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Datasets:
UCleQmAR
/
so101_data2

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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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
11.6
frame_index
int64
0
349
episode_index
int64
0
9
index
int64
0
3.49k
task_index
int64
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0
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[ -37.44140625, 72.685546875, 56.513671875, 69.873046875, -2.021484375, 1.048034906387329 ]
[ -34.189453125, 70.83984375, 65.56640625, 62.666015625, -1.0546875, 10.0204496383667 ]
2.366667
71
0
71
0
[ -38.935546875, 72.7734375, 54.66796875, 72.0703125, -2.900390625, 1.048034906387329 ]
[ -35.33203125, 70.83984375, 63.28125, 65.0390625, -1.0546875, 10.0204496383667 ]
2.4
72
0
72
0
[ -40.517578125, 72.7734375, 52.822265625, 74.443359375, -3.603515625, 1.048034906387329 ]
[ -36.5625, 70.83984375, 61.083984375, 67.236328125, -1.318359375, 10.0204496383667 ]
2.433333
73
0
73
0
[ -42.01171875, 72.7734375, 51.064453125, 77.080078125, -3.8671875, 1.135371208190918 ]
[ -37.880859375, 70.83984375, 59.23828125, 69.43359375, -2.021484375, 10.0204496383667 ]
2.466667
74
0
74
0
[ -43.505859375, 72.7734375, 49.5703125, 79.716796875, -3.955078125, 1.135371208190918 ]
[ -39.19921875, 70.83984375, 57.392578125, 71.71875, -2.63671875, 10.0204496383667 ]
2.5
75
0
75
0
[ -45.087890625, 72.7734375, 48.1640625, 82.265625, -4.04296875, 1.135371208190918 ]
[ -40.60546875, 70.83984375, 55.458984375, 74.091796875, -3.076171875, 10.0204496383667 ]
2.533333
76
0
76
0
[ -46.669921875, 72.7734375, 47.021484375, 84.462890625, -4.04296875, 1.135371208190918 ]
[ -42.36328125, 70.83984375, 53.7890625, 76.640625, -3.33984375, 10.0204496383667 ]
2.566667
77
0
77
0
[ -48.427734375, 72.7734375, 46.0546875, 86.396484375, -4.04296875, 1.135371208190918 ]
[ -43.857421875, 70.83984375, 52.294921875, 79.189453125, -3.515625, 10.0204496383667 ]
2.6
78
0
78
0
[ -50.185546875, 72.7734375, 44.912109375, 88.154296875, -4.04296875, 1.135371208190918 ]
[ -45.615234375, 70.83984375, 50.9765625, 81.650390625, -3.603515625, 10.0204496383667 ]
2.633333
79
0
79
0
[ -52.03125, 72.861328125, 43.76953125, 89.560546875, -4.04296875, 1.135371208190918 ]
[ -47.373046875, 70.83984375, 49.74609375, 83.84765625, -3.603515625, 10.0204496383667 ]
2.666667
80
0
80
0
[ -53.876953125, 73.212890625, 42.890625, 90.703125, -4.04296875, 1.135371208190918 ]
[ -49.130859375, 70.83984375, 48.69140625, 85.869140625, -3.603515625, 10.0204496383667 ]
2.7
81
0
81
0
[ -55.810546875, 74.00390625, 42.626953125, 91.494140625, -4.04296875, 1.135371208190918 ]
[ -50.888671875, 70.83984375, 47.63671875, 87.626953125, -3.603515625, 10.0204496383667 ]
2.733333
82
0
82
0
[ -57.83203125, 75.05859375, 42.802734375, 92.021484375, -4.04296875, 1.135371208190918 ]
[ -52.55859375, 70.83984375, 46.845703125, 89.033203125, -3.603515625, 10.0204496383667 ]
2.766667
83
0
83
0
[ -60.205078125, 76.376953125, 42.978515625, 92.28515625, -4.04296875, 1.135371208190918 ]
[ -54.31640625, 71.015625, 46.318359375, 90.087890625, -3.603515625, 10.0204496383667 ]
2.8
84
0
84
0
[ -62.666015625, 77.51953125, 43.330078125, 92.4609375, -4.04296875, 1.135371208190918 ]
[ -56.337890625, 71.279296875, 46.23046875, 90.87890625, -3.603515625, 10.0204496383667 ]
2.833333
85
0
85
0
[ -64.86328125, 78.662109375, 44.12109375, 92.4609375, -3.955078125, 1.135371208190918 ]
