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Datasets:
yingliu-data
/
so101_Da_Pinchi_draw

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
lerobot
hackathon
daPinchi
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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sequence
observation.state
sequence
timestamp
float32
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33.3
frame_index
int64
0
999
episode_index
int64
0
15
index
int64
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12.3k
task_index
int64
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[ -2.373046875, 138.8671875, 86.484375, 93.779296875, -2.98828125, 100.2919692993164 ]
2.433333
73
0
73
0
[ -2.021484375, 128.935546875, 83.3203125, 87.1875, -4.39453125, 100.75000762939453 ]
[ -2.373046875, 135.703125, 86.484375, 92.8125, -3.427734375, 100.2919692993164 ]
2.466667
74
0
74
0
[ -1.40625, 126.650390625, 83.3203125, 85.4296875, -5.09765625, 100.75000762939453 ]
[ -2.373046875, 133.06640625, 86.484375, 91.58203125, -3.603515625, 100.2919692993164 ]
2.5
75
0
75
0
[ -0.439453125, 124.27734375, 83.056640625, 83.49609375, -5.625, 100.75000762939453 ]
[ -2.28515625, 130.693359375, 86.484375, 90.17578125, -3.8671875, 100.2919692993164 ]
2.533333
76
0
76
0
[ 0.439453125, 122.080078125, 82.44140625, 82.001953125, -6.064453125, 100.75000762939453 ]
[ -2.109375, 127.880859375, 86.484375, 88.59375, -4.39453125, 100.2919692993164 ]
2.566667
77
0
77
0
[ 1.318359375, 119.8828125, 81.650390625, 80.595703125, -6.6796875, 100.75000762939453 ]
[ -1.318359375, 125.068359375, 86.66015625, 86.923828125, -4.921875, 100.2919692993164 ]
2.6
78
0
78
0
[ 2.197265625, 117.94921875, 80.68359375, 79.27734375, -7.470703125, 100.75000762939453 ]
[ -0.52734375, 122.34375, 86.748046875, 85.4296875, -5.361328125, 100.2919692993164 ]
2.633333
79
0
79
0
[ 2.900390625, 115.83984375, 79.453125, 78.22265625, -8.26171875, 100.75000762939453 ]
[ 0.439453125, 120.05859375, 86.396484375, 83.935546875, -5.888671875, 100.2919692993164 ]
2.666667
80
0
80
0
[ 3.33984375, 113.994140625, 78.134765625, 77.255859375, -8.96484375, 100.75000762939453 ]
[ 1.58203125, 118.037109375, 85.517578125, 82.529296875, -6.591796875, 100.2919692993164 ]
2.7
81
0
81
0
[ 3.8671875, 112.1484375, 76.904296875, 76.201171875, -9.404296875, 100.75000762939453 ]
[ 2.4609375, 116.103515625, 84.19921875, 81.2109375, -7.294921875, 100.2919692993164 ]
2.733333
82
0
82
0
[ 4.306640625, 110.56640625, 75.673828125, 75.322265625, -9.931640625, 100.75000762939453 ]
[ 3.076171875, 114.169921875, 83.056640625, 80.15625, -7.91015625, 100.2919692993164 ]
2.766667
83
0
83
0
[ 4.5703125, 108.896484375, 74.35546875, 74.794921875, -10.37109375, 100.75000762939453 ]
[ 3.515625, 112.412109375, 81.826171875, 78.92578125, -8.4375, 100.2919692993164 ]
2.8
84
0
84
0
[ 4.74609375, 107.40234375, 73.30078125, 74.443359375, -10.72265625, 100.75000762939453 ]
[ 3.8671875, 110.56640625, 80.595703125, 77.958984375, -9.052734375, 100.2919692993164 ]
2.833333
85
0
85
0
[ 4.658203125, 105.908203125, 72.24609375, 74.35546875, -10.72265625, 100.75000762939453 ]
[ 4.04296875, 108.544921875, 79.189453125, 77.080078125, -9.580078125, 100.2919692993164 ]
2.866667
86
0
86
0
