Datasets:

Beegbrain
/

metaworld_mt10_slots

observation.state list	action list	next.reward float32 0 10	next.success bool 2 classes	timestamp float32 0 6.24	frame_index int64 0 499	index int64 0 46.3k	observation.image_slots array 2D	observation.image_masks array 3D
[ 0.005401990842074156, 0.6005656719207764, 0.1942482739686966, 1 ]	[ 1.0541578531265259, -0.013881375081837177, -0.7519798278808594, 0 ]	0.455935	false	0	0	0	[ [ -0.12898722290992737, 0.6052049398422241, 0.44852256774902344, -0.6752419471740723, -0.6292412281036377, -0.2258298248052597, -0.18423119187355042, -0.46576932072639465, -0.05674421414732933, -0.6948202252388, 0.019128862768411636, 0.13616041839122772, -0.212070...	[ [ [ 0, 1.6822092565082444e-36, 0, 7.517935993055814e-38, 4.345060380997989e-23, 1.8773356507727156e-35, 0, 0, 0, 0, 0, 6.649729211716249e-9, 0, 0, 0, 9.519571545976713e-14, 1.3332794381162336e-22, 0, ...
[ 0.007630984764546156, 0.5992500185966492, 0.1921616792678833, 1 ]	[ 1.0459799766540527, -0.0056569334119558334, -0.752224862575531, 0 ]	0.453739	false	0.0125	1	1	[ [ -0.12138189375400543, 0.4131860136985779, 0.3900887966156006, -0.6974685788154602, -0.3884025812149048, 0.07834038138389587, -0.14221203327178955, -0.3675417900085449, -0.04166090115904808, -0.5474350452423096, 0.03270232677459717, 0.17428722977638245, -0.139708...	[ [ [ 1.6112979041780005e-36, 8.336556565268928e-32, 0, 2.6260333221447072e-42, 2.9758021059942183e-18, 2.646471550911582e-25, 0, 0, 0, 0, 5.605193857299268e-45, 1.1802192112497778e-8, 1.3725718458061583e-41, 0, 0, 0.0...
[ 0.01148397196084261, 0.5977792739868164, 0.18884974718093872, 1 ]	[ 1.0237003564834595, 0.007499312050640583, -0.739856481552124, 0 ]	0.457671	false	0.025	2	2	[[-0.04480665922164917,0.4147185683250427,-0.3053254187107086,-0.22142447531223297,0.264631897211074(...TRUNCATED)	[[[0.0,1.0014209947395436e-11,3.601563491884008e-10,4.335755387531448e-13,3.692177481048277e-24,1.63(...TRUNCATED)
[ 0.016862059012055397, 0.5965331196784973, 0.18451052904129028, 1 ]	[ 0.9851736426353455, 0.02220640890300274, -0.7052555084228516, 0 ]	0.4636	false	0.0375	3	3	[[0.1669244021177292,0.1578740030527115,-0.34378713369369507,-0.4653606414794922,-0.361206591129303,(...TRUNCATED)	[[[1.0792800772229741e-41,6.151700258385947e-43,1.0,1.0,3.147275852883073e-16,5.797606904675045e-32,(...TRUNCATED)
[ 0.023481223732233047, 0.5957834124565125, 0.17942042648792267, 1 ]	[ 0.9313888549804688, 0.03466830775141716, -0.6596122980117798, 0 ]	0.471067	false	0.05	4	4	[[0.16538915038108826,0.15530024468898773,-0.3211178779602051,-0.4487382769584656,-0.366959244012832(...TRUNCATED)	[[[0.0,0.0,1.0,1.0,1.6642104903354105e-13,8.329800208301542e-36,0.0,0.0,0.0,0.0,0.0,1.89026141366839(...TRUNCATED)
[ 0.030971616506576538, 0.595653772354126, 0.17385481297969818, 0.9998810887336731 ]	[ 0.8651930093765259, 0.04216567054390907, -0.6071133613586426, 0 ]	0.480326	false	0.0625	5	5	[[-0.06056404113769531,0.6002672910690308,0.2156233787536621,-0.6507390141487122,-0.3767259418964386(...TRUNCATED)	[[[2.193239159906869e-26,2.937799728966758e-35,1.4503736410258036e-27,3.0299431967361337e-21,1.85828(...TRUNCATED)
[ 0.03895241767168045, 0.5961353182792664, 0.16805723309516907, 0.9994624257087708 ]	[ 0.7902863025665283, 0.04346233606338501, -0.5504744052886963, 0 ]	0.491736	false	0.075	6	6	[[-0.18090690672397614,0.6630114912986755,0.4648972153663635,-0.6394953727722168,-0.6317456960678101(...TRUNCATED)	[[[9.411409644814421e-33,0.0,0.0,1.0900700753982752e-39,1.888391506707774e-18,5.232850044646143e-24,(...TRUNCATED)
[ 0.046576011925935745, 0.5971317291259766, 0.16235442459583282, 0.9990927577018738 ]	[ 0.710476815700531, 0.03864645957946777, -0.4919208884239197, 0 ]	0.504908	false	0.0875	7	7	[[0.04671669006347656,0.1647389978170395,-0.3970610201358795,-0.44603589177131653,-0.281000852584838(...TRUNCATED)	[[[0.0,0.0,0.0004365813219919801,0.9661265015602112,2.7616057383988304e-26,1.401298464324817e-44,0.0(...TRUNCATED)
[ 0.05321384221315384, 0.598330020904541, 0.15721063315868378, 0.9987665414810181 ]	[ 0.6342401504516602, 0.028682800009846687, -0.43455880880355835, 0 ]	0.518722	false	0.1	8	8	[[-0.07033829391002655,0.08985933661460876,-0.4548736810684204,-0.4927884340286255,-0.13936373591423(...TRUNCATED)	[[[0.0,0.0,1.1053828685714251e-10,2.0478370388321565e-10,8.207762635955639e-21,0.0,0.0,0.0,0.0,0.0,0(...TRUNCATED)
[ 0.05991196259856224, 0.5994436144828796, 0.1525426208972931, 0.9984789490699768 ]	[ 0.5678614974021912, 0.01670006290078163, -0.3829290270805359, 0 ]	0.534525	false	0.1125	9	9	[[0.43258416652679443,0.2712705135345459,0.10382813215255737,-0.5284817218780518,-0.4723009169101715(...TRUNCATED)	[[[1.0,1.0,1.1522731005191946e-27,1.8552232417204615e-35,0.978996753692627,1.0,1.0,1.0,1.0,1.0,1.0,1(...TRUNCATED)

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 500,
    "total_frames": 46327,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 80,
    "splits": {
        "train": "0:500"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": null
            },
            "fps": 80
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "gripper"
                ]
            },
            "fps": 80
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 80
        },
        "next.success": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null,
            "fps": 80
        },
        "observation.image": {
            "dtype": "image",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 80
        },
        "task_id": {
            "dtype": "int16",
            "shape": [
                1
            ],
            "names": null,
            "fps": 80
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.image_slots": {
            "dtype": "float32",
            "shape": [
                8,
                256
            ],
            "names": null
        },
        "observation.image_masks": {
            "dtype": "float32",
            "shape": [
                1,
                8,
                256
            ],
            "names": null
        }
    }
}

Citation

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