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Datasets:
L7-Robotics
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so101_conveyor_static_center_redcube_whitebowl_v4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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float32
0
21.3
frame_index
int64
0
425
episode_index
int64
0
29
index
int64
0
10.3k
task_index
int64
0
0
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[ 1.9340659379959106, -76.83516693115234, 57.80219650268555, 53.14285659790039, -4, 1.1583011150360107 ]
[ 0.7472527623176575, -90.4175796508789, 69.010986328125, 53.80219650268555, -3.912087917327881, 1.4276443719863892 ]
2.85
57
0
57
0
[ 2.8131868839263916, -71.9120864868164, 54.19780349731445, 53.14285659790039, -4.087912082672119, 1.1583011150360107 ]
[ 0.8351648449897766, -85.93406677246094, 65.84615325927734, 53.80219650268555, -3.912087917327881, 1.4276443719863892 ]
2.9
58
0
58
0
[ 3.692307710647583, -67.16483306884766, 50.85714340209961, 53.14285659790039, -4.087912082672119, 1.1583011150360107 ]
[ 1.3626374006271362, -81.0988998413086, 62.32966995239258, 53.80219650268555, -3.912087917327881, 1.4276443719863892 ]
2.95
59
0
59
0
[ 4.835165023803711, -62.68132019042969, 47.78022003173828, 54.19780349731445, -4.087912082672119, 1.1583011150360107 ]
[ 2.153846263885498, -76.0879135131836, 58.81318664550781, 53.80219650268555, -3.912087917327881, 1.4276443719863892 ]
3
60
0
60
0
[ 5.8021979331970215, -58.5494499206543, 44.52747344970703, 56.21977996826172, -4.087912082672119, 1.1583011150360107 ]
[ 2.9450550079345703, -71.25274658203125, 55.47252655029297, 53.89011001586914, -3.912087917327881, 1.4276443719863892 ]
3.05
61
0
61
0
[ 6.4175825119018555, -54.32966995239258, 41.4505500793457, 58.94505310058594, -4.087912082672119, 1.1583011150360107 ]
[ 3.912087917327881, -66.4175796508789, 52.21977996826172, 54.153846740722656, -3.912087917327881, 1.4276443719863892 ]
3.1
62
0
62
0
[ 6.94505500793457, -50.28571319580078, 38.46154022216797, 62.021976470947266, -3.8241758346557617, 1.1583011150360107 ]
[ 4.9670329093933105, -61.846153259277344, 49.14285659790039, 55.47252655029297, -3.912087917327881, 1.4276443719863892 ]
3.15
63
0
63
0
[ 7.472527503967285, -46.153846740722656, 35.82417678833008, 65.0988998413086, -3.7362637519836426, 1.1583011150360107 ]
[ 5.5824174880981445, -57.53845977783203, 45.89011001586914, 57.58241653442383, -3.912087917327881, 1.4276443719863892 ]
3.2
64
0
64
0
[ 7.648351669311523, -42.373626708984375, 33.53845977783203, 67.9120864868164, -3.7362637519836426, 1.1583011150360107 ]
[ 6.1978020668029785, -53.406593322753906, 42.901100158691406, 60.21977996826172, -3.912087917327881, 1.4276443719863892 ]
3.25
65
0
65
0
[ 7.736263751983643, -38.593406677246094, 31.516483306884766, 70.37362670898438, -3.6483516693115234, 1.1583011150360107 ]
[ 6.8131866455078125, -49.010990142822266, 40.087913513183594, 63.03296661376953, -3.912087917327881, 1.4276443719863892 ]
3.3
66
0
66
0
[ 8.175824165344238, -35.340660095214844, 29.670330047607422, 72.21977996826172, -3.6483516693115234, 1.1583011150360107 ]
[ 6.989010810852051, -44.79121017456055, 37.626373291015625, 65.75823974609375, -3.912087917327881, 1.4276443719863892 ]
3.35
67
0
67
0
[ 9.142857551574707, -32.52747344970703, 27.91208839416504, 73.27472686767578, -3.6483516693115234, 1.1583011150360107 ]
[ 7.164834976196289, -40.74725341796875, 35.42856979370117, 68.30769348144531, -3.912087917327881, 1.4276443719863892 ]
3.4
68
0
68
0
[ 10.461538314819336, -30.065933227539062, 26.241758346557617, 73.71428680419922, -3.6483516693115234, 1.1583011150360107 ]
[ 7.604395389556885, -36.879119873046875, 33.4945068359375, 70.5054931640625, -3.912087917327881, 1.4276443719863892 ]
3.45
69
0
69
0
[ 11.868131637573242, -28.043956756591797, 24.83516502380371, 73.80220031738281, -3.6483516693115234, 1.1583011150360107 ]
[ 8.483516693115234, -33.36263656616211, 31.736263275146484, 72, -3.912087917327881, 1.4276443719863892 ]
3.5
70
0
70
0
[ 13.01098918914795, -26.10988998413086, 23.428571701049805, 73.80220031738281, -3.5604395866394043, 1.1583011150360107 ]
