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Datasets:
kaiserbuffle
/
hanoiv6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so101
hanoi tower
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
297
frame_index
int64
0
8.92k
episode_index
int64
0
21
index
int64
0
144k
task_index
int64
0
0
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71
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71
0
[ 12.3046875, 156.533203125, 131.8359375, 73.65234375, -3.69140625, 1.1514614820480347 ]
[ 11.162109375, 164.35546875, 144.404296875, 71.279296875, -3.603515625, 1.7241379022598267 ]
2.4
72
0
72
0
[ 12.83203125, 154.16015625, 128.583984375, 74.443359375, -3.779296875, 1.1514614820480347 ]
[ 11.689453125, 161.54296875, 141.591796875, 71.89453125, -3.603515625, 1.7241379022598267 ]
2.433333
73
0
73
0
[ 13.271484375, 151.875, 125.419921875, 75.234375, -3.955078125, 1.1514614820480347 ]
[ 11.953125, 159.08203125, 138.69140625, 72.685546875, -3.603515625, 1.7241379022598267 ]
2.466667
74
0
74
0
[ 13.7109375, 149.4140625, 122.080078125, 76.201171875, -4.39453125, 1.1514614820480347 ]
[ 12.12890625, 157.060546875, 135.703125, 73.388671875, -3.69140625, 1.7241379022598267 ]
2.5
75
0
75
0
[ 14.23828125, 146.865234375, 118.740234375, 77.16796875, -4.74609375, 1.1514614820480347 ]
[ 12.392578125, 154.951171875, 132.626953125, 74.1796875, -3.69140625, 1.7241379022598267 ]
2.533333
76
0
76
0
[ 14.94140625, 144.31640625, 115.3125, 78.134765625, -5.009765625, 1.1514614820480347 ]
[ 13.0078125, 152.666015625, 129.375, 74.970703125, -3.8671875, 1.7241379022598267 ]
2.566667
77
0
77
0
[ 15.556640625, 141.943359375, 111.97265625, 79.189453125, -5.625, 1.1514614820480347 ]
[ 13.53515625, 150.1171875, 126.298828125, 75.9375, -4.21875, 1.7241379022598267 ]
2.6
78
0
78
0
[ 16.34765625, 139.74609375, 109.16015625, 79.892578125, -6.15234375, 1.1514614820480347 ]
[ 14.150390625, 147.568359375, 122.958984375, 76.904296875, -4.5703125, 1.7241379022598267 ]
2.633333
79
0
79
0
[ 17.2265625, 137.900390625, 106.611328125, 80.419921875, -6.767578125, 1.1514614820480347 ]
[ 14.765625, 145.01953125, 119.53125, 77.958984375, -5.009765625, 1.7241379022598267 ]
2.666667
80
0
80
0
[ 18.10546875, 136.0546875, 104.150390625, 80.947265625, -7.294921875, 1.1514614820480347 ]
[ 15.46875, 142.55859375, 116.3671875, 78.75, -5.625, 1.7241379022598267 ]
2.7
81
0
81
0
[ 19.072265625, 134.47265625, 101.77734375, 81.650390625, -7.822265625, 1.1514614820480347 ]
[ 16.171875, 140.361328125, 113.37890625, 79.453125, -6.064453125, 1.7241379022598267 ]
2.733333
82
0
82
0
[ 19.951171875, 132.978515625, 99.228515625, 82.529296875, -8.26171875, 1.1514614820480347 ]
[ 17.05078125, 138.33984375, 110.654296875, 80.068359375, -6.591796875, 1.7241379022598267 ]
2.766667
83
0
83
0
[ 20.7421875, 131.484375, 96.591796875, 83.84765625, -8.7890625, 1.1514614820480347 ]
[ 17.9296875, 136.40625, 107.9296875, 80.771484375, -7.119140625, 1.7241379022598267 ]
2.8
84
0
84
0
[ 21.4453125, 129.990234375, 94.04296875, 85.341796875, -9.404296875, 1.1514614820480347 ]
[ 18.80859375, 134.47265625, 105.29296875, 81.474609375, -7.646484375, 1.7241379022598267 ]
2.833333
85
0
85
0
[ 22.060546875, 128.759765625, 91.58203125, 86.66015625, -9.931640625, 1.1514614820480347 ]
[ 19.599609375, 132.890625, 102.744140625, 82.44140625, -8.173828125, 1.7241379022598267 ]
