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Datasets:
shenjianliang
/
so101_pick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
4.67
frame_index
int64
0
140
episode_index
int64
0
159
index
int64
0
18.9k
task_index
int64
0
0
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[ 6.6796875, 128.935546875, 127.880859375, 43.06640625, -96.15234375, 6.841741561889648 ]
2.433333
73
0
73
0
[ 3.251953125, 143.7890625, 109.072265625, 66.97265625, -96.416015625, 0 ]
[ 5.888671875, 131.923828125, 125.33203125, 47.197265625, -96.15234375, 6.841741561889648 ]
2.466667
74
0
74
0
[ 2.8125, 143.876953125, 106.962890625, 69.697265625, -96.416015625, 0 ]
[ 5.009765625, 134.296875, 122.783203125, 51.240234375, -96.15234375, 6.841741561889648 ]
2.5
75
0
75
0
[ 2.4609375, 143.96484375, 105.64453125, 71.54296875, -96.416015625, 0 ]
[ 4.21875, 136.142578125, 120.234375, 55.37109375, -96.328125, 6.841741561889648 ]
2.533333
76
0
76
0
[ 2.28515625, 144.228515625, 104.677734375, 72.861328125, -96.328125, 0 ]
[ 3.515625, 137.63671875, 118.037109375, 59.150390625, -96.50390625, 6.841741561889648 ]
2.566667
77
0
77
0
[ 2.197265625, 144.66796875, 104.326171875, 73.4765625, -96.328125, 0 ]
[ 2.900390625, 138.955078125, 115.83984375, 62.75390625, -96.50390625, 6.841741561889648 ]
2.6
78
0
78
0
[ 2.197265625, 144.84375, 104.326171875, 73.4765625, -96.328125, 0 ]
[ 2.4609375, 139.921875, 114.345703125, 65.56640625, -96.50390625, 6.841741561889648 ]
2.633333
79
0
79
0
[ 2.548828125, 144.84375, 104.326171875, 73.4765625, -96.328125, 0 ]
[ 2.373046875, 140.888671875, 113.115234375, 67.939453125, -96.416015625, 6.841741561889648 ]
2.666667
80
0
80
0
[ 2.548828125, 144.84375, 104.326171875, 73.388671875, -96.328125, 0 ]
[ 2.373046875, 141.6796875, 112.1484375, 69.609375, -96.416015625, 6.841741561889648 ]
2.7
81
0
81
0
[ 2.8125, 144.84375, 104.326171875, 73.388671875, -96.328125, 0 ]
[ 2.548828125, 142.20703125, 111.357421875, 70.83984375, -96.416015625, 6.841741561889648 ]
2.733333
82
0
82
0
[ 2.8125, 144.84375, 104.326171875, 73.388671875, -96.328125, 0 ]
[ 2.900390625, 142.646484375, 110.7421875, 71.806640625, -96.328125, 6.841741561889648 ]
2.766667
83
0
83
0
[ 2.98828125, 144.84375, 104.326171875, 73.388671875, -96.240234375, 0 ]
[ 2.98828125, 143.0859375, 110.302734375, 72.59765625, -96.328125, 6.841741561889648 ]
2.8
84
0
84
0
[ 2.98828125, 144.931640625, 104.326171875, 73.4765625, -96.240234375, 0 ]
[ 2.98828125, 143.349609375, 110.0390625, 73.125, -96.064453125, 6.841741561889648 ]
2.833333
85
0
85
0
[ 2.98828125, 144.931640625, 104.326171875, 73.65234375, -96.240234375, 0 ]
[ 2.98828125, 143.525390625, 109.86328125, 73.125, -96.15234375, 6.841741561889648 ]
2.866667
86
0
86
0
[ 2.98828125, 144.931640625, 104.326171875, 73.828125, -96.240234375, 0 ]
[ 2.98828125, 143.701171875, 109.775390625, 73.564453125, -96.328125, 6.841741561889648 ]
2.9
87
0
87
0
[ 2.98828125, 144.931640625, 104.326171875, 74.00390625, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.6875, 73.65234375, -96.328125, 6.841741561889648 ]
2.933333
88
0
88
0
[ 3.076171875, 144.931640625, 104.4140625, 74.091796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.599609375, 73.740234375, -96.15234375, 6.841741561889648 ]
2.966667
89
0
89
0
[ 3.076171875, 144.931640625, 104.4140625, 74.091796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.15234375, 6.841741561889648 ]
3
90
0
90
0
[ 3.076171875, 144.931640625, 104.4140625, 74.091796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.033333
91
0
91
0
[ 3.076171875, 144.931640625, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.066667
92
0
92
0
[ 3.076171875, 144.931640625, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.1
93
0
93
0
[ 3.076171875, 144.931640625, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.133333
94
0
94
0
[ 3.076171875, 144.84375, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.166667
95
0
95
0
[ 3.076171875, 144.84375, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.2
96
0
96
0
[ 2.900390625, 144.84375, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.233333
97
0
97
0
[ 2.900390625, 144.84375, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
3.266667
98
0
98
0
[ 2.900390625, 144.755859375, 104.4140625, 74.1796875, -96.240234375, 0 ]
[ 2.98828125, 143.7890625, 109.51171875, 74.091796875, -96.240234375, 6.841741561889648 ]
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": 367,
    "total_tasks": 1,
    "total_videos": 4,
    "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": {
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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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                "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,
                "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",
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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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:
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