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Datasets:
kaiserbuffle
/
hanoiv4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
253
frame_index
int64
0
7.59k
episode_index
int64
0
12
index
int64
0
82.2k
task_index
int64
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[ -10.546875, 191.6015625, 179.6484375, 52.55859375, -6.064453125, 0.33936652541160583 ]
2.366667
71
0
71
0
[ -10.8984375, 191.865234375, 179.296875, 49.658203125, -12.48046875, 0.08880995213985443 ]
[ -10.546875, 191.6015625, 179.6484375, 52.294921875, -7.646484375, 0.33936652541160583 ]
2.4
72
0
72
0
[ -11.337890625, 191.865234375, 179.296875, 49.21875, -14.58984375, 0.08880995213985443 ]
[ -10.546875, 191.6015625, 179.6484375, 51.85546875, -8.96484375, 0.33936652541160583 ]
2.433333
73
0
73
0
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[ -10.546875, 191.6015625, 179.6484375, 51.328125, -10.458984375, 0.33936652541160583 ]
2.466667
74
0
74
0
[ -11.77734375, 191.865234375, 179.296875, 48.779296875, -16.435546875, 0.08880995213985443 ]
[ -10.546875, 191.6015625, 179.6484375, 50.888671875, -12.3046875, 0.33936652541160583 ]
2.5
75
0
75
0
[ -12.12890625, 191.865234375, 179.296875, 48.603515625, -18.28125, 0.08880995213985443 ]
[ -10.986328125, 191.6015625, 179.6484375, 50.537109375, -13.53515625, 0.33936652541160583 ]
2.533333
76
0
76
0
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[ -11.513671875, 191.6015625, 179.6484375, 50.185546875, -14.765625, 0.33936652541160583 ]
2.566667
77
0
77
0
[ -12.392578125, 191.865234375, 179.296875, 48.515625, -21.4453125, 0.08880995213985443 ]
[ -12.041015625, 191.6015625, 179.6484375, 50.009765625, -16.259765625, 0.33936652541160583 ]
2.6
78
0
78
0
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[ -12.12890625, 191.6015625, 179.6484375, 49.833984375, -17.841796875, 0.33936652541160583 ]
2.633333
79
0
79
0
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[ -12.12890625, 191.6015625, 179.6484375, 49.833984375, -19.423828125, 0.33936652541160583 ]
2.666667
80
0
80
0
[ -13.271484375, 191.865234375, 179.296875, 47.63671875, -26.279296875, 0.5328596830368042 ]
[ -11.953125, 191.6015625, 179.6484375, 49.658203125, -21.181640625, 0.33936652541160583 ]
2.7
81
0
81
0
[ -13.623046875, 191.865234375, 179.296875, 47.4609375, -28.125, 0.7104796171188354 ]
[ -12.216796875, 191.6015625, 179.6484375, 49.306640625, -22.8515625, 0.33936652541160583 ]
2.733333
82
0
82
0
[ -13.798828125, 191.865234375, 179.296875, 47.4609375, -29.53125, 1.0657193660736084 ]
[ -12.744140625, 191.6015625, 179.6484375, 48.955078125, -24.2578125, 0.33936652541160583 ]
2.766667
83
0
83
0
[ -14.150390625, 191.865234375, 179.296875, 47.4609375, -31.376953125, 2.042628765106201 ]
[ -13.271484375, 191.6015625, 179.6484375, 48.779296875, -25.927734375, 0.33936652541160583 ]
2.8
84
0
84
0
[ -14.501953125, 191.865234375, 179.296875, 47.4609375, -33.310546875, 1.86500883102417 ]
[ -13.7109375, 191.6015625, 179.6484375, 48.779296875, -27.509765625, 0.4524887204170227 ]
2.833333
85
0
85
0
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[ -13.798828125, 191.6015625, 179.6484375, 48.779296875, -29.091796875, 1.0180995464324951 ]
2.866667
86
0
86
0
[ -15.1171875, 191.865234375, 179.296875, 47.4609375, -36.298828125, 2.4866786003112793 ]
[ -13.798828125, 191.6015625, 179.6484375, 48.779296875, -31.025390625, 1.244343876838684 ]
2.9
87
0
87
0
[ -15.380859375, 191.865234375, 179.296875, 47.4609375, -37.705078125, 2.131438732147217 ]
[ -14.23828125, 191.6015625, 179.6484375, 48.779296875, -32.6953125, 1.470588207244873 ]
2.933333
88
0
88
0
[ -15.46875, 191.865234375, 179.296875, 47.4609375, -39.7265625, 2.575488328933716 ]
[ -14.58984375, 191.6015625, 179.6484375, 48.779296875, -34.27734375, 1.8099548816680908 ]
2.966667
89
0
89
0
[ -15.556640625, 191.865234375, 179.296875, 47.4609375, -41.748046875, 3.463587999343872 ]
[ -15.205078125, 191.6015625, 179.6484375, 48.779296875, -35.771484375, 1.8099548816680908 ]
3
90
0
90
0
[ -15.732421875, 191.865234375, 179.296875, 47.4609375, -43.59375, 3.5523977279663086 ]
[ -15.380859375, 191.6015625, 179.6484375, 48.779296875, -37.44140625, 2.1493213176727295 ]
3.033333
91
0
91
0
[ -15.908203125, 191.865234375, 179.296875, 47.4609375, -45.263671875, 3.5523977279663086 ]
[ -15.380859375, 191.6015625, 179.6484375, 48.779296875, -39.462890625, 2.7149322032928467 ]
3.066667
92
0
92
0
[ -16.171875, 191.865234375, 179.296875, 47.4609375, -46.7578125, 2.753108263015747 ]
[ -15.1171875, 191.6015625, 179.6484375, 48.779296875, -41.220703125, 2.941176414489746 ]
3.1
93
0
93
0
[ -16.5234375, 191.865234375, 179.296875, 47.4609375, -47.724609375, 1.0657193660736084 ]
[ -15.380859375, 191.6015625, 179.6484375, 48.779296875, -42.978515625, 2.941176414489746 ]
3.133333
94
0
94
0
[ -16.69921875, 191.865234375, 179.296875, 47.4609375, -48.779296875, 0.17761990427970886 ]
[ -15.732421875, 191.6015625, 179.6484375, 48.779296875, -44.6484375, 2.941176414489746 ]
3.166667
95
0
95
0
[ -16.69921875, 191.953125, 179.296875, 47.4609375, -49.658203125, 0.17761990427970886 ]
[ -16.259765625, 191.6015625, 179.6484375, 48.779296875, -45.87890625, 2.0361990928649902 ]
3.2
96
0
96
0
[ -16.787109375, 191.953125, 179.296875, 47.28515625, -50.44921875, 0.17761990427970886 ]
[ -16.611328125, 191.513671875, 179.6484375, 48.779296875, -47.021484375, 1.244343876838684 ]
3.233333
97
0
97
0
[ -16.787109375, 191.953125, 179.296875, 47.197265625, -51.15234375, 0.17761990427970886 ]
[ -16.611328125, 191.513671875, 179.6484375, 48.779296875, -48.1640625, 0.9049774408340454 ]
3.266667
98
0
98
0
[ -16.787109375, 191.953125, 179.296875, 46.845703125, -51.85546875, 0.17761990427970886 ]
[ -16.435546875, 191.513671875, 179.6484375, 48.603515625, -49.130859375, 0.6787330508232117 ]
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": 13,
    "total_frames": 82211,
    "total_tasks": 1,
    "total_videos": 26,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:13"
    },
    "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": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.base": {
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                640,
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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,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
82,211