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Datasets:
Tank-123
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so101_testdata_0820

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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float32
0
12.8
frame_index
int64
0
385
episode_index
int64
0
29
index
int64
0
9.66k
task_index
int64
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[ 0.263671875, 191.162109375, 176.923828125, 47.98828125, 9.84375, -0.13431833684444427 ]
2.333333
70
0
70
0
[ -2.197265625, 190.8984375, 166.11328125, 57.3046875, 9.4921875, 0.17094017565250397 ]
[ -0.615234375, 191.162109375, 175.166015625, 49.306640625, 9.84375, -0.13431833684444427 ]
2.366667
71
0
71
0
[ -2.548828125, 190.810546875, 163.916015625, 60.29296875, 9.4921875, 0.34188035130500793 ]
[ -1.40625, 191.25, 173.232421875, 51.15234375, 9.84375, -0.13431833684444427 ]
2.4
72
0
72
0
[ -2.724609375, 190.1953125, 161.71875, 62.9296875, 9.4921875, 0.5982906222343445 ]
[ -1.93359375, 191.513671875, 171.123046875, 53.525390625, 9.84375, -0.13431833684444427 ]
2.433333
73
0
73
0
[ -2.8125, 189.140625, 159.697265625, 64.951171875, 9.4921875, 0.5982906222343445 ]
[ -2.109375, 191.513671875, 168.837890625, 56.07421875, 9.84375, -0.13431833684444427 ]
2.466667
74
0
74
0
[ -3.076171875, 187.470703125, 157.8515625, 66.533203125, 9.4921875, 0.5982906222343445 ]
[ -2.109375, 191.25, 166.640625, 58.798828125, 9.84375, -0.13431833684444427 ]
2.5
75
0
75
0
[ -3.427734375, 185.09765625, 156.005859375, 67.412109375, 9.4921875, 0.5982906222343445 ]
[ -2.109375, 190.458984375, 164.53125, 61.435546875, 9.84375, -0.13431833684444427 ]
2.533333
76
0
76
0
[ -3.69140625, 182.021484375, 154.072265625, 67.8515625, 9.4921875, 0.5982906222343445 ]
[ -2.4609375, 189.404296875, 162.421875, 63.896484375, 9.84375, 0.13431833684444427 ]
2.566667
77
0
77
0
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[ -2.98828125, 187.91015625, 160.3125, 65.830078125, 9.84375, 0.26863667368888855 ]
2.6
78
0
78
0
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[ -3.69140625, 185.888671875, 158.5546875, 66.884765625, 9.84375, 0.3357958197593689 ]
2.633333
79
0
79
0
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[ -3.69140625, 183.251953125, 156.884765625, 67.5, 9.84375, 0.3357958197593689 ]
2.666667
80
0
80
0
[ -3.69140625, 164.1796875, 145.8984375, 68.02734375, 9.4921875, 0.5128205418586731 ]
[ -3.69140625, 180.263671875, 154.86328125, 67.8515625, 9.84375, 0.3357958197593689 ]
2.7
81
0
81
0
[ -3.779296875, 158.5546875, 143.349609375, 68.02734375, 9.4921875, 0.5128205418586731 ]
[ -3.603515625, 176.8359375, 152.841796875, 67.939453125, 9.84375, 0.3357958197593689 ]
2.733333
82
0
82
0
[ -3.779296875, 152.841796875, 140.537109375, 68.02734375, 9.4921875, 0.5128205418586731 ]
[ -3.515625, 172.705078125, 150.64453125, 67.939453125, 9.84375, 0.3357958197593689 ]
2.766667
83
0
83
0
[ -3.779296875, 147.041015625, 137.548828125, 68.02734375, 9.404296875, 0.5128205418586731 ]
[ -3.515625, 168.22265625, 148.447265625, 67.939453125, 9.84375, 0.3357958197593689 ]
2.8
84
0
84
0
[ -3.779296875, 141.240234375, 134.296875, 68.115234375, 9.404296875, 0.5128205418586731 ]
