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Datasets:
bendca61
/
so101-test-leader-v1

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
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1
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action
list
observation.state
list
timestamp
float32
0
36.2
frame_index
int64
0
1.09k
episode_index
int64
0
0
index
int64
0
1.09k
task_index
int64
0
0
language_persistent
listlengths
10
10
language_events
listlengths
0
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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2.133333
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2.2
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2.3
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2.333333
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2.4
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -71.69230651855469, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.05236667022109032, 0.5948200821876526, 0.8011830449104309, -0.03940225765109062 ]
2.666667
80
0
80
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[ 2.0219781398773193, -99.64835357666016, 97.23076629638672, 15.95604419708252, -72.3956069946289, 3.0007503032684326 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -71.86813354492188, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.05132075026631355, 0.5949112176895142, 0.8012511134147644, -0.037993524223566055 ]
2.7
81
0
81
0
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[]
[ 2.0219781398773193, -99.64835357666016, 97.23076629638672, 15.95604419708252, -72.48351287841797, 3.0007503032684326 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -71.95604705810547, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.050797730684280396, 0.59495609998703, 0.8012841939926147, -0.03728911280632019 ]
2.733333
82
0
82
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[ 1.6703296899795532, -99.64835357666016, 97.23076629638672, 15.95604419708252, -72.48351287841797, 3.0007503032684326 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -72.13186645507812, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.04975157603621483, 0.5950444936752319, 0.8013485074043274, -0.035880204290151596 ]
2.766667
83
0
83
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[ 1.494505524635315, -99.64835357666016, 97.23076629638672, 15.95604419708252, -72.48351287841797, 3.0757689476013184 ]
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2.8
84
0
84
0
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[ 1.9340659379959106, -99.64835357666016, 97.23076629638672, 15.95604419708252, -72.3956069946289, 3.0757689476013184 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -72.30769348144531, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.048705268651247025, 0.5951310396194458, 0.8014103770256042, -0.03447118401527405 ]
2.833333
85
0
85
0
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[]
[ 2.1098902225494385, -99.64835357666016, 97.23076629638672, 16.571428298950195, -72.3956069946289, 3.0757689476013184 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.879121780395508, -72.30769348144531, 3.459972858428955, 0.016394009813666344, -0.13210950791835785, 0.12335037440061569, 0.048705268651247025, 0.5951310396194458, 0.8014103770256042, -0.03447118401527405 ]
2.866667
86
0
86
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[ 2.1978023052215576, -99.64835357666016, 97.23076629638672, 17.89011001586914, -72.48351287841797, 3.150787591934204 ]
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2.9
87
0
87
0
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[ 2.7252748012542725, -99.64835357666016, 97.23076629638672, 19.296703338623047, -72.57142639160156, 3.150787591934204 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 16.96703338623047, -72.30769348144531, 3.459972858428955, 0.01639520563185215, -0.132078617811203, 0.12324748933315277, 0.04864773154258728, 0.5944280028343201, 0.8019344806671143, -0.03449372574687004 ]
2.933333
88
0
88
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[]
[ 2.98901104927063, -99.64835357666016, 97.23076629638672, 20.615385055541992, -72.92308044433594, 3.225806474685669 ]
[ 1.9340659379959106, -99.25274658203125, 96.92308044433594, 17.318681716918945, -72.30769348144531, 3.459972858428955, 0.016400054097175598, -0.13195325434207916, 0.12283650040626526, 0.04841719567775726, 0.5916111469268799, 0.804024875164032, -0.03458362817764282 ]
2.966667
89
0
89
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[]
[ 3.076923131942749, -99.64835357666016, 97.14286041259766, 21.934066772460938, -74.06593322753906, 3.7509377002716064 ]
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3
90
0
90
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[ 3.4285714626312256, -99.64835357666016, 97.14286041259766, 23.076923370361328, -75.47252655029297, 5.401350498199463 ]
[ 2.1098902225494385, -99.25274658203125, 96.92308044433594, 19.340660095214844, -72.57142639160156, 3.459972858428955, 0.016049986705183983, -0.1311606466770172, 0.12049122899770737, 0.046574342995882034, 0.575314462184906, 0.8159972429275513, -0.031505733728408813 ]
