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Datasets:
alicheraghi
/
so101_pick_cube_rgb

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
pick-and-place
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
list
action
list
timestamp
float32
0
14.9
frame_index
int64
0
446
episode_index
int64
0
99
index
int64
0
44.6k
task_index
int64
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[ 4.8779296875, -46.669921875, 74.4873046875, 17.666015625, -74.8388671875, -63.45703125 ]
[ 6.8115234375, -43.2421875, 76.5966796875, 5.009765625, -74.1357421875, -63.80859375 ]
2.3
69
0
69
0
[ 5.3173828125, -45.52734375, 75.4541015625, 14.23828125, -74.8388671875, -63.45703125 ]
[ 7.3388671875, -42.01171875, 77.4755859375, 1.93359375, -74.1357421875, -63.80859375 ]
2.333333
70
0
70
0
[ 5.5810546875, -44.384765625, 76.5087890625, 10.986328125, -74.8388671875, -63.45703125 ]
[ 7.8662109375, -40.693359375, 78.1787109375, -1.142578125, -74.1357421875, -63.80859375 ]
2.366667
71
0
71
0
[ 6.1962890625, -43.154296875, 77.2998046875, 7.822265625, -74.8388671875, -63.45703125 ]
[ 8.3056640625, -39.375, 78.7060546875, -4.04296875, -74.0478515625, -63.80859375 ]
2.4
72
0
72
0
[ 6.8994140625, -41.923828125, 78.2666015625, 4.658203125, -74.8388671875, -63.45703125 ]
[ 8.7451171875, -38.056640625, 79.2333984375, -6.943359375, -73.9599609375, -63.80859375 ]
2.433333
73
0
73
0
[ 7.6904296875, -40.60546875, 78.8818359375, 1.494140625, -74.8388671875, -63.45703125 ]
[ 9.0966796875, -36.73828125, 79.5849609375, -9.66796875, -72.9052734375, -63.80859375 ]
2.466667
74
0
74
0
[ 8.3056640625, -39.287109375, 79.4091796875, -1.40625, -74.8388671875, -63.45703125 ]
[ 9.3603515625, -35.33203125, 80.0244140625, -12.216796875, -71.1474609375, -63.80859375 ]
2.5
75
0
75
0
[ 8.6572265625, -37.96875, 79.8486328125, -4.21875, -74.6630859375, -63.45703125 ]
[ 9.6240234375, -33.662109375, 80.3759765625, -14.765625, -69.2138671875, -63.80859375 ]
2.533333
76
0
76
0
[ 8.7451171875, -36.650390625, 80.2880859375, -7.119140625, -74.1357421875, -63.45703125 ]
[ 10.0634765625, -32.080078125, 80.7275390625, -17.138671875, -67.4560546875, -63.720703125 ]
2.566667
77
0
77
0
[ 8.8330078125, -35.15625, 80.5517578125, -9.755859375, -73.0810546875, -63.45703125 ]
[ 10.5029296875, -30.673828125, 80.9912109375, -19.3359375, -65.9619140625, -63.720703125 ]
2.6
78
0
78
0
[ 9.2724609375, -33.57421875, 80.9033203125, -12.392578125, -71.2353515625, -63.45703125 ]
[ 10.7666015625, -29.267578125, 80.9912109375, -21.533203125, -64.9072265625, -63.720703125 ]
2.633333
79
0
79
0
[ 9.7119140625, -32.16796875, 81.1669921875, -14.765625, -69.4775390625, -63.45703125 ]
[ 11.0302734375, -27.861328125, 80.9912109375, -23.466796875, -64.0283203125, -63.720703125 ]
2.666667
80
0
80
0
[ 10.2392578125, -30.673828125, 81.1669921875, -17.138671875, -68.0712890625, -63.45703125 ]
[ 11.2060546875, -26.630859375, 80.9912109375, -25.224609375, -63.4130859375, -63.017578125 ]
2.7
81
0
81
0
[ 10.6787109375, -29.267578125, 81.1669921875, -19.3359375, -66.8408203125, -63.45703125 ]
[ 11.2939453125, -25.6640625, 80.9912109375, -26.982421875, -63.1494140625, -60.380859375 ]
2.733333
82
0
82
0
[ 10.9423828125, -27.94921875, 81.1669921875, -21.4453125, -65.8740234375, -63.28125 ]
[ 11.5576171875, -24.873046875, 80.9912109375, -28.4765625, -63.1494140625, -56.162109375 ]
2.766667
83
0
83
0
[ 10.9423828125, -26.806640625, 81.1669921875, -23.291015625, -65.0830078125, -62.2265625 ]
[ 11.8212890625, -24.2578125, 80.9912109375, -29.794921875, -63.3251953125, -50.712890625 ]
2.8
84
0
84
0
