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rocach94
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so101_dataset_w_wall_bin_dynamic_v3

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Robotics
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LeRobot
so101
tutorial
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observation.state
list
timestamp
float32
0
18.5
frame_index
int64
0
555
episode_index
int64
0
49
index
int64
0
23k
task_index
int64
0
0
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[ -1.845703125, 198.720703125, 177.71484375, 65.390625, -4.658203125, 0.3433476388454437 ]
2.3
69
0
69
0
[ -3.515625, 200.0390625, 172.001953125, 65.126953125, -4.21875, 0.16488045454025269 ]
[ -1.7578125, 198.720703125, 177.099609375, 65.390625, -4.658203125, 0.3433476388454437 ]
2.333333
70
0
70
0
[ -3.603515625, 200.0390625, 170.947265625, 65.126953125, -4.21875, 0.16488045454025269 ]
[ -2.373046875, 198.720703125, 176.396484375, 65.390625, -4.39453125, 0.3433476388454437 ]
2.366667
71
0
71
0
[ -3.603515625, 199.951171875, 169.716796875, 65.21484375, -4.21875, 0.16488045454025269 ]
[ -3.33984375, 198.720703125, 175.517578125, 65.390625, -4.5703125, 0.3433476388454437 ]
2.4
72
0
72
0
[ -3.603515625, 199.86328125, 168.57421875, 65.21484375, -4.21875, 0.24732069671154022 ]
[ -3.515625, 198.720703125, 174.7265625, 65.390625, -4.658203125, 0.3433476388454437 ]
2.433333
73
0
73
0
[ -3.603515625, 199.6875, 167.34375, 65.302734375, -4.130859375, 0.32976090908050537 ]
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2.466667
74
0
74
0
[ -3.603515625, 198.984375, 166.2890625, 65.302734375, -4.130859375, 0.4122011661529541 ]
[ -3.1640625, 198.720703125, 172.529296875, 65.390625, -4.658203125, 0.3433476388454437 ]
2.5
75
0
75
0
[ -3.603515625, 197.40234375, 164.970703125, 65.302734375, -4.130859375, 0.49464139342308044 ]
[ -3.076171875, 198.720703125, 171.298828125, 65.390625, -4.482421875, 0.3433476388454437 ]
2.533333
76
0
76
0
[ -3.603515625, 195.029296875, 163.125, 65.302734375, -4.130859375, 0.49464139342308044 ]
[ -3.076171875, 198.6328125, 170.15625, 65.390625, -4.482421875, 0.42918455600738525 ]
2.566667
77
0
77
0
[ -3.603515625, 192.3046875, 161.103515625, 65.302734375, -4.130859375, 0.49464139342308044 ]
[ -3.076171875, 198.10546875, 168.92578125, 65.390625, -4.306640625, 0.42918455600738525 ]
2.6
78
0
78
0
[ -3.515625, 189.140625, 158.73046875, 65.302734375, -4.130859375, 0.5770816206932068 ]
[ -3.076171875, 197.138671875, 167.431640625, 65.390625, -4.306640625, 0.42918455600738525 ]
2.633333
79
0
79
0
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[ -3.076171875, 195.205078125, 165.5859375, 65.390625, -4.306640625, 0.42918455600738525 ]
2.666667
80
0
80
0
[ -3.33984375, 181.23046875, 153.45703125, 65.302734375, -4.130859375, 0.5770816206932068 ]
[ -3.076171875, 192.83203125, 163.4765625, 65.390625, -4.306640625, 0.42918455600738525 ]
2.7
81
0
81
0
[ -3.251953125, 177.099609375, 150.8203125, 65.302734375, -4.130859375, 0.5770816206932068 ]
[ -3.1640625, 189.931640625, 161.455078125, 65.390625, -4.306640625, 0.42918455600738525 ]
2.733333
82
0
82
0
[ -3.1640625, 172.79296875, 148.095703125, 65.302734375, -4.130859375, 0.5770816206932068 ]
[ -3.1640625, 186.591796875, 158.90625, 65.390625, -4.306640625, 0.42918455600738525 ]
2.766667
83
0
83
0
[ -3.1640625, 168.3984375, 145.283203125, 65.302734375, -4.130859375, 0.5770816206932068 ]