[ 4.482421875, 104.501953125, 71.3671875, 74.1796875, -10.810546875, 100.75000762939453 ]
[ 4.04296875, 107.138671875, 78.22265625, 76.640625, -9.931640625, 100.2919692993164 ]
2.9
87
0
87
0
[ 4.21875, 103.095703125, 70.576171875, 74.1796875, -10.810546875, 100.75000762939453 ]
[ 4.04296875, 105.732421875, 77.255859375, 76.376953125, -10.107421875, 100.2919692993164 ]
2.933333
88
0
88
0
[ 4.04296875, 101.77734375, 69.873046875, 74.1796875, -10.810546875, 100.75000762939453 ]
[ 4.04296875, 103.974609375, 76.025390625, 76.025390625, -10.283203125, 100.2919692993164 ]
2.966667
89
0
89
0
[ 3.955078125, 100.634765625, 69.169921875, 74.091796875, -10.72265625, 100.75000762939453 ]
[ 4.04296875, 102.568359375, 75.146484375, 75.849609375, -10.37109375, 100.2919692993164 ]
3
90
0
90
0
[ 3.603515625, 99.4921875, 68.5546875, 73.4765625, -10.458984375, 100.75000762939453 ]
[ 4.04296875, 101.162109375, 74.35546875, 75.849609375, -10.458984375, 100.2919692993164 ]
3.033333
91
0
91
0
[ 3.33984375, 98.349609375, 68.203125, 72.685546875, -10.546875, 100.75000762939453 ]
[ 3.955078125, 99.755859375, 73.65234375, 75.849609375, -10.458984375, 100.2919692993164 ]
3.066667
92
0
92
0
[ 3.076171875, 97.55859375, 68.203125, 71.982421875, -10.634765625, 100.75000762939453 ]
[ 3.8671875, 98.61328125, 73.212890625, 75.41015625, -10.458984375, 100.2919692993164 ]
3.1
93
0
93
0
[ 2.8125, 96.767578125, 68.203125, 71.455078125, -10.634765625, 100.75000762939453 ]
[ 3.779296875, 97.646484375, 72.861328125, 74.70703125, -10.458984375, 100.2919692993164 ]
3.133333
94
0
94
0
[ 2.724609375, 95.9765625, 68.203125, 71.103515625, -10.634765625, 100.75000762939453 ]
[ 3.603515625, 96.591796875, 72.59765625, 74.00390625, -10.458984375, 100.2919692993164 ]
3.166667
95
0
95
0
[ 2.373046875, 95.2734375, 68.203125, 70.48828125, -10.634765625, 100.75000762939453 ]
[ 3.427734375, 95.888671875, 72.59765625, 73.4765625, -10.458984375, 100.2919692993164 ]
3.2
96
0
96
0
[ 2.021484375, 94.5703125, 68.203125, 69.78515625, -10.634765625, 100.75000762939453 ]
[ 3.076171875, 95.009765625, 72.59765625, 73.037109375, -10.458984375, 100.2919692993164 ]
3.233333
97
0
97
0
[ 1.669921875, 93.779296875, 68.203125, 69.08203125, -10.634765625, 100.75000762939453 ]
[ 2.724609375, 94.306640625, 72.59765625, 72.421875, -10.458984375, 100.2919692993164 ]
3.266667
98
0
98
0
[ 1.58203125, 93.076171875, 68.203125, 68.291015625, -10.634765625, 100.75000762939453 ]
[ 2.197265625, 93.603515625, 72.59765625, 71.89453125, -10.458984375, 100.2919692993164 ]
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": 7,
    "total_frames": 4351,
    "total_tasks": 1,
    "total_videos": 14,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:7"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 1920,
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                1920,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 1920,
                "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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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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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Number of rows:
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