[ 10.8544921875, -25.751953125, 81.1669921875, -25.13671875, -64.6435546875, -60.205078125 ]
[ 11.8212890625, -23.642578125, 80.9912109375, -30.9375, -63.5888671875, -44.82421875 ]
2.833333
85
0
85
0
[ 10.9423828125, -24.9609375, 81.1669921875, -26.630859375, -64.4677734375, -57.041015625 ]
[ 12.0849609375, -23.115234375, 80.9912109375, -32.080078125, -63.5888671875, -39.287109375 ]
2.866667
86
0
86
0
[ 11.2060546875, -24.169921875, 81.1669921875, -28.037109375, -64.4677734375, -53.0859375 ]
[ 12.5244140625, -22.67578125, 80.9912109375, -32.958984375, -63.5888671875, -34.541015625 ]
2.9
87
0
87
0
[ 11.6455078125, -23.466796875, 81.1669921875, -29.35546875, -64.4677734375, -48.69140625 ]
[ 13.0517578125, -22.236328125, 80.9912109375, -33.57421875, -63.5888671875, -30.234375 ]
2.933333
88
0
88
0
[ 12.1728515625, -22.8515625, 81.1669921875, -30.498046875, -64.4677734375, -44.12109375 ]
[ 13.3154296875, -21.884765625, 81.0791015625, -34.013671875, -63.5888671875, -26.71875 ]
2.966667
89
0
89
0
[ 12.6123046875, -22.32421875, 81.1669921875, -31.2890625, -64.4677734375, -39.814453125 ]
[ 13.4912109375, -21.4453125, 81.2548828125, -34.1015625, -63.5009765625, -23.818359375 ]
3
90
0
90
0
[ 12.8759765625, -21.97265625, 81.4306640625, -31.9921875, -64.4677734375, -35.15625 ]
[ 13.9306640625, -21.357421875, 81.7822265625, -34.1015625, -63.2373046875, -21.357421875 ]
3.033333
91
0
91
0
[ 13.1396484375, -21.533203125, 81.6064453125, -32.431640625, -64.4677734375, -31.11328125 ]
[ 14.1064453125, -21.26953125, 82.2216796875, -34.1015625, -63.2373046875, -19.599609375 ]
3.066667
92
0
92
0
[ 13.2275390625, -21.4453125, 82.0458984375, -32.607421875, -64.3798828125, -27.421875 ]
[ 14.1943359375, -21.181640625, 82.5732421875, -34.1015625, -63.2373046875, -18.28125 ]
3.1
93
0
93
0
[ 13.3154296875, -21.26953125, 82.3974609375, -32.607421875, -64.2041015625, -24.43359375 ]
[ 14.1943359375, -21.181640625, 82.8369140625, -34.1015625, -63.2373046875, -17.578125 ]
3.133333
94
0
94
0
[ 13.5791015625, -21.181640625, 82.7490234375, -32.607421875, -63.9404296875, -22.1484375 ]
[ 14.1943359375, -21.181640625, 83.1005859375, -34.1015625, -63.2373046875, -17.40234375 ]
3.166667
95
0
95
0
[ 13.9306640625, -21.181640625, 82.9248046875, -32.607421875, -63.9404296875, -20.56640625 ]
[ 14.1943359375, -21.181640625, 83.4521484375, -34.1015625, -63.2373046875, -17.314453125 ]
3.2
96
0
96
0
[ 14.1064453125, -21.181640625, 83.2763671875, -32.607421875, -63.9404296875, -19.423828125 ]
[ 14.1943359375, -21.181640625, 83.7158203125, -34.1015625, -63.1494140625, -17.2265625 ]
3.233333
97
0
97
0
[ 14.1943359375, -21.181640625, 83.6279296875, -32.607421875, -63.8525390625, -18.896484375 ]
[ 14.0185546875, -21.181640625, 83.8916015625, -34.1015625, -63.1494140625, -17.2265625 ]
3.266667
98
0
98
0
[ 14.1064453125, -21.181640625, 83.8037109375, -32.607421875, -63.8525390625, -18.369140625 ]
[ 14.0185546875, -21.09375, 84.1552734375, -34.1015625, -63.1494140625, -17.2265625 ]
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": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 100,
    "total_frames": 44613,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.images.wrist_left": {
            "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
            }
        },
        "observation.images.wrist_right": {
            "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
            }
        },
        "observation.images.overhead_color": {
            "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": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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