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Datasets:
sergiov2000
/
so100_leader_ball_usability_u2_pick_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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pandas
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observation.state
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float32
0
59.9
frame_index
int64
0
1.2k
episode_index
int64
0
0
index
int64
0
1.2k
task_index
int64
0
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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0
70
0
[ 2.4609375, 168.662109375, 161.103515625, 30.498046875, -4.39453125, -0.7157464027404785 ]
[ 1.669921875, 171.123046875, 168.486328125, 28.740234375, -3.515625, 0.9105960130691528 ]
3.55
71
0
71
0
[ 3.1640625, 167.080078125, 158.73046875, 31.552734375, -4.130859375, -0.7157464027404785 ]
[ 1.669921875, 169.892578125, 166.376953125, 29.794921875, -3.69140625, 0.9105960130691528 ]
3.6
72
0
72
0
[ 3.8671875, 165.5859375, 156.62109375, 32.783203125, -4.21875, -0.7157464027404785 ]
[ 2.109375, 168.310546875, 164.35546875, 30.76171875, -3.8671875, 0.9105960130691528 ]
3.65
73
0
73
0
[ 4.482421875, 164.00390625, 154.248046875, 34.365234375, -4.5703125, -0.7157464027404785 ]
[ 3.1640625, 166.728515625, 161.982421875, 31.904296875, -3.8671875, 0.9105960130691528 ]
3.7
74
0
74
0
[ 5.2734375, 162.24609375, 152.05078125, 35.947265625, -4.921875, -0.7157464027404785 ]
[ 3.955078125, 165.146484375, 159.873046875, 33.046875, -3.8671875, 0.9105960130691528 ]
3.75
75
0
75
0
[ 6.064453125, 160.400390625, 149.94140625, 37.44140625, -4.921875, -0.7157464027404785 ]
[ 4.21875, 163.564453125, 157.412109375, 34.716796875, -4.306640625, 0.9105960130691528 ]
3.8
76
0
76
0
[ 6.767578125, 158.73046875, 148.095703125, 38.84765625, -4.658203125, -0.7157464027404785 ]
[ 4.658203125, 161.982421875, 155.478515625, 36.38671875, -4.5703125, 0.9105960130691528 ]
3.85
77
0
77
0
[ 7.3828125, 157.236328125, 146.6015625, 39.990234375, -4.306640625, -0.7157464027404785 ]
[ 5.888671875, 159.9609375, 152.9296875, 37.6171875, -4.74609375, 0.9105960130691528 ]
3.9
78
0
78
0
[ 7.646484375, 155.7421875, 145.283203125, 41.220703125, -4.21875, -0.7157464027404785 ]
[ 6.85546875, 158.5546875, 151.34765625, 38.935546875, -4.74609375, 0.9105960130691528 ]
3.95
79
0
79
0
[ 8.26171875, 154.072265625, 144.228515625, 42.01171875, -4.04296875, -0.7157464027404785 ]
[ 7.20703125, 156.97265625, 149.58984375, 40.166015625, -4.658203125, 0.9105960130691528 ]
4
80
0
80
0
[ 8.525390625, 152.2265625, 143.173828125, 43.06640625, -3.955078125, -0.7157464027404785 ]
[ 7.119140625, 155.478515625, 148.271484375, 41.1328125, -4.658203125, 0.9105960130691528 ]
4.05
81
0
81
0
[ 8.701171875, 150.29296875, 142.119140625, 44.6484375, -4.04296875, -0.7157464027404785 ]
[ 7.734375, 153.6328125, 147.041015625, 42.099609375, -4.74609375, 0.9105960130691528 ]
4.1
82
0
82
0
[ 8.701171875, 148.271484375, 140.888671875, 46.23046875, -4.130859375, -0.7157464027404785 ]
[ 8.701171875, 151.787109375, 145.986328125, 43.505859375, -4.482421875, 0.9105960130691528 ]
4.15
83
0
83
0
[ 8.7890625, 146.337890625, 139.482421875, 47.724609375, -4.04296875, -0.7157464027404785 ]
