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LeRobot-worldwide-hackathon
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174-Mate-so101_dataset6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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29.7
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int64
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892
episode_index
int64
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index
int64
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task_index
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2.5
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0
75
0
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[ -15.46875, 63.720703125, 30.673828125, 98.96484375, -10.810546875, 19.111425399780273 ]
2.533333
76
0
76
0
[ -18.017578125, 70.3125, 27.509765625, 100.634765625, -20.126953125, 18.885190963745117 ]
[ -16.611328125, 63.720703125, 30.673828125, 99.052734375, -13.095703125, 19.111425399780273 ]
2.566667
77
0
77
0
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[ -17.314453125, 63.720703125, 30.673828125, 99.31640625, -15.380859375, 19.111425399780273 ]
2.6
78
0
78
0
[ -17.75390625, 70.13671875, 28.125, 100.634765625, -16.259765625, 18.885190963745117 ]
[ -17.578125, 63.720703125, 30.673828125, 99.4921875, -16.69921875, 19.111425399780273 ]
2.633333
79
0
79
0
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[ -17.490234375, 63.720703125, 30.673828125, 99.4921875, -16.69921875, 19.111425399780273 ]
2.666667
80
0
80
0
[ -15.1171875, 70.3125, 30.849609375, 100.546875, -4.306640625, 18.552412033081055 ]
[ -17.2265625, 63.720703125, 30.673828125, 99.4921875, -15.8203125, 19.111425399780273 ]
2.7
81
0
81
0
[ -12.83203125, 70.751953125, 32.87109375, 100.546875, 2.63671875, 16.888519287109375 ]
[ -16.875, 63.720703125, 30.673828125, 99.4921875, -13.447265625, 19.111425399780273 ]
2.733333
82
0
82
0
[ -11.25, 71.015625, 35.33203125, 100.546875, 9.404296875, 13.893510818481445 ]
[ -16.34765625, 63.720703125, 31.201171875, 99.4921875, -9.755859375, 19.111425399780273 ]
2.766667
83
0
83
0
[ -10.01953125, 71.103515625, 37.96875, 100.546875, 15.46875, 10.06655502319336 ]
[ -15.46875, 63.984375, 32.255859375, 99.4921875, -5.2734375, 18.970380783081055 ]
2.8
84
0
84
0
[ -8.96484375, 71.103515625, 40.517578125, 100.546875, 21.533203125, 5.740432262420654 ]
[ -14.326171875, 64.072265625, 33.75, 99.4921875, -0.17578125, 17.55994415283203 ]
2.833333
85
0
85
0
[ -8.0859375, 71.103515625, 43.2421875, 100.546875, 28.125, 0.9151414036750793 ]
[ -12.65625, 64.248046875, 35.595703125, 99.4921875, 5.537109375, 15.514808654785156 ]
2.866667
86
0
86
0
[ -7.91015625, 71.103515625, 46.23046875, 100.634765625, 33.22265625, -0.9983360767364502 ]
[ -11.25, 64.423828125, 37.705078125, 99.4921875, 10.986328125, 13.046545028686523 ]
2.9
87
0
87
0
[ -7.998046875, 71.19140625, 48.69140625, 100.634765625, 36.03515625, 0 ]
[ -10.01953125, 64.423828125, 39.990234375, 99.4921875, 16.787109375, 10.014103889465332 ]
2.933333
88
0
88
0
[ -8.61328125, 71.806640625, 50.185546875, 100.634765625, 36.38671875, 1.247920036315918 ]
[ -9.228515625, 64.423828125, 42.5390625, 99.4921875, 22.587890625, 6.77009916305542 ]
2.966667
89
0
89
0
[ -8.701171875, 72.59765625, 50.712890625, 100.546875, 36.9140625, 1.4975041151046753 ]
[ -8.96484375, 64.423828125, 45.263671875, 99.4921875, 26.982421875, 4.160789966583252 ]
3
90
0
90
0
[ -8.7890625, 73.4765625, 50.712890625, 100.546875, 37.08984375, 1.9966721534729004 ]
[ -8.96484375, 64.423828125, 47.4609375, 99.4921875, 29.794921875, 2.9619181156158447 ]
3.033333
91
0
91
0
[ -9.140625, 74.267578125, 50.712890625, 100.458984375, 37.880859375, 2.329450845718384 ]
[ -9.31640625, 64.599609375, 49.21875, 99.4921875, 31.904296875, 2.750352621078491 ]
3.066667
92
0
92
0
[ -10.458984375, 74.970703125, 50.9765625, 100.458984375, 39.638671875, 2.745424270629883 ]
[ -9.580078125, 64.86328125, 50.185546875, 99.4921875, 33.486328125, 2.750352621078491 ]
3.1
93
0
93
0
[ -11.953125, 75.76171875, 51.416015625, 100.546875, 41.30859375, 2.9950082302093506 ]
[ -9.84375, 65.478515625, 50.712890625, 99.4921875, 35.068359375, 2.750352621078491 ]
3.133333
94
0
94
0
[ -13.0078125, 76.2890625, 51.6796875, 100.546875, 42.71484375, 3.2445921897888184 ]
[ -10.01953125, 66.26953125, 51.240234375, 99.4921875, 36.650390625, 2.750352621078491 ]
3.166667
95
0
95
0
[ -13.7109375, 76.46484375, 51.6796875, 100.546875, 44.208984375, 3.5773708820343018 ]
[ -10.37109375, 67.32421875, 51.767578125, 99.4921875, 38.408203125, 2.750352621078491 ]
3.2
96
0
96
0
[ -14.150390625, 76.640625, 51.6796875, 100.546875, 45.439453125, 3.743760347366333 ]
[ -11.07421875, 68.203125, 52.03125, 99.4921875, 39.990234375, 2.750352621078491 ]
3.233333
97
0
97
0
[ -14.23828125, 76.81640625, 51.6796875, 100.546875, 46.58203125, 3.743760347366333 ]
[ -11.953125, 68.994140625, 52.119140625, 99.4921875, 41.484375, 2.8208744525909424 ]
3.266667
98
0
98
0
[ -14.326171875, 76.904296875, 51.6796875, 100.546875, 47.28515625, 3.743760347366333 ]
[ -13.0078125, 69.609375, 52.119140625, 99.4921875, 42.890625, 2.8913962841033936 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

This dataset was created as a learning experience with LeRobot and the SO-ARM101 during the HF LeRobot Hackaton.

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 10,
    "total_frames": 5036,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
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