[ -58.447265625, 71.806640625, 46.23046875, 91.494140625, -3.603515625, 10.0204496383667 ]
2.866667
86
0
86
0
[ -67.1484375, 79.62890625, 45.087890625, 92.373046875, -3.955078125, 1.135371208190918 ]
[ -60.64453125, 72.509765625, 46.23046875, 91.93359375, -3.603515625, 10.0204496383667 ]
2.9
87
0
87
0
[ -69.78515625, 80.419921875, 46.23046875, 92.373046875, -4.04296875, 1.135371208190918 ]
[ -63.10546875, 73.212890625, 46.318359375, 92.109375, -3.603515625, 10.0204496383667 ]
2.933333
88
0
88
0
[ -72.24609375, 81.123046875, 47.4609375, 92.28515625, -4.04296875, 1.135371208190918 ]
[ -65.478515625, 74.267578125, 46.58203125, 92.109375, -3.603515625, 10.0204496383667 ]
2.966667
89
0
89
0
[ -74.53125, 81.5625, 48.955078125, 92.021484375, -4.04296875, 1.135371208190918 ]
[ -67.8515625, 75.234375, 47.197265625, 92.109375, -3.603515625, 10.0204496383667 ]
3
90
0
90
0
[ -76.640625, 81.9140625, 50.44921875, 91.669921875, -4.130859375, 1.135371208190918 ]
[ -70.224609375, 76.376953125, 48.33984375, 92.109375, -3.603515625, 10.0204496383667 ]
3.033333
91
0
91
0
[ -78.92578125, 81.9140625, 51.85546875, 91.58203125, -4.74609375, 1.135371208190918 ]
[ -72.7734375, 77.080078125, 49.5703125, 92.109375, -3.603515625, 10.0204496383667 ]
3.066667
92
0
92
0
[ -81.2109375, 81.9140625, 53.0859375, 91.142578125, -5.712890625, 1.135371208190918 ]
[ -75.234375, 77.51953125, 50.80078125, 92.109375, -3.779296875, 10.0204496383667 ]
3.1
93
0
93
0
[ -83.671875, 82.001953125, 54.580078125, 90.87890625, -6.328125, 1.135371208190918 ]
[ -77.51953125, 77.607421875, 52.119140625, 92.109375, -4.21875, 10.0204496383667 ]
3.133333
94
0
94
0
[ -85.95703125, 82.177734375, 56.07421875, 90.791015625, -6.767578125, 1.135371208190918 ]
[ -79.716796875, 77.783203125, 53.701171875, 92.021484375, -4.921875, 10.0204496383667 ]
3.166667
95
0
95
0
[ -88.154296875, 82.265625, 57.568359375, 90.791015625, -7.119140625, 1.135371208190918 ]
[ -81.9140625, 77.87109375, 55.01953125, 91.845703125, -5.537109375, 10.0204496383667 ]
3.2
96
0
96
0
[ -90.263671875, 82.265625, 58.88671875, 90.615234375, -7.646484375, 1.135371208190918 ]
[ -84.0234375, 77.87109375, 56.42578125, 91.845703125, -5.9765625, 10.0204496383667 ]
3.233333
97
0
97
0
[ -92.724609375, 82.265625, 60.380859375, 90.17578125, -8.349609375, 1.135371208190918 ]
[ -86.044921875, 77.87109375, 57.83203125, 91.669921875, -6.416015625, 10.0204496383667 ]
3.266667
98
0
98
0
[ -94.921875, 82.265625, 61.875, 89.736328125, -9.052734375, 1.135371208190918 ]
[ -88.41796875, 77.958984375, 59.326171875, 91.40625, -6.943359375, 10.0204496383667 ]
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": 10,
    "total_frames": 3486,
    "total_tasks": 1,
    "total_videos": 20,
    "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": {
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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": [
                480,
                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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                640,
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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": [
                1
            ],
            "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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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