3.033333
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91
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[ 3.604395627975464, -99.64835357666016, 97.14286041259766, 23.956043243408203, -76.87911987304688, 8.552138328552246 ]
[ 2.6373627185821533, -99.25274658203125, 96.92308044433594, 20.483516693115234, -73.18681335449219, 3.459972858428955, 0.01493537612259388, -0.13062426447868347, 0.11918015033006668, 0.045320674777030945, 0.5660149455070496, 0.8228446245193481, -0.022355856373906136 ]
3.066667
92
0
92
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[ 3.692307710647583, -99.64835357666016, 97.14286041259766, 24.30769157409668, -77.84615325927734, 13.12828254699707 ]
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3.1
93
0
93
0
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[]
[ 3.692307710647583, -99.64835357666016, 97.14286041259766, 24.395605087280273, -78.10989379882812, 19.12978172302246 ]
[ 3.2527472972869873, -99.25274658203125, 96.92308044433594, 22.505495071411133, -75.38461303710938, 5.020352840423584, 0.013672217726707458, -0.12962201237678528, 0.11688874661922455, 0.035285547375679016, 0.549936830997467, 0.8344601392745972, 0.0008091392810456455 ]
3.133333
94
0
94
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[ 3.5164835453033447, -99.64835357666016, 97.14286041259766, 24.131868362426758, -78.19779968261719, 25.581396102905273 ]
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3.166667
95
0
95
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[ 3.4285714626312256, -99.64835357666016, 97.14286041259766, 23.69230842590332, -78.19779968261719, 32.03300857543945 ]
[ 3.3406593799591064, -99.25274658203125, 96.92308044433594, 23.648351669311523, -77.05494689941406, 10.447761535644531, 0.01352247316390276, -0.12904760241508484, 0.11561071127653122, 0.026117485016584396, 0.5408650040626526, 0.840559184551239, 0.015595948323607445 ]
3.2
96
0
96
0
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[]
[ 3.164835214614868, -99.64835357666016, 97.05494689941406, 23.69230842590332, -78.19779968261719, 38.484622955322266 ]
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3.233333
97
0
97
0
[ { "role": "user", "content": "move your arm toward the tape, get a grip, close the gripper lift and move", "style": "task_aug", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "going toward the green tape", "style": "subtask", "time...
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[ 2.98901104927063, -99.64835357666016, 96.96703338623047, 23.69230842590332, -78.19779968261719, 44.26106643676758 ]
[ 3.3406593799591064, -99.25274658203125, 96.92308044433594, 23.648351669311523, -77.67032623291016, 17.50339126586914, 0.01352247316390276, -0.12904760241508484, 0.11561071127653122, 0.02278861217200756, 0.5410154461860657, 0.8404473066329956, 0.020768292248249054 ]
3.266667
98
0
98
0
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[ 2.98901104927063, -99.64835357666016, 96.87911987304688, 23.69230842590332, -78.19779968261719, 49.81245422363281 ]
[ 3.3406593799591064, -99.25274658203125, 96.92308044433594, 23.648351669311523, -77.84615325927734, 21.031208038330078, 0.01352247316390276, -0.12904760241508484, 0.11561071127653122, 0.02183734066784382, 0.5410546660423279, 0.8404094576835632, 0.022245967760682106 ]
3.3
99
0
99
0
[ { "role": "user", "content": "move your arm toward the tape, get a grip, close the gripper lift and move", "style": "task_aug", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "going toward the green tape", "style": "subtask", "time...
[]
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_physical_wrapped",
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {},
    "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",
            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "ee_pos_x",
                "ee_pos_y",
                "ee_pos_z",
                "ee_quat_x",
                "ee_quat_y",
                "ee_quat_z",
                "ee_quat_w"
            ]
        },
        "observation.images.cam_high": {
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            "shape": [
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            "names": [
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        "observation.images.cam_wrist": {
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            "shape": [
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            "names": [
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        },
        "observation.images.cam_high_depth": {
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            "names": [
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        },
        "observation.images.cam_high_depth_vis": {
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            "names": [
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        },
        "timestamp": {
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        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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