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Datasets:
tenkau
/
so101-stack3blocks-fixed

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
SociableRoboticsLab
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
50.7
frame_index
int64
0
1.52k
episode_index
int64
10
49
index
int64
15k
55.6k
task_index
int64
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[ -3.603515625, 194.501953125, 177.890625, 45.791015625, -0.439453125, 0.5189028978347778 ]
2.3
69
10
15,036
0
[ -3.515625, 187.03125, 176.484375, 39.638671875, -0.791015625, 0.2425222396850586 ]
[ -3.1640625, 193.18359375, 177.890625, 44.560546875, -0.439453125, 0.5189028978347778 ]
2.333333
70
10
15,037
0
[ -3.69140625, 184.482421875, 174.55078125, 39.0234375, -0.966796875, 0.2425222396850586 ]
[ -3.076171875, 191.689453125, 177.71484375, 43.154296875, -0.439453125, 0.5189028978347778 ]
2.366667
71
10
15,038
0
[ -3.69140625, 182.021484375, 172.44140625, 38.671875, -1.23046875, 0.2425222396850586 ]
[ -3.251953125, 189.755859375, 177.36328125, 41.923828125, -0.439453125, 0.5189028978347778 ]
2.4
72
10
15,039
0
[ -3.69140625, 179.560546875, 170.244140625, 38.408203125, -1.7578125, 0.2425222396850586 ]
[ -3.515625, 187.3828125, 176.484375, 41.1328125, -0.52734375, 0.5189028978347778 ]
2.433333
73
10
15,040
0
[ -3.69140625, 177.275390625, 168.046875, 38.14453125, -1.845703125, 0.2425222396850586 ]
[ -3.779296875, 185.2734375, 175.166015625, 40.517578125, -0.87890625, 0.5189028978347778 ]
2.466667
74
10
15,041
0
[ -3.69140625, 175.078125, 165.9375, 38.14453125, -1.845703125, 0.2425222396850586 ]
[ -3.779296875, 182.900390625, 173.14453125, 39.990234375, -1.23046875, 0.5189028978347778 ]
2.5
75
10
15,042
0
[ -3.779296875, 173.056640625, 163.828125, 38.14453125, -2.28515625, 0.32336297631263733 ]
[ -3.779296875, 180.615234375, 171.38671875, 39.638671875, -1.40625, 0.5189028978347778 ]
2.533333
76
10
15,043
0
[ -3.8671875, 171.298828125, 161.806640625, 38.14453125, -2.900390625, 0.32336297631263733 ]
[ -3.779296875, 178.330078125, 169.541015625, 39.375, -1.58203125, 0.5189028978347778 ]
2.566667
77
10
15,044
0
[ -3.8671875, 169.716796875, 159.78515625, 38.14453125, -3.076171875, 0.32336297631263733 ]
[ -3.779296875, 176.044921875, 167.51953125, 39.287109375, -2.021484375, 0.5189028978347778 ]
2.6
78
10
15,045
0
[ -3.8671875, 168.310546875, 157.763671875, 38.14453125, -3.515625, 0.32336297631263733 ]
[ -3.779296875, 174.111328125, 165.498046875, 39.19921875, -2.373046875, 0.5189028978347778 ]
2.633333
79
10
15,046
0
[ -3.8671875, 166.9921875, 155.7421875, 38.232421875, -4.04296875, 0.32336297631263733 ]
[ -3.8671875, 172.265625, 163.564453125, 39.19921875, -2.724609375, 0.5189028978347778 ]
2.666667
80
10
15,047
0
[ -3.8671875, 165.76171875, 153.896484375, 38.232421875, -5.009765625, 0.32336297631263733 ]
[ -3.8671875, 170.5078125, 161.71875, 39.19921875, -3.251953125, 0.5189028978347778 ]
2.7
81
10
15,048
0
[ -3.8671875, 164.8828125, 152.314453125, 38.232421875, -5.9765625, 0.32336297631263733 ]
[ -3.8671875, 169.1015625, 159.697265625, 39.19921875, -3.8671875, 0.5189028978347778 ]
2.733333
82
10
15,049
0
[ -3.955078125, 163.916015625, 150.908203125, 38.3203125, -7.3828125, 0.40420374274253845 ]
[ -3.8671875, 167.6953125, 157.939453125, 39.19921875, -4.5703125, 0.5189028978347778 ]
2.766667
83
10
15,050
0
[ -3.955078125, 162.509765625, 149.23828125, 38.583984375, -8.525390625, 0.40420374274253845 ]
[ -3.8671875, 166.46484375, 156.181640625, 39.19921875, -5.44921875, 0.5189028978347778 ]
2.8
84
10
15,051
0
[ -3.955078125, 161.015625, 147.65625, 38.84765625, -10.107421875, 0.40420374274253845 ]
[ -3.8671875, 165.322265625, 154.51171875, 39.19921875, -6.6796875, 0.5189028978347778 ]
