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action list | observation.state list | observation.vfm_features.front array 3D | observation.skill_feature list | observation.object_feature list | observation.full_text_features array 2D | observation.vlm_features.front array 3D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|
[
0,
0,
0,
0,
0,
0,
1.5822784900665283
] | [1.6260162591934204,-0.00833998341113329,2.7426023483276367,0.012259830720722675,0.14148251712322235(...TRUNCATED) | [[[0.016354462131857872,-0.007388109806925058,0.002951317932456732,-0.014091918244957924,-0.01564725(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.01886655203998089,-0.01120779663324356,0.0065705603919923306,-0.0010303223971277475,0.02519611(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[
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1.5822784900665283
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[3.256824072650488e-7,-0.000014404599824047182,-1.7578823019448464e-7,-0.002513442188501358,-5.39103(...TRUNCATED) | [1.6260162591934204,-0.008296476677060127,2.7442429065704346,0.020772822201251984,0.1412036418914795(...TRUNCATED) | [[[0.006363208871334791,-0.010207905434072018,0.026128314435482025,-0.021131606772542,-0.02568907663(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.00897379033267498,-0.008016603998839855,0.013759068213403225,0.0005126111791469157,0.019490921(...TRUNCATED) | 0.2 | 2 | 0 | 2 | 0 |
[-6.804241820645984e-6,0.00012189636618131772,-8.385318750470105e-8,-0.003028367878869176,0.00001110(...TRUNCATED) | [1.6260162591934204,0.007452137768268585,2.7458345890045166,0.02457154355943203,0.14096982777118683,(...TRUNCATED) | [[[0.016898762434720993,-0.005236657802015543,0.002181468764320016,-0.012856478802859783,-0.01669813(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.016824394464492798,-0.010685835964977741,0.007050211541354656,0.0010084524983540177,0.02613020(...TRUNCATED) | 0.3 | 3 | 0 | 3 | 0 |
[0.00017425342230126262,9.41604685067432e-6,0.00010360419400967658,-3.1425481665792176e-6,-0.0014728(...TRUNCATED) | [1.6260162591934204,-0.0031623162794858217,2.7458951473236084,0.026699503883719444,0.140933856368064(...TRUNCATED) | [[[0.015318870544433594,-0.008326181210577488,0.0012747832806780934,-0.011895900592207909,-0.0167745(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02302527241408825,-0.010909541510045528,0.012587605975568295,0.007430380210280418,0.0244377609(...TRUNCATED) | 0.4 | 4 | 0 | 4 | 0 |
[0.00011632457608357072,0.0001289327919948846,-0.00003479050792520866,-0.0030255636665970087,0.00116(...TRUNCATED) | [1.6260162591934204,-0.004931431729346514,2.745901584625244,0.027054138481616974,0.140927255153656,0(...TRUNCATED) | [[[0.016729015856981277,-0.005507143214344978,0.0006599128246307373,-0.012855044566094875,-0.0167315(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.031142743304371834,-0.010623081587255001,0.003496406599879265,0.005838949698954821,0.024916507(...TRUNCATED) | 0.5 | 5 | 0 | 5 | 0 |
[-0.0009234710596501827,-0.00006552066042786464,0.0008431044989265501,-0.002511480823159218,0.013251(...TRUNCATED) | [1.6937669515609741,-0.004931431729346514,2.745901584625244,0.027054138481616974,0.140927255153656,0(...TRUNCATED) | [[[0.014765702188014984,-0.006649305112659931,0.0017453394830226898,-0.013136470690369606,-0.0167323(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.0302396472543478,-0.004597302060574293,-0.00013189241872169077,0.004163993988186121,0.02664620(...TRUNCATED) | 0.6 | 6 | 0 | 6 | 0 |
[0.0028432004619389772,-0.00010735623800428584,0.006141343154013157,0.003564664861187339,0.003305600(...TRUNCATED) | [2.1680216789245605,-0.00672572385519743,2.756223201751709,0.02677653729915619,0.13979649543762207,0(...TRUNCATED) | [[[0.015781493857502937,-0.006030628457665443,0.002647670218721032,-0.01455815602093935,-0.017499098(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02851347252726555,-0.008327726274728775,0.009376023896038532,0.0006345821311697364,0.019894216(...TRUNCATED) | 0.7 | 7 | 0 | 7 | 0 |
[0.005408836994320154,-0.00008920248365029693,0.011271139606833458,0.012927918694913387,-0.000543144(...TRUNCATED) | [3.252032518386841,-0.00677102105692029,2.7747912406921387,0.02562842145562172,0.13805840909481049,0(...TRUNCATED) | [[[0.014628211967647076,-0.007448621094226837,0.0022963816300034523,-0.013022206723690033,-0.0167066(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02210640162229538,-0.016216326504945755,0.007835697382688522,0.012269554659724236,0.0265498459(...TRUNCATED) | 0.8 | 8 | 0 | 8 | 0 |
[0.010135219432413578,0.00035033636959269643,0.01771945133805275,0.002800260204821825,-0.03424104303(...TRUNCATED) | [10.298103332519531,-0.005584224127233028,2.814116954803467,0.023365452885627747,0.13681407272815704(...TRUNCATED) | [[[0.015129725448787212,-0.005210570991039276,0.0009432251681573689,-0.014909299090504646,-0.0177625(...TRUNCATED) | [-0.007041786331683397,0.009029258042573929,-0.0007193820201791823,-0.005610104650259018,-0.01073221(...TRUNCATED) | [-0.0176699161529541,-0.00299508566968143,-0.008730991743505001,0.0073881554417312145,-0.01003512647(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.023899002000689507,-0.0119993407279253,0.008556186221539974,0.004262909758836031,0.02724113315(...TRUNCATED) | 0.9 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 32,
"total_frames": 2864,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:32"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"ee.x",
"ee.y",
"ee.z",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.gripper_pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"ee.gripper_pos",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.x",
"ee.y",
"ee.z"
],
"shape": [
7
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.vfm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"observation.skill_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.object_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.full_text_features": {
"dtype": "float32",
"shape": [
77,
1024
],
"names": null
},
"observation.vlm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
1024
],
"names": null
},
"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
}
}
}
Citation
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