[ -3.515625, 163.212890625, 145.986328125, 67.939453125, 9.84375, 0.3357958197593689 ]
2.833333
85
0
85
0
[ -3.779296875, 135.439453125, 130.95703125, 68.203125, 9.404296875, 0.5128205418586731 ]
[ -3.515625, 158.02734375, 143.349609375, 67.939453125, 9.84375, 0.3357958197593689 ]
2.866667
86
0
86
0
[ -4.130859375, 129.990234375, 127.79296875, 68.203125, 9.404296875, 0.5128205418586731 ]
[ -3.603515625, 152.314453125, 140.537109375, 68.02734375, 9.84375, 0.3357958197593689 ]
2.9
87
0
87
0
[ -4.39453125, 124.716796875, 124.8046875, 68.203125, 9.404296875, 0.5128205418586731 ]
[ -3.603515625, 146.42578125, 137.4609375, 68.02734375, 9.84375, 0.3357958197593689 ]
2.933333
88
0
88
0
[ -4.39453125, 120.146484375, 121.81640625, 68.203125, 9.404296875, 0.5128205418586731 ]
[ -3.69140625, 140.80078125, 134.296875, 68.02734375, 9.84375, 0.3357958197593689 ]
2.966667
89
0
89
0
[ -4.39453125, 115.6640625, 119.00390625, 68.291015625, 9.404296875, 0.5128205418586731 ]
[ -3.603515625, 135.263671875, 131.220703125, 68.02734375, 9.84375, 0.3357958197593689 ]
3
90
0
90
0
[ -4.39453125, 111.796875, 116.279296875, 68.291015625, 9.404296875, 0.5128205418586731 ]
[ -3.603515625, 129.814453125, 128.056640625, 68.02734375, 9.84375, 0.3357958197593689 ]
3.033333
91
0
91
0
[ -4.39453125, 108.544921875, 113.73046875, 68.291015625, 9.404296875, 0.5128205418586731 ]
[ -3.69140625, 124.365234375, 124.98046875, 68.02734375, 9.84375, 0.3357958197593689 ]
3.066667
92
0
92
0
[ -4.130859375, 105.732421875, 111.533203125, 68.291015625, 9.404296875, 0.5128205418586731 ]
[ -3.8671875, 119.1796875, 122.080078125, 68.02734375, 9.84375, 0.3357958197593689 ]
3.1
93
0
93
0
[ -3.955078125, 103.623046875, 109.951171875, 68.291015625, 9.404296875, 0.5128205418586731 ]
[ -4.04296875, 114.521484375, 119.1796875, 68.02734375, 9.84375, 0.3357958197593689 ]
3.133333
94
0
94
0
[ -3.8671875, 101.953125, 108.896484375, 68.291015625, 9.31640625, 0.5128205418586731 ]
[ -4.130859375, 110.478515625, 116.54296875, 68.02734375, 9.84375, 0.3357958197593689 ]
3.166667
95
0
95
0
[ -3.779296875, 100.8984375, 108.45703125, 68.203125, 9.31640625, 0.5128205418586731 ]
[ -4.130859375, 107.05078125, 114.2578125, 68.02734375, 9.84375, 0.3357958197593689 ]
3.2
96
0
96
0
[ -3.779296875, 100.107421875, 108.45703125, 67.8515625, 9.31640625, 0.5128205418586731 ]
[ -4.04296875, 104.23828125, 112.412109375, 68.02734375, 9.84375, 0.3357958197593689 ]
3.233333
97
0
97
0
[ -3.779296875, 99.66796875, 108.896484375, 67.5, 9.31640625, 0.5128205418586731 ]
[ -4.04296875, 102.216796875, 111.357421875, 68.02734375, 9.84375, 0.3357958197593689 ]
3.266667
98
0
98
0
[ -3.779296875, 99.228515625, 109.16015625, 67.32421875, 9.228515625, 0.5128205418586731 ]
[ -4.04296875, 100.72265625, 110.7421875, 68.02734375, 9.84375, 0.3357958197593689 ]
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": 30,
    "total_frames": 9662,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
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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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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