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Datasets:
sergiov2000
/
yellow_20_episodes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
28.8
frame_index
int64
0
864
episode_index
int64
0
19
index
int64
0
17.1k
task_index
int64
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0
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69
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[ 3.69140625, 165.76171875, 155.91796875, 56.513671875, -1.142578125, -0.8179959058761597 ]
[ 4.130859375, 169.189453125, 162.158203125, 55.283203125, -2.197265625, -0.5794702172279358 ]
2.333333
70
0
70
0
[ 3.69140625, 164.091796875, 154.3359375, 57.12890625, -0.703125, -0.8179959058761597 ]
[ 3.8671875, 168.046875, 160.83984375, 55.72265625, -1.845703125, -0.5794702172279358 ]
2.366667
71
0
71
0
[ 3.603515625, 162.59765625, 152.578125, 57.744140625, -0.439453125, -0.8179959058761597 ]
[ 3.69140625, 166.9921875, 159.521484375, 56.07421875, -1.494140625, -0.5794702172279358 ]
2.4
72
0
72
0
[ 3.603515625, 160.927734375, 150.8203125, 58.271484375, -0.17578125, -0.8179959058761597 ]
[ 3.603515625, 165.849609375, 158.203125, 56.689453125, -1.0546875, -0.5794702172279358 ]
2.433333
73
0
73
0
[ 3.515625, 159.169921875, 149.150390625, 58.7109375, -0.087890625, -0.8179959058761597 ]
[ 3.603515625, 164.00390625, 156.4453125, 57.216796875, -0.791015625, -0.5794702172279358 ]
2.466667
74
0
74
0
[ 3.251953125, 157.587890625, 147.48046875, 59.326171875, -0.3515625, -0.8179959058761597 ]
[ 3.603515625, 162.59765625, 154.6875, 57.744140625, -0.439453125, -0.5794702172279358 ]
2.5
75
0
75
0
[ 3.076171875, 155.91796875, 145.634765625, 59.94140625, -0.439453125, -0.8179959058761597 ]
[ 3.69140625, 160.927734375, 153.017578125, 58.18359375, -0.439453125, -0.5794702172279358 ]
2.533333
76
0
76
0
[ 2.900390625, 154.3359375, 143.876953125, 60.64453125, -0.3515625, -0.8179959058761597 ]
[ 3.69140625, 159.345703125, 151.34765625, 58.798828125, -0.439453125, -0.5794702172279358 ]
2.566667
77
0
77
0
[ 2.63671875, 152.75390625, 142.20703125, 61.171875, -0.3515625, -0.8179959058761597 ]
[ 3.427734375, 157.763671875, 149.677734375, 59.4140625, -0.439453125, -0.5794702172279358 ]
2.6
78
0
78
0
[ 2.373046875, 150.99609375, 140.537109375, 61.69921875, -0.3515625, -0.8179959058761597 ]
[ 3.076171875, 156.09375, 147.83203125, 59.94140625, -0.439453125, -0.5794702172279358 ]
2.633333
79
0
79
0
[ 2.109375, 149.501953125, 138.779296875, 62.314453125, -0.3515625, -0.8179959058761597 ]
[ 2.8125, 154.51171875, 146.07421875, 60.556640625, -0.439453125, -0.5794702172279358 ]
2.666667
80
0
80
0
[ 1.93359375, 147.83203125, 137.109375, 62.841796875, -0.3515625, -0.8179959058761597 ]
[ 2.63671875, 152.75390625, 144.404296875, 61.171875, -0.439453125, -0.5794702172279358 ]
2.7
81
0
81
0
[ 1.7578125, 146.07421875, 135.3515625, 63.28125, -0.17578125, -0.8179959058761597 ]
[ 2.548828125, 151.083984375, 142.734375, 61.69921875, -0.439453125, -0.5794702172279358 ]
2.733333
82
0
82
0
[ 1.58203125, 144.140625, 133.505859375, 63.896484375, 0.17578125, -0.8179959058761597 ]
[ 2.373046875, 149.58984375, 141.064453125, 62.314453125, -0.439453125, -0.5794702172279358 ]
2.766667
83
0
83
0
[ 1.40625, 142.294921875, 131.572265625, 64.423828125, 0.439453125, -0.8179959058761597 ]
[ 2.109375, 147.83203125, 139.306640625, 62.75390625, -0.3515625, -0.5794702172279358 ]
