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Datasets:
nashmo
/
so101

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
lerobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
list
observation.state
list
timestamp
float32
0
35.1
frame_index
int64
0
1.05k
episode_index
int64
0
9
index
int64
0
10.1k
task_index
int64
0
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[ -1.58203125, 192.48046875, 175.25390625, 55.458984375, 0.703125, 8.407079696655273 ]
2.466667
74
0
74
0
[ -1.93359375, 192.48046875, 171.650390625, 57.919921875, 0.263671875, 8.648195266723633 ]
[ -1.58203125, 192.48046875, 174.90234375, 56.42578125, 0.703125, 8.407079696655273 ]
2.5
75
0
75
0
[ -1.93359375, 192.48046875, 171.5625, 58.0078125, 0.17578125, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 174.814453125, 56.953125, 0.703125, 8.407079696655273 ]
2.533333
76
0
76
0
[ -1.58203125, 192.48046875, 171.5625, 58.0078125, 0.087890625, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 174.814453125, 57.392578125, 0.703125, 8.407079696655273 ]
2.566667
77
0
77
0
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[ -1.58203125, 192.392578125, 174.814453125, 57.65625, 0.703125, 8.407079696655273 ]
2.6
78
0
78
0
[ -1.318359375, 192.48046875, 170.15625, 58.359375, -0.17578125, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 174.814453125, 57.744140625, 0.703125, 8.407079696655273 ]
2.633333
79
0
79
0
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[ -1.58203125, 192.392578125, 174.375, 57.83203125, 0.439453125, 8.407079696655273 ]
2.666667
80
0
80
0
[ -1.669921875, 192.48046875, 166.552734375, 60.205078125, -0.87890625, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 173.49609375, 58.271484375, 0.263671875, 8.407079696655273 ]
2.7
81
0
81
0
[ -1.93359375, 192.48046875, 164.1796875, 61.69921875, -1.318359375, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 172.44140625, 58.7109375, 0, 8.407079696655273 ]
2.733333
82
0
82
0
[ -1.93359375, 192.48046875, 161.89453125, 63.28125, -1.58203125, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 170.771484375, 59.677734375, -0.3515625, 8.407079696655273 ]
2.766667
83
0
83
0
[ -2.021484375, 192.48046875, 159.609375, 64.775390625, -1.669921875, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 169.013671875, 60.732421875, -0.703125, 8.407079696655273 ]
2.8
84
0
84
0
[ -2.021484375, 192.48046875, 157.67578125, 66.4453125, -1.669921875, 8.648195266723633 ]
[ -1.58203125, 192.392578125, 166.904296875, 62.138671875, -1.0546875, 8.407079696655273 ]
2.833333
85
0
85
0
[ -1.93359375, 192.48046875, 156.005859375, 68.115234375, -1.669921875, 8.648195266723633 ]
[ -1.58203125, 192.48046875, 164.35546875, 63.720703125, -1.23046875, 8.407079696655273 ]
2.866667
86
0
86
0
[ -1.93359375, 192.48046875, 154.86328125, 69.345703125, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.744140625, 162.333984375, 65.21484375, -1.23046875, 8.407079696655273 ]
2.9
87
0
87
0
[ -1.93359375, 192.48046875, 153.984375, 70.48828125, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 193.0078125, 160.400390625, 66.708984375, -1.23046875, 8.407079696655273 ]
2.933333
88
0
88
0
[ -1.845703125, 192.48046875, 153.369140625, 71.19140625, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 193.0078125, 159.169921875, 67.939453125, -1.23046875, 8.407079696655273 ]
2.966667
89
0
89
0
[ -1.7578125, 192.568359375, 152.841796875, 71.630859375, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 157.8515625, 69.345703125, -1.23046875, 8.407079696655273 ]
3
90
0
90
0
[ -1.40625, 192.568359375, 152.40234375, 71.71875, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 156.97265625, 70.13671875, -1.23046875, 8.407079696655273 ]
3.033333
91
0
91
0
[ -1.23046875, 192.568359375, 151.69921875, 71.806640625, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 156.181640625, 70.83984375, -1.23046875, 8.407079696655273 ]
3.066667
92
0
92
0
[ -1.142578125, 192.48046875, 150.732421875, 71.89453125, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 155.56640625, 71.279296875, -1.23046875, 8.407079696655273 ]
3.1
93
0
93
0
[ -1.0546875, 192.48046875, 149.501953125, 71.982421875, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 154.775390625, 71.54296875, -1.23046875, 8.407079696655273 ]
3.133333
94
0
94
0
[ -1.0546875, 192.392578125, 148.0078125, 72.0703125, -1.7578125, 8.648195266723633 ]
[ -1.58203125, 192.919921875, 154.072265625, 71.630859375, -1.23046875, 8.407079696655273 ]
3.166667
95
0
95
0
[ -1.0546875, 192.392578125, 146.337890625, 72.509765625, -1.7578125, 8.648195266723633 ]
[ -1.40625, 192.919921875, 152.666015625, 71.89453125, -1.23046875, 8.407079696655273 ]
3.2
96
0
96
0
[ -1.0546875, 192.3046875, 144.140625, 73.212890625, -1.7578125, 8.648195266723633 ]
[ -1.318359375, 192.919921875, 151.435546875, 72.158203125, -1.23046875, 8.407079696655273 ]
3.233333
97
0
97
0
[ -1.0546875, 191.865234375, 142.470703125, 74.00390625, -1.7578125, 8.648195266723633 ]
[ -1.318359375, 193.0078125, 149.94140625, 72.509765625, -1.23046875, 8.407079696655273 ]
3.266667
98
0
98
0
[ -1.0546875, 190.283203125, 140.712890625, 75.234375, -1.7578125, 8.396306037902832 ]
[ -1.318359375, 192.919921875, 148.447265625, 73.037109375, -1.23046875, 8.407079696655273 ]
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": 10112,
    "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": {
            "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
            }
        },
        "observation.images.phone1": {
            "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": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
10,112