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Datasets:
akira-sasaki
/
gr00t_2cam_blue_dish

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
9.87
frame_index
int64
0
296
episode_index
int64
0
50
index
int64
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15.4k
task_index
int64
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[ -11.42578125, 99.31640625, 116.630859375, 63.10546875, 0.966796875, 29.15904998779297 ]
[ -11.07421875, 100.107421875, 120.05859375, 63.544921875, 0.791015625, 30.00697898864746 ]
2.4
72
0
72
0
[ -11.513671875, 98.876953125, 116.455078125, 63.017578125, 1.0546875, 28.976234436035156 ]
[ -10.986328125, 99.580078125, 119.70703125, 63.45703125, 0.791015625, 29.72784423828125 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -10.986328125, 98.701171875, 119.091796875, 63.369140625, 0.791015625, 29.378925323486328 ]
2.5
75
0
75
0
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[ -10.986328125, 98.173828125, 118.916015625, 63.193359375, 0.791015625, 29.169574737548828 ]
2.533333
76
0
76
0
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[ -10.986328125, 97.91015625, 118.740234375, 62.9296875, 0.791015625, 28.960224151611328 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -11.77734375, 95.888671875, 117.94921875, 62.2265625, 0.791015625, 27.704116821289062 ]
2.7
81
0
81
0
[ -12.041015625, 94.482421875, 114.521484375, 61.787109375, 1.0546875, 24.223033905029297 ]
[ -11.77734375, 95.44921875, 117.685546875, 62.138671875, 0.791015625, 27.076065063476562 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -11.6015625, 94.21875, 117.0703125, 62.138671875, 0.791015625, 25.261688232421875 ]
2.8
84
0
84
0
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[ -11.6015625, 93.603515625, 116.71875, 62.138671875, 0.791015625, 23.86601448059082 ]
2.833333
85
0
85
0
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[ -11.42578125, 93.076171875, 116.455078125, 61.875, 0.791015625, 21.772504806518555 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
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[ -11.42578125, 92.021484375, 115.83984375, 61.69921875, 0.87890625, 14.72435474395752 ]
2.933333
88
0
88
0
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[ -11.42578125, 91.93359375, 115.576171875, 61.875, 0.87890625, 11.165387153625488 ]
2.966667
89
0
89
0
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[ -11.513671875, 91.845703125, 115.48828125, 61.875, 1.0546875, 9.211444854736328 ]
3
90
0
90
0
[ -12.041015625, 92.63671875, 112.939453125, 61.787109375, 1.58203125, 0.36563071608543396 ]
[ -11.689453125, 91.845703125, 115.48828125, 61.875, 1.142578125, 8.304256439208984 ]
3.033333
91
0
91
0
[ -11.953125, 93.603515625, 113.02734375, 61.787109375, 1.23046875, 0.36563071608543396 ]
[ -11.77734375, 91.845703125, 115.48828125, 61.875, 1.23046875, 8.304256439208984 ]
3.066667
92
0
92
0
[ -11.77734375, 95.009765625, 113.115234375, 61.787109375, 0.791015625, 0.36563071608543396 ]
[ -11.77734375, 91.845703125, 115.48828125, 61.875, 1.23046875, 8.23447322845459 ]
3.1
93
0
93
0
[ -11.337890625, 96.767578125, 113.115234375, 61.787109375, 0.17578125, 0.36563071608543396 ]
[ -11.77734375, 91.93359375, 115.48828125, 61.875, 1.23046875, 8.23447322845459 ]
3.133333
94
0
94
0
[ -10.8984375, 98.7890625, 113.115234375, 61.787109375, -0.615234375, 0.36563071608543396 ]
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3.166667
95
0
95
0
[ -10.283203125, 101.162109375, 113.02734375, 61.435546875, -1.40625, 0.36563071608543396 ]
[ -11.6015625, 93.779296875, 115.48828125, 62.138671875, 0.439453125, 8.23447322845459 ]
3.2
96
0
96
0
[ -9.66796875, 103.623046875, 113.02734375, 60.732421875, -2.197265625, 0.36563071608543396 ]
[ -11.42578125, 95.361328125, 115.48828125, 62.138671875, -0.087890625, 8.23447322845459 ]
3.233333
97
0
97
0
[ -8.876953125, 106.171875, 113.02734375, 59.58984375, -3.076171875, 0.2742230296134949 ]
[ -11.162109375, 97.294921875, 115.48828125, 61.962890625, -0.791015625, 8.23447322845459 ]
3.266667
98
0
98
0
[ -8.0859375, 108.544921875, 113.02734375, 58.095703125, -4.04296875, 0.2742230296134949 ]
[ -10.546875, 99.580078125, 115.48828125, 61.34765625, -1.669921875, 8.23447322845459 ]
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": 3,
    "total_frames": 890,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                6
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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.hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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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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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
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            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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