[ 9.538461685180664, -30.549449920654297, 29.89011001586914, 72.87911987304688, -3.912087917327881, 1.4276443719863892 ]
3.55
71
0
71
0
[ 13.978021621704102, -24.52747344970703, 22.0219783782959, 73.89010620117188, -3.472527503967285, 1.1583011150360107 ]
[ 10.857142448425293, -28.263736724853516, 28.395605087280273, 73.14286041259766, -3.912087917327881, 1.4276443719863892 ]
3.6
72
0
72
0
[ 14.94505500793457, -23.208791732788086, 20.879121780395508, 73.89010620117188, -1.890109896659851, 1.2355211973190308 ]
[ 12, -26.065933227539062, 26.813186645507812, 73.14286041259766, -3.912087917327881, 1.4276443719863892 ]
3.65
73
0
73
0
[ 15.560439109802246, -22.41758155822754, 20, 73.89010620117188, 2.5054945945739746, 2.7799227237701416 ]
[ 13.05494499206543, -24.21977996826172, 25.494504928588867, 73.31867980957031, -3.5604395866394043, 1.4276443719863892 ]
3.7
74
0
74
0
[ 16, -21.80219841003418, 19.384614944458008, 73.89010620117188, 5.406593322753906, 5.945945739746094 ]
[ 14.021978378295898, -22.72527503967285, 24.263736724853516, 73.31867980957031, -2.3296704292297363, 1.4276443719863892 ]
3.75
75
0
75
0
[ 16.52747344970703, -21.27472496032715, 18.681318283081055, 73.89010620117188, 5.846153736114502, 9.884169578552246 ]
[ 14.725275039672852, -21.934066772460938, 23.208791732788086, 73.31867980957031, 0.48351648449897766, 2.011680841445923 ]
3.8
76
0
76
0
[ 17.230770111083984, -21.098901748657227, 18.153846740722656, 73.89010620117188, 6.109889984130859, 13.590733528137207 ]
[ 15.340659141540527, -21.318681716918945, 22.329669952392578, 73.31867980957031, 3.384615421295166, 4.023361682891846 ]
3.85
77
0
77
0
[ 18.0219783782959, -21.098901748657227, 17.80219841003418, 73.89010620117188, 6.109889984130859, 16.83397674560547 ]
[ 15.868131637573242, -20.879121780395508, 21.538461685180664, 73.31867980957031, 4.615384578704834, 7.203114986419678 ]
3.9
78
0
78
0
[ 18.63736343383789, -21.186813354492188, 17.80219841003418, 73.89010620117188, 6.1978020668029785, 19.691120147705078 ]
[ 16.571428298950195, -20.791208267211914, 21.010988235473633, 73.31867980957031, 5.318681240081787, 10.707332611083984 ]
3.95
79
0
79
0
[ 19.076923370361328, -21.27472496032715, 17.80219841003418, 73.89010620117188, 6.1978020668029785, 22.239381790161133 ]
[ 17.36263656616211, -20.791208267211914, 20.74725341796875, 73.31867980957031, 5.670329570770264, 14.081765174865723 ]
4
80
0
80
0
[ 19.516483306884766, -21.27472496032715, 17.80219841003418, 74.85713958740234, 6.1978020668029785, 25.096525192260742 ]
[ 17.9780216217041, -20.791208267211914, 20.74725341796875, 73.31867980957031, 5.846153736114502, 17.131732940673828 ]
4.05
81
0
81
0
[ 19.78022003173828, -21.098901748657227, 17.714284896850586, 76, 6.1978020668029785, 28.185327529907227 ]
[ 18.505495071411133, -20.791208267211914, 20.659339904785156, 73.4065933227539, 5.846153736114502, 19.98702049255371 ]
4.1
82
0
82
0
[ 19.78022003173828, -21.098901748657227, 17.714284896850586, 76.79120635986328, 6.1978020668029785, 30.656370162963867 ]
[ 18.94505500793457, -20.791208267211914, 20.659339904785156, 74.19779968261719, 5.846153736114502, 22.842309951782227 ]
4.15
83
0
83
0
[ 19.78022003173828, -21.010988235473633, 17.714284896850586, 76.96703338623047, 6.1978020668029785, 31.814672470092773 ]
[ 19.208791732788086, -20.791208267211914, 20.659339904785156, 75.07691955566406, 5.846153736114502, 25.697599411010742 ]
4.2
84
0
84
0
[ 19.78022003173828, -21.010988235473633, 17.714284896850586, 76.79120635986328, 6.1978020668029785, 31.814672470092773 ]
[ 19.384614944458008, -20.791208267211914, 20.659339904785156, 75.78022003173828, 5.846153736114502, 28.4231014251709 ]
4.25
85
0
85
0
[ 19.516483306884766, -21.010988235473633, 17.714284896850586, 76.61538696289062, 6.285714149475098, 31.969112396240234 ]
[ 19.384614944458008, -20.791208267211914, 20.659339904785156, 76.04395294189453, 5.846153736114502, 30.17521095275879 ]
4.3
86
0
86
0
[ 19.16483497619629, -20.923076629638672, 17.186813354492188, 76.26373291015625, 6.285714149475098, 31.969112396240234 ]