2.833333
85
10
15,052
0
[ -3.8671875, 159.43359375, 146.07421875, 39.19921875, -12.12890625, 0.40420374274253845 ]
[ -3.8671875, 164.1796875, 152.9296875, 39.19921875, -7.822265625, 0.5189028978347778 ]
2.866667
86
10
15,053
0
[ -3.603515625, 157.8515625, 144.31640625, 39.814453125, -14.765625, 0.40420374274253845 ]
[ -3.8671875, 162.59765625, 151.259765625, 39.19921875, -9.140625, 0.5189028978347778 ]
2.9
87
10
15,054
0
[ -3.251953125, 156.005859375, 142.470703125, 40.341796875, -16.875, 0.4850444793701172 ]
[ -3.8671875, 161.19140625, 149.58984375, 39.287109375, -11.162109375, 0.5189028978347778 ]
2.933333
88
10
15,055
0
[ -2.98828125, 153.984375, 140.712890625, 40.95703125, -19.599609375, 0.4850444793701172 ]
[ -3.779296875, 159.697265625, 147.919921875, 39.638671875, -13.271484375, 0.5189028978347778 ]
2.966667
89
10
15,056
0
[ -2.724609375, 152.138671875, 138.779296875, 41.923828125, -22.1484375, 0.4850444793701172 ]
[ -3.69140625, 158.02734375, 146.162109375, 39.990234375, -15.29296875, 0.5189028978347778 ]
3
90
10
15,057
0
[ -2.373046875, 150.556640625, 137.197265625, 42.36328125, -23.90625, 0.8084074854850769 ]
[ -3.33984375, 156.26953125, 144.31640625, 40.517578125, -17.75390625, 0.5189028978347778 ]
3.033333
91
10
15,058
0
[ -1.93359375, 149.23828125, 135.966796875, 42.451171875, -25.576171875, 1.6168149709701538 ]
[ -2.98828125, 154.423828125, 142.55859375, 41.30859375, -20.0390625, 0.5189028978347778 ]
3.066667
92
10
15,059
0
[ -1.494140625, 147.65625, 134.560546875, 42.890625, -27.509765625, 3.2336299419403076 ]
[ -2.8125, 152.666015625, 141.064453125, 41.8359375, -21.884765625, 0.7412898540496826 ]
3.1
93
10
15,060
0
[ -1.318359375, 146.162109375, 133.2421875, 42.978515625, -29.53125, 4.365400314331055 ]
[ -2.373046875, 151.083984375, 139.658203125, 42.099609375, -23.90625, 1.1860637664794922 ]
3.133333
94
10
15,061
0
[ -0.791015625, 144.228515625, 131.8359375, 43.2421875, -31.2890625, 5.497170448303223 ]
[ -2.109375, 149.58984375, 138.1640625, 42.5390625, -25.927734375, 2.3721275329589844 ]
3.166667
95
10
15,062
0
[ -0.17578125, 141.943359375, 129.990234375, 43.59375, -32.16796875, 6.548099994659424 ]
[ -1.58203125, 147.919921875, 136.7578125, 42.71484375, -27.7734375, 3.40993332862854 ]
3.2
96
10
15,063
0
[ 0.439453125, 139.658203125, 128.056640625, 43.76953125, -34.013671875, 8.164915084838867 ]
[ -1.23046875, 146.25, 135.263671875, 43.06640625, -29.35546875, 4.595997333526611 ]
3.233333
97
10
15,064
0
[ 1.142578125, 137.109375, 126.2109375, 43.76953125, -36.38671875, 9.943411827087402 ]
[ -0.703125, 144.404296875, 133.505859375, 43.330078125, -30.9375, 5.782060623168945 ]
3.266667
98
10
15,065
0
[ 1.58203125, 134.47265625, 124.1015625, 44.12109375, -39.19921875, 11.479386329650879 ]
[ -0.087890625, 142.294921875, 131.748046875, 43.505859375, -32.6953125, 7.190511226654053 ]
3.3
99
10
15,066
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": 14967,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
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    "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": {
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                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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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.images.laptop": {
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            "shape": [
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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    }
}

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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