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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,
1.4240506887435913
] | [1.5582655668258667,0.051161784678697586,2.756527900695801,0.03455862030386925,0.1393149495124817,0.(...TRUNCATED) | [[[0.018211979418992996,-0.021088136360049248,-0.011897691525518894,-0.0484284833073616,0.0090709319(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03769728168845177,-0.012899842113256454,-0.0075343516655266285,0.03653859347105026,0.036921583(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[
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1.4240506887435913
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[6.364755336107919e-7,-0.000021603540517389774,-2.1927660043274955e-7,-0.003760597901418805,-0.00002(...TRUNCATED) | [1.5582655668258667,0.026246948167681694,2.756765127182007,0.031090572476387024,0.13930262625217438,(...TRUNCATED) | [[[0.015338781289756298,-0.023993641138076782,-0.009623169898986816,-0.04167131707072258,0.008901993(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.023976430296897888,-0.022389356046915054,-0.007689267862588167,0.025336449965834618,0.03787074(...TRUNCATED) | 0.2 | 2 | 0 | 2 | 0 |
[0.00002015906648011878,0.00011735647422028705,0.00018945953343063593,-0.004274034406989813,-0.00011(...TRUNCATED) | [1.5582655668258667,0.013898266479372978,2.756824254989624,0.030069274827837944,0.13929027318954468,(...TRUNCATED) | [[[0.015154574997723103,-0.02108108624815941,-0.006181453820317984,-0.041359201073646545,0.010248966(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03549797832965851,-0.02011316455900669,-0.00438682222738862,0.032213591039180756,0.03745804727(...TRUNCATED) | 0.3 | 3 | 0 | 3 | 0 |
[0.00002708602733036969,1.4980896594352089e-6,0.00018957378051709384,2.2085910700297973e-7,-0.000102(...TRUNCATED) | [1.5582655668258667,0.010128338821232319,2.756819248199463,0.02933502569794655,0.1392907351255417,0.(...TRUNCATED) | [[[0.01730998419225216,-0.02556251920759678,-0.014554472640156746,-0.04482414200901985,0.01269783638(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.04649446904659271,-0.014247767627239227,-0.014469584450125694,0.03571705147624016,0.0444143898(...TRUNCATED) | 0.4 | 4 | 0 | 4 | 0 |
[0.0000138843861350324,-0.0002534941304475069,6.490861181873697e-8,0.004787592217326164,-6.462803412(...TRUNCATED) | [1.5582655668258667,0.008871705271303654,2.7568163871765137,0.029090266674757004,0.13929089903831482(...TRUNCATED) | [[[0.015224505215883255,-0.023178348317742348,-0.01150187011808157,-0.046068936586380005,0.009903558(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03896741569042206,-0.021286245435476303,-0.005804863292723894,0.03661971911787987,0.0391098186(...TRUNCATED) | 0.5 | 5 | 0 | 5 | 0 |
[-0.00014750561967957765,-5.685402015842556e-7,0.00008479965617880225,0.0012534831184893847,0.001377(...TRUNCATED) | [1.5582655668258667,0.008871705271303654,2.7568163871765137,0.029090266674757004,0.13929089903831482(...TRUNCATED) | [[[0.012721745297312737,-0.025583352893590927,-0.008901276625692844,-0.045304831117391586,0.01267781(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03567661717534065,-0.026642756536602974,-0.0017031952738761902,0.029545430094003677,0.03661393(...TRUNCATED) | 0.6 | 6 | 0 | 6 | 0 |
[0.003897335845977068,0.00005560195495490916,0.004214045125991106,-0.0007337270653806627,-0.02820967(...TRUNCATED) | [1.5582655668258667,0.008871705271303654,2.7568163871765137,0.029090266674757004,0.13929089903831482(...TRUNCATED) | [[[0.014152856543660164,-0.022757239639759064,-0.009018277749419212,-0.041696302592754364,0.01378220(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03267952427268028,-0.015335227362811565,0.004471438471227884,0.03279627114534378,0.04500501230(...TRUNCATED) | 0.7 | 7 | 0 | 7 | 0 |
[0.006802672054618597,-0.00022701064881403,0.01003968808799982,0.0068703400902450085,-0.055059589445(...TRUNCATED) | [1.5582655668258667,0.008866861462593079,2.7553117275238037,0.029190899804234505,0.13951723277568817(...TRUNCATED) | [[[0.016400150954723358,-0.026236193254590034,-0.0103659862652421,-0.043123070150613785,0.0082399100(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.037175148725509644,-0.01771862804889679,0.0009651418076828122,0.02296334318816662,0.0441975668(...TRUNCATED) | 0.8 | 8 | 0 | 8 | 0 |
[0.004343813750892878,0.00019391511159483343,0.009324234910309315,-0.0012866288889199495,-0.03737681(...TRUNCATED) | [2.2357723712921143,0.008846627548336983,2.749025344848633,0.029610315337777138,0.1403716802597046,0(...TRUNCATED) | [[[0.015481864102184772,-0.02389696054160595,-0.007622337434440851,-0.043584730476140976,0.014330150(...TRUNCATED) | [0.024388771504163742,0.009903177618980408,0.008855113759636879,0.004575700964778662,0.0129067553207(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03859724476933479,-0.0179566890001297,0.0030723100062459707,0.038013238459825516,0.04649430885(...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": 3001,
"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": {
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"shape": [
1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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