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Datasets:
tenkau
/
so101_block_stack

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
8
index
int64
0
6.92k
task_index
int64
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[ -4.39453125, 190.810546875, 170.068359375, 40.693359375, -0.439453125, 1.6072676181793213 ]
2.433333
73
0
73
0
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[ -4.39453125, 190.810546875, 169.013671875, 41.044921875, -0.439453125, 2.026555061340332 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -4.39453125, 190.8984375, 164.70703125, 44.033203125, -0.439453125, 8.315862655639648 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -4.39453125, 190.810546875, 162.7734375, 45.791015625, -0.439453125, 12.299091339111328 ]
2.666667
80
0
80
0
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[ -4.39453125, 190.810546875, 161.54296875, 46.845703125, -0.439453125, 13.836477279663086 ]
2.7
81
0
81
0
[ -4.833984375, 191.07421875, 155.302734375, 50.009765625, -0.791015625, 18.567859649658203 ]
[ -4.39453125, 190.986328125, 160.400390625, 47.724609375, -0.439453125, 15.094339370727539 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -4.39453125, 191.337890625, 158.115234375, 49.658203125, -0.439453125, 17.470300674438477 ]
2.8
84
0
84
0
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[ -4.39453125, 191.42578125, 156.884765625, 50.625, -0.439453125, 18.23899269104004 ]
2.833333
85
0
85
0
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[ -4.39453125, 191.42578125, 155.7421875, 51.6796875, -0.439453125, 18.8679256439209 ]
2.866667
86
0
86
0
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[ -4.39453125, 191.42578125, 154.775390625, 52.91015625, -0.439453125, 19.357091903686523 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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[ -4.39453125, 191.42578125, 152.75390625, 55.107421875, -0.439453125, 19.9161434173584 ]
2.966667
89
0
89
0
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[ -4.39453125, 191.42578125, 151.875, 56.337890625, -0.439453125, 20.055904388427734 ]
3
90
0
90
0
[ -4.833984375, 190.986328125, 146.953125, 60.1171875, -0.791015625, 20.566194534301758 ]
[ -4.39453125, 191.42578125, 150.908203125, 57.568359375, -0.439453125, 20.12578582763672 ]
3.033333
91
0
91
0
[ -4.833984375, 190.986328125, 146.25, 60.908203125, -0.791015625, 20.566194534301758 ]
[ -4.39453125, 191.42578125, 150.1171875, 58.623046875, -0.439453125, 20.265548706054688 ]
3.066667
92
0
92
0
[ -4.833984375, 190.8984375, 145.72265625, 61.34765625, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 191.42578125, 149.4140625, 59.501953125, -0.439453125, 20.335430145263672 ]
3.1
93
0
93
0
[ -4.833984375, 190.8984375, 145.107421875, 61.611328125, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 191.42578125, 148.623046875, 60.380859375, -0.439453125, 20.335430145263672 ]
3.133333
94
0
94
0
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[ -4.39453125, 191.42578125, 148.095703125, 60.8203125, -0.439453125, 20.335430145263672 ]
3.166667
95
0
95
0
[ -4.833984375, 190.546875, 143.7890625, 61.69921875, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 191.42578125, 147.48046875, 61.259765625, -0.439453125, 20.335430145263672 ]
3.2
96
0
96
0
[ -4.833984375, 189.84375, 142.822265625, 61.875, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 191.42578125, 146.77734375, 61.435546875, -0.439453125, 20.335430145263672 ]
3.233333
97
0
97
0
[ -4.833984375, 188.876953125, 141.6796875, 62.138671875, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 191.07421875, 145.986328125, 61.611328125, -0.439453125, 20.335430145263672 ]
3.266667
98
0
98
0
[ -4.833984375, 187.734375, 140.537109375, 62.2265625, -0.791015625, 20.649457931518555 ]
[ -4.39453125, 190.458984375, 145.01953125, 61.875, -0.439453125, 20.335430145263672 ]
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": 5,
    "total_frames": 4202,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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
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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": {
            "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
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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