[ 19.384614944458008, -20.791208267211914, 20.659339904785156, 76.21977996826172, 5.846153736114502, 30.8890323638916 ]
4.35
87
0
87
0
[ 18.989011764526367, -20.923076629638672, 16.659339904785156, 75.82417297363281, 6.285714149475098, 32.04633331298828 ]
[ 19.384614944458008, -20.791208267211914, 20.659339904785156, 76.21977996826172, 6.02197790145874, 31.278390884399414 ]
4.4
88
0
88
0
[ 18.19780158996582, -20.83516502380371, 15.428571701049805, 75.82417297363281, 6.285714149475098, 32.04633331298828 ]
[ 19.296703338623047, -20.791208267211914, 20.21977996826172, 76.21977996826172, 6.109889984130859, 31.34328269958496 ]
4.45
89
0
89
0
[ 17.318681716918945, -20.483516693115234, 14.373626708984375, 75.9120864868164, 6.285714149475098, 32.04633331298828 ]
[ 19.296703338623047, -20.615385055541992, 19.516483306884766, 76.21977996826172, 6.109889984130859, 31.537961959838867 ]
4.5
90
0
90
0
[ 16.52747344970703, -19.076923370361328, 13.142857551574707, 76.26373291015625, 6.285714149475098, 31.969112396240234 ]
[ 18.769229888916016, -20.52747344970703, 18.461538314819336, 76.21977996826172, 6.109889984130859, 31.602855682373047 ]
4.55
91
0
91
0
[ 16.175825119018555, -16.879121780395508, 11.472527503967285, 76.70330047607422, 6.285714149475098, 31.891891479492188 ]
[ 17.80219841003418, -20.175825119018555, 17.318681716918945, 76.21977996826172, 6.109889984130859, 31.602855682373047 ]
4.6
92
0
92
0
[ 16.175825119018555, -13.802197456359863, 9.626373291015625, 77.4065933227539, 6.285714149475098, 31.891891479492188 ]
[ 16.923076629638672, -18.94505500793457, 16.08791160583496, 76.21977996826172, 6.109889984130859, 31.602855682373047 ]
4.65
93
0
93
0
[ 16.439559936523438, -10.373626708984375, 7.4285712242126465, 78.37362670898438, 6.285714149475098, 31.891891479492188 ]
[ 16.571428298950195, -16.74725341796875, 14.593406677246094, 76.30769348144531, 6.109889984130859, 31.602855682373047 ]
4.7
94
0
94
0
[ 16.791208267211914, -6.857142925262451, 5.230769157409668, 79.16483306884766, 6.285714149475098, 31.891891479492188 ]
[ 16.483516693115234, -14.021978378295898, 12.747252464294434, 76.83516693115234, 6.109889984130859, 31.602855682373047 ]
4.75
95
0
95
0
[ 16.96703338623047, -3.604395627975464, 3.2087912559509277, 79.69230651855469, 6.285714149475098, 31.891891479492188 ]
[ 16.483516693115234, -10.857142448425293, 10.813186645507812, 77.62637329101562, 6.109889984130859, 31.602855682373047 ]
4.8
96
0
96
0
[ 17.670330047607422, -0.8791208863258362, 1.3626374006271362, 80.21977996826172, 6.285714149475098, 31.814672470092773 ]
[ 16.483516693115234, -7.252747058868408, 8.79120922088623, 78.32967376708984, 6.109889984130859, 31.602855682373047 ]
4.85
97
0
97
0
[ 18.19780158996582, 1.4065934419631958, -0.3076923191547394, 80.30769348144531, 6.1978020668029785, 31.814672470092773 ]
[ 16.571428298950195, -3.6483516693115234, 6.769230842590332, 78.94505310058594, 6.109889984130859, 31.602855682373047 ]
4.9
98
0
98
0
[ 18.72527503967285, 2.98901104927063, -1.4505494832992554, 80.3956069946289, 6.1978020668029785, 31.814672470092773 ]
[ 17.010988235473633, -0.7472527623176575, 5.010989189147949, 79.38461303710938, 6.109889984130859, 31.602855682373047 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 30,
    "total_frames": 10342,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
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            "shape": [
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        "observation.images.rear_top": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 20,
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                "has_audio": false
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        "observation.images.right_side": {
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        "observation.images.wrist": {
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            "info": {
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                "video.codec": "av1",
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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Total file size:
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