[ -3.251953125, 183.1640625, 156.533203125, 65.390625, -4.306640625, 0.42918455600738525 ]
2.8
84
0
84
0
[ -3.1640625, 164.091796875, 142.734375, 65.302734375, -4.130859375, 0.6595218181610107 ]
[ -3.33984375, 179.208984375, 154.072265625, 65.390625, -4.306640625, 0.42918455600738525 ]
2.833333
85
0
85
0
[ -3.076171875, 159.9609375, 140.44921875, 65.302734375, -4.130859375, 0.6595218181610107 ]
[ -3.33984375, 174.814453125, 151.171875, 65.390625, -4.306640625, 0.42918455600738525 ]
2.866667
86
0
86
0
[ -3.076171875, 155.7421875, 138.251953125, 65.21484375, -3.603515625, 0.6595218181610107 ]
[ -3.33984375, 171.298828125, 148.88671875, 65.390625, -4.306640625, 0.42918455600738525 ]
2.9
87
0
87
0
[ -3.33984375, 151.69921875, 136.142578125, 65.21484375, -2.98828125, 0.5770816206932068 ]
[ -3.33984375, 166.2890625, 145.810546875, 65.390625, -4.306640625, 0.42918455600738525 ]
2.933333
88
0
88
0
[ -3.427734375, 147.83203125, 134.208984375, 65.390625, -2.900390625, 0.49464139342308044 ]
[ -3.427734375, 162.94921875, 143.96484375, 65.390625, -4.04296875, 0.42918455600738525 ]
2.966667
89
0
89
0
[ -3.427734375, 144.228515625, 132.451171875, 65.390625, -3.427734375, 0.4122011661529541 ]
[ -3.427734375, 158.642578125, 141.767578125, 65.390625, -3.603515625, 0.42918455600738525 ]
3
90
0
90
0
[ -3.1640625, 140.888671875, 130.869140625, 65.390625, -3.603515625, -0.24732069671154022 ]
[ -3.427734375, 154.86328125, 139.5703125, 65.390625, -3.515625, 0.42918455600738525 ]
3.033333
91
0
91
0
[ -3.076171875, 137.8125, 129.375, 65.390625, -3.69140625, -0.24732069671154022 ]
[ -3.427734375, 150.1171875, 137.28515625, 65.390625, -3.515625, 0.42918455600738525 ]
3.066667
92
0
92
0
[ -2.98828125, 134.560546875, 127.79296875, 65.390625, -3.69140625, -0.24732069671154022 ]
[ -3.427734375, 145.810546875, 135.52734375, 65.390625, -3.515625, 0.3433476388454437 ]
3.1
93
0
93
0
[ -2.98828125, 131.748046875, 126.38671875, 65.390625, -3.076171875, -0.24732069671154022 ]
[ -3.427734375, 142.55859375, 133.9453125, 65.390625, -3.515625, 0.3433476388454437 ]
3.133333
94
0
94
0
[ -2.98828125, 129.111328125, 124.98046875, 65.390625, -2.98828125, -0.24732069671154022 ]
[ -3.515625, 139.04296875, 132.099609375, 65.390625, -3.515625, 0.3433476388454437 ]
3.166667
95
0
95
0
[ -3.251953125, 126.5625, 123.57421875, 65.478515625, -2.900390625, -0.24732069671154022 ]
[ -3.515625, 136.0546875, 130.693359375, 65.390625, -3.33984375, 0.3433476388454437 ]
3.2
96
0
96
0
[ -3.33984375, 124.189453125, 122.080078125, 66.09375, -2.8125, 0.32976090908050537 ]
[ -3.515625, 133.154296875, 129.375, 65.390625, -3.251953125, 0.3433476388454437 ]
3.233333
97
0
97
0
[ -3.33984375, 121.904296875, 120.41015625, 67.1484375, -2.8125, 0.49464139342308044 ]
[ -3.515625, 130.078125, 127.79296875, 65.390625, -3.1640625, 0.3433476388454437 ]
3.266667
98
0
98
0
[ -3.1640625, 119.53125, 118.4765625, 68.115234375, -2.373046875, 0.5770816206932068 ]
[ -3.515625, 127.08984375, 126.03515625, 65.478515625, -3.251953125, 0.42918455600738525 ]
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": 50,
    "total_frames": 23015,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
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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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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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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:
23,015