2.866667
86
0
86
0
[ 22.8515625, 127.6171875, 89.296875, 88.06640625, -10.546875, 1.1514614820480347 ]
[ 20.478515625, 131.220703125, 100.107421875, 83.671875, -8.701171875, 1.7241379022598267 ]
2.9
87
0
87
0
[ 23.642578125, 126.474609375, 86.923828125, 89.208984375, -10.986328125, 1.1514614820480347 ]
[ 21.09375, 129.814453125, 97.470703125, 84.990234375, -9.31640625, 1.7241379022598267 ]
2.933333
88
0
88
0
[ 24.609375, 125.33203125, 84.638671875, 90.17578125, -11.513671875, 1.1514614820480347 ]
[ 21.884765625, 128.49609375, 95.009765625, 86.30859375, -9.84375, 1.7241379022598267 ]
2.966667
89
0
89
0
[ 25.48828125, 124.365234375, 82.44140625, 91.0546875, -12.216796875, 1.1514614820480347 ]
[ 22.67578125, 127.265625, 92.63671875, 87.5390625, -10.283203125, 1.7241379022598267 ]
3
90
0
90
0
[ 26.3671875, 123.310546875, 80.33203125, 91.845703125, -13.095703125, 1.1514614820480347 ]
[ 23.5546875, 126.123046875, 90.263671875, 88.681640625, -10.986328125, 1.7241379022598267 ]
3.033333
91
0
91
0
[ 27.509765625, 122.34375, 78.486328125, 92.28515625, -13.623046875, 1.1514614820480347 ]
[ 24.345703125, 124.98046875, 87.890625, 89.736328125, -11.6015625, 1.7241379022598267 ]
3.066667
92
0
92
0
[ 28.4765625, 121.728515625, 77.51953125, 92.373046875, -14.677734375, 1.1514614820480347 ]
[ 25.224609375, 123.92578125, 85.693359375, 90.703125, -12.3046875, 1.7241379022598267 ]
3.1
93
0
93
0
[ 29.443359375, 121.376953125, 77.080078125, 92.373046875, -16.083984375, 1.1514614820480347 ]
[ 26.279296875, 122.958984375, 83.583984375, 91.40625, -13.095703125, 1.7241379022598267 ]
3.133333
94
0
94
0
[ 30.41015625, 121.11328125, 76.9921875, 92.373046875, -17.40234375, 1.1514614820480347 ]
[ 27.158203125, 122.16796875, 82.001953125, 91.7578125, -14.150390625, 1.7241379022598267 ]
3.166667
95
0
95
0
[ 31.2890625, 121.11328125, 76.9921875, 92.4609375, -19.16015625, 1.1514614820480347 ]
[ 28.212890625, 121.552734375, 80.947265625, 91.93359375, -15.205078125, 1.7241379022598267 ]
3.2
96
0
96
0
[ 32.34375, 121.11328125, 77.080078125, 92.900390625, -21.26953125, 1.1514614820480347 ]
[ 29.1796875, 121.201171875, 80.419921875, 91.93359375, -16.435546875, 1.7241379022598267 ]
3.233333
97
0
97
0
[ 33.3984375, 121.201171875, 77.255859375, 92.98828125, -23.02734375, 1.1514614820480347 ]
[ 30.146484375, 121.11328125, 80.244140625, 92.109375, -18.28125, 1.7241379022598267 ]
3.266667
98
0
98
0
[ 34.453125, 121.376953125, 77.34375, 92.98828125, -24.78515625, 1.1514614820480347 ]
[ 31.201171875, 121.11328125, 80.068359375, 92.548828125, -20.126953125, 1.7241379022598267 ]
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": 6,
    "total_frames": 37625,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.base": {
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            "shape": [
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                640,
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            ],
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "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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Size of the auto-converted Parquet files:
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Number of rows:
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