2.8
84
0
84
0
[ 1.40625, 140.09765625, 129.462890625, 64.951171875, 1.0546875, -0.8179959058761597 ]
[ 1.7578125, 145.986328125, 137.373046875, 63.369140625, -0.087890625, -0.5794702172279358 ]
2.833333
85
0
85
0
[ 1.318359375, 137.900390625, 127.265625, 65.830078125, 1.669921875, -0.8179959058761597 ]
[ 1.58203125, 144.228515625, 135.615234375, 63.896484375, 0.17578125, -0.5794702172279358 ]
2.866667
86
0
86
0
[ 1.0546875, 135.791015625, 125.244140625, 66.533203125, 2.021484375, -0.8179959058761597 ]
[ 1.494140625, 142.20703125, 133.681640625, 64.423828125, 0.703125, -0.5794702172279358 ]
2.9
87
0
87
0
[ 0.791015625, 133.59375, 123.046875, 67.236328125, 2.373046875, -0.8179959058761597 ]
[ 1.494140625, 140.185546875, 131.572265625, 65.126953125, 1.23046875, -0.5794702172279358 ]
2.933333
88
0
88
0
[ 0.439453125, 131.396484375, 120.76171875, 68.115234375, 2.63671875, -0.8179959058761597 ]
[ 1.494140625, 138.076171875, 129.462890625, 65.830078125, 1.58203125, -0.5794702172279358 ]
2.966667
89
0
89
0
[ 0.087890625, 129.19921875, 118.4765625, 68.994140625, 3.1640625, -0.8179959058761597 ]
[ 1.23046875, 135.966796875, 127.44140625, 66.533203125, 2.021484375, -0.5794702172279358 ]
3
90
0
90
0
[ 0, 127.265625, 116.3671875, 69.697265625, 3.955078125, -0.8179959058761597 ]
[ 0.791015625, 133.681640625, 125.244140625, 67.32421875, 2.28515625, -0.5794702172279358 ]
3.033333
91
0
91
0
[ -0.17578125, 125.15625, 114.2578125, 70.224609375, 4.5703125, -0.7157464027404785 ]
[ 0.17578125, 131.484375, 123.046875, 68.115234375, 2.8125, -0.5794702172279358 ]
3.066667
92
0
92
0
[ -0.3515625, 123.22265625, 112.1484375, 70.927734375, 4.921875, -0.6134969592094421 ]
[ 0, 129.375, 120.9375, 68.818359375, 3.427734375, -0.5794702172279358 ]
3.1
93
0
93
0
[ -0.52734375, 121.376953125, 110.390625, 71.103515625, 5.009765625, -0.6134969592094421 ]
[ -0.087890625, 127.265625, 118.828125, 69.521484375, 3.955078125, -0.5794702172279358 ]
3.133333
94
0
94
0
[ -0.703125, 119.70703125, 108.720703125, 71.19140625, 5.09765625, -0.6134969592094421 ]
[ 0.087890625, 125.15625, 116.54296875, 70.13671875, 4.39453125, -0.5794702172279358 ]
3.166667
95
0
95
0
[ -1.0546875, 118.037109375, 107.138671875, 71.630859375, 5.09765625, -0.6134969592094421 ]
[ 0.263671875, 123.310546875, 114.697265625, 70.48828125, 4.5703125, -0.5794702172279358 ]
3.2
96
0
96
0
[ -1.494140625, 116.630859375, 105.732421875, 72.158203125, 5.09765625, -0.511247456073761 ]
[ -0.087890625, 121.46484375, 112.763671875, 70.83984375, 4.74609375, -0.5794702172279358 ]
3.233333
97
0
97
0
[ -1.93359375, 115.13671875, 104.4140625, 72.59765625, 4.921875, -0.30674847960472107 ]
[ -0.703125, 119.619140625, 111.005859375, 71.19140625, 4.833984375, -0.5794702172279358 ]
3.266667
98
0
98
0
[ -2.4609375, 113.642578125, 102.919921875, 73.125, 4.833984375, -0.10224948823451996 ]
[ -1.318359375, 117.94921875, 109.423828125, 71.71875, 4.833984375, -0.5794702172279358 ]
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": "so100",
    "total_episodes": 20,
    "total_frames": 17056,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.lego": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.blackboard": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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