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Datasets:
Bapt120
/
so101_cup5

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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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 6.85546875, 162.7734375, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.433333
73
0
73
0
[ 7.03125, 158.203125, 92.8125, 88.505859375, -17.314453125, 17.519271850585938 ]
[ 6.85546875, 162.333984375, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.466667
74
0
74
0
[ 7.03125, 157.587890625, 92.8125, 88.505859375, -17.314453125, 17.58934783935547 ]
[ 6.85546875, 161.806640625, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.5
75
0
75
0
[ 7.03125, 157.1484375, 92.8125, 88.505859375, -17.314453125, 17.58934783935547 ]
[ 6.85546875, 161.19140625, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.533333
76
0
76
0
[ 7.03125, 156.708984375, 92.8125, 88.505859375, -17.314453125, 17.58934783935547 ]
[ 6.85546875, 160.6640625, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.566667
77
0
77
0
[ 7.03125, 156.26953125, 92.8125, 88.505859375, -17.314453125, 17.58934783935547 ]
[ 6.85546875, 160.13671875, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.6
78
0
78
0
[ 7.03125, 155.91796875, 92.8125, 88.505859375, -17.314453125, 17.659425735473633 ]
[ 6.85546875, 159.521484375, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.633333
79
0
79
0
[ 7.03125, 155.478515625, 92.8125, 88.505859375, -17.314453125, 17.659425735473633 ]
[ 6.85546875, 159.08203125, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.666667
80
0
80
0
[ 7.03125, 155.0390625, 92.8125, 88.505859375, -17.314453125, 17.729503631591797 ]
[ 6.85546875, 158.73046875, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.7
81
0
81
0
[ 7.119140625, 154.423828125, 92.900390625, 88.505859375, -17.314453125, 17.729503631591797 ]
[ 6.943359375, 158.291015625, 93.8671875, 90.3515625, -17.841796875, 17.324560165405273 ]
2.733333
82
0
82
0
[ 7.119140625, 153.6328125, 92.900390625, 88.505859375, -17.314453125, 17.729503631591797 ]
[ 6.943359375, 157.939453125, 93.8671875, 90.3515625, -17.578125, 17.324560165405273 ]
2.766667
83
0
83
0
[ 7.119140625, 152.841796875, 92.98828125, 88.505859375, -17.314453125, 17.729503631591797 ]
[ 6.943359375, 157.5, 93.8671875, 90.3515625, -17.490234375, 17.324560165405273 ]
2.8
84
0
84
0
[ 7.119140625, 151.962890625, 93.251953125, 88.505859375, -17.314453125, 17.37911605834961 ]
[ 6.943359375, 156.97265625, 93.8671875, 90.3515625, -17.490234375, 17.324560165405273 ]
2.833333
85
0
85
0
[ 7.119140625, 151.171875, 93.427734375, 88.505859375, -17.314453125, 17.238962173461914 ]
[ 6.943359375, 156.357421875, 93.8671875, 90.3515625, -17.490234375, 17.324560165405273 ]
2.866667
86
0
86
0
[ 7.119140625, 150.29296875, 93.603515625, 88.505859375, -17.314453125, 17.238962173461914 ]
[ 7.03125, 155.7421875, 93.8671875, 90.3515625, -17.40234375, 17.324560165405273 ]
2.9
87
0
87
0
[ 7.119140625, 149.4140625, 93.603515625, 88.505859375, -17.314453125, 17.238962173461914 ]
[ 7.03125, 155.0390625, 93.8671875, 90.3515625, -17.40234375, 17.324560165405273 ]
2.933333
88
0
88
0
[ 7.119140625, 148.447265625, 93.69140625, 88.41796875, -17.314453125, 17.168886184692383 ]
[ 7.03125, 154.3359375, 93.8671875, 90.3515625, -17.314453125, 17.324560165405273 ]
2.966667
89
0
89
0
[ 7.119140625, 147.392578125, 93.69140625, 88.41796875, -17.314453125, 17.168886184692383 ]
[ 7.03125, 153.544921875, 93.8671875, 90.3515625, -17.2265625, 17.324560165405273 ]
3
90
0
90
0
[ 7.119140625, 146.162109375, 93.69140625, 88.41796875, -17.314453125, 17.168886184692383 ]
[ 7.03125, 152.666015625, 93.8671875, 90.3515625, -17.2265625, 17.324560165405273 ]
3.033333
91
0
91
0
[ 7.119140625, 144.931640625, 93.69140625, 88.41796875, -17.2265625, 17.168886184692383 ]
[ 7.03125, 151.69921875, 93.8671875, 90.3515625, -17.2265625, 17.324560165405273 ]
3.066667
92
0
92
0
[ 7.119140625, 143.701171875, 93.69140625, 88.41796875, -17.2265625, 17.168886184692383 ]
[ 7.03125, 150.64453125, 93.8671875, 90.3515625, -17.2265625, 17.324560165405273 ]
3.1
93
0
93
0
[ 7.119140625, 142.470703125, 93.69140625, 88.330078125, -17.2265625, 17.168886184692383 ]
[ 7.03125, 149.326171875, 93.8671875, 90.3515625, -17.2265625, 17.324560165405273 ]
3.133333
94
0
94
0
[ 7.119140625, 141.240234375, 93.69140625, 88.330078125, -17.2265625, 17.168886184692383 ]
[ 7.03125, 148.0078125, 93.8671875, 90.3515625, -17.666015625, 17.324560165405273 ]
3.166667
95
0
95
0
[ 7.119140625, 140.009765625, 93.69140625, 88.330078125, -17.2265625, 17.168886184692383 ]
[ 7.03125, 146.513671875, 93.8671875, 90.3515625, -17.75390625, 17.324560165405273 ]
3.2
96
0
96
0
[ 7.119140625, 138.955078125, 93.69140625, 88.330078125, -17.2265625, 17.168886184692383 ]
[ 7.03125, 145.107421875, 93.8671875, 90.3515625, -17.75390625, 17.324560165405273 ]
3.233333
97
0
97
0
[ 7.20703125, 137.8125, 93.69140625, 88.330078125, -17.2265625, 17.168886184692383 ]
[ 7.03125, 143.701171875, 93.8671875, 90.3515625, -17.75390625, 17.324560165405273 ]
3.266667
98
0
98
0
[ 7.20703125, 136.845703125, 93.69140625, 88.154296875, -17.2265625, 17.168886184692383 ]
[ 7.03125, 142.3828125, 93.8671875, 90.3515625, -17.75390625, 17.324560165405273 ]
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": 1793,
    "total_tasks": 1,
    "total_videos": 2,
    "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": {
            "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.arm": {
            "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": {
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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