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.043859958648682 ]
2.7
81
0
81
0
[ 21.97265625, 57.3046875, 157.1484375, -95.44921875, -0.87890625, 4.835318565368652 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.043859958648682 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.043859958648682 ]
2.8
84
0
84
0
[ 21.97265625, 57.3046875, 157.1484375, -95.44921875, -0.615234375, 6.727400302886963 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 5.043859958648682 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 6.140350818634033 ]
2.933333
88
0
88
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 7.456140041351318 ]
2.966667
89
0
89
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 9.13742733001709 ]
3
90
0
90
0
[ 21.97265625, 57.392578125, 156.26953125, -95.185546875, -0.615234375, 23.265592575073242 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 11.111111640930176 ]
3.033333
91
0
91
0
[ 21.97265625, 57.392578125, 156.26953125, -95.185546875, -0.615234375, 26.489139556884766 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 13.450291633605957 ]
3.066667
92
0
92
0
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[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 16.081871032714844 ]
3.1
93
0
93
0
[ 22.32421875, 57.392578125, 156.26953125, -95.185546875, -0.615234375, 32.866153717041016 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 19.005847930908203 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
[ 22.587890625, 57.392578125, 156.26953125, -95.009765625, -0.615234375, 38.82270431518555 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 25 ]
3.2
96
0
96
0
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3.233333
97
0
97
0
[ 22.67578125, 57.392578125, 156.26953125, -94.833984375, -0.615234375, 44.148563385009766 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 30.994152069091797 ]
3.266667
98
0
98
0
[ 22.67578125, 57.48046875, 156.26953125, -94.833984375, -0.615234375, 46.67134094238281 ]
[ 22.236328125, 56.162109375, 157.8515625, -95.2734375, -1.142578125, 34.064327239990234 ]
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": [
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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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