[ 8.701171875, 149.58984375, 144.66796875, 45.087890625, -4.482421875, 0.9105960130691528 ]
4.2
84
0
84
0
[ 8.7890625, 144.4921875, 138.251953125, 49.21875, -4.306640625, -0.7157464027404785 ]
[ 8.173828125, 147.65625, 143.61328125, 46.58203125, -4.482421875, 0.9105960130691528 ]
4.25
85
0
85
0
[ 8.701171875, 142.998046875, 136.93359375, 50.625, -4.5703125, -0.7157464027404785 ]
[ 8.26171875, 145.810546875, 142.20703125, 47.98828125, -4.482421875, 0.9105960130691528 ]
4.3
86
0
86
0
[ 8.701171875, 141.6796875, 136.0546875, 51.6796875, -4.74609375, -0.7157464027404785 ]
[ 8.876953125, 144.140625, 140.9765625, 49.306640625, -4.482421875, 0.9105960130691528 ]
4.35
87
0
87
0
[ 8.7890625, 140.712890625, 135.3515625, 52.55859375, -5.361328125, -0.7157464027404785 ]
[ 9.140625, 142.646484375, 139.658203125, 50.537109375, -4.482421875, 0.9105960130691528 ]
4.4
88
0
88
0
[ 8.7890625, 139.74609375, 134.560546875, 53.61328125, -6.15234375, -0.511247456073761 ]
[ 9.052734375, 141.416015625, 138.69140625, 51.591796875, -4.482421875, 0.9105960130691528 ]
4.45
89
0
89
0
[ 8.876953125, 138.515625, 133.59375, 54.755859375, -6.6796875, 1.6359918117523193 ]
[ 8.876953125, 140.361328125, 137.8125, 52.646484375, -4.921875, 0.9105960130691528 ]
4.5
90
0
90
0
[ 8.96484375, 137.373046875, 132.5390625, 55.986328125, -7.03125, 5.623722076416016 ]
[ 8.876953125, 139.21875, 136.93359375, 53.701171875, -5.625, 0.9933775067329407 ]
4.55
91
0
91
0
[ 9.052734375, 136.142578125, 131.66015625, 57.3046875, -7.470703125, 8.282208442687988 ]
[ 8.876953125, 137.98828125, 135.966796875, 54.84375, -6.240234375, 1.9039734601974487 ]
4.6
92
0
92
0
[ 9.052734375, 135, 130.869140625, 58.447265625, -7.822265625, 12.57668685913086 ]
[ 8.876953125, 136.7578125, 135, 56.162109375, -6.767578125, 4.552979946136475 ]
4.65
93
0
93
0
[ 9.052734375, 133.681640625, 130.25390625, 59.150390625, -8.173828125, 15.439672470092773 ]
[ 8.876953125, 135.615234375, 134.12109375, 57.392578125, -7.119140625, 6.870861053466797 ]
4.7
94
0
94
0
[ 9.228515625, 132.36328125, 129.7265625, 59.765625, -8.4375, 19.42740249633789 ]
[ 8.876953125, 134.296875, 133.330078125, 58.18359375, -7.55859375, 10.347681999206543 ]
4.75
95
0
95
0
[ 9.228515625, 130.95703125, 128.935546875, 60.29296875, -8.701171875, 22.597137451171875 ]
[ 8.876953125, 132.978515625, 132.626953125, 58.974609375, -7.91015625, 13.990066528320312 ]
4.8
96
0
96
0
[ 9.404296875, 129.638671875, 128.14453125, 60.556640625, -8.7890625, 25.25562286376953 ]
[ 8.876953125, 131.66015625, 132.01171875, 59.677734375, -8.173828125, 17.466886520385742 ]
4.85
97
0
97
0
[ 9.4921875, 128.408203125, 127.6171875, 60.908203125, -9.052734375, 26.993865966796875 ]
[ 8.876953125, 130.517578125, 131.220703125, 60.1171875, -8.4375, 20.86092758178711 ]
4.9
98
0
98
0
[ 9.4921875, 127.353515625, 127.44140625, 60.99609375, -9.31640625, 30.981595993041992 ]
[ 8.876953125, 129.19921875, 130.4296875, 60.46875, -8.4375, 23.509933471679688 ]
4.95
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": "so100",
    "total_episodes": 1,
    "total_frames": 1198,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.side": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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