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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
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[
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1.4240506887435913
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[
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1.4240506887435913
] | [1.7567567825317383,-0.02134685404598713,2.731292486190796,0.03576613962650299,0.14278553426265717,0(...TRUNCATED) | [[[0.014765173196792603,-0.01261201687157154,-0.011104725301265717,-0.041883982717990875,-0.00553402(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02545861154794693,-0.015290690585970879,-0.00869978778064251,0.018498722463846207,0.0558318272(...TRUNCATED) | 0.2 | 2 | 0 | 2 | 0 |
[0.000015972258552210405,-0.00026006365078501403,-6.90102308631424e-10,0.0035362383350729942,8.82607(...TRUNCATED) | [1.6891891956329346,-0.022592080757021904,2.731273889541626,0.03550708666443825,0.14278586208820343,(...TRUNCATED) | [[[0.014149799942970276,-0.011971461586654186,-0.012718542478978634,-0.04435234144330025,-0.00897283(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02034931629896164,-0.013143756426870823,-0.013441881164908409,0.028063425794243813,0.051041916(...TRUNCATED) | 0.3 | 3 | 0 | 3 | 0 |
[0.00006683156243525445,0.00026528420858085155,0.0005685414071194828,-0.0035335500724613667,-0.00031(...TRUNCATED) | [1.6891891956329346,-0.025082498788833618,2.7312352657318115,0.03498896583914757,0.14278654754161835(...TRUNCATED) | [[[0.01254148781299591,-0.009550818242132664,-0.010653950273990631,-0.04419725388288498,-0.007059480(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.026252908632159233,-0.009816071018576622,-0.005612615961581469,0.029609309509396553,0.05436938(...TRUNCATED) | 0.4 | 4 | 0 | 4 | 0 |
[0.0022715572267770767,0.00022630341118201613,0.0024380639661103487,-0.010346133261919022,-0.0159542(...TRUNCATED) | [1.6891891956329346,-0.025082498788833618,2.7312352657318115,0.03498896583914757,0.14278654754161835(...TRUNCATED) | [[[0.015672538429498672,-0.01325156632810831,-0.013628815300762653,-0.04180256277322769,-0.006986235(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.029835732653737068,-0.02026006579399109,-0.006941281259059906,0.03209633752703667,0.0476213432(...TRUNCATED) | 0.5 | 5 | 0 | 5 | 0 |
[0.002300458727404475,0.0001408156385878101,0.005079406779259443,-0.001026530866511166,-0.0169048141(...TRUNCATED) | [1.6891891956329346,-0.028818033635616302,2.7311737537384033,0.03421174734830856,0.1427876055240631,(...TRUNCATED) | [[[0.016599731519818306,-0.010247640311717987,-0.0160488560795784,-0.04185235872864723,-0.0056856232(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.026499634608626366,-0.01743777096271515,-0.0143193444237113,0.028036268427968025,0.05208381265(...TRUNCATED) | 0.6 | 6 | 0 | 6 | 0 |
[0.0006110210088081658,0.000032084626582218334,0.007165371440351009,-0.0013540858635678887,0.0085144(...TRUNCATED) | [1.6216216087341309,-0.0337744876742363,2.7291386127471924,0.03331341594457626,0.143077090382576,0.0(...TRUNCATED) | [[[0.014916679821908474,-0.014424784108996391,-0.014955567196011543,-0.04334580898284912,-0.00684486(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.030880708247423172,-0.009965893812477589,-0.011478526517748833,0.02686677873134613,0.051491919(...TRUNCATED) | 0.7 | 7 | 0 | 7 | 0 |
[0.004601652733981609,0.0004899482009932399,0.011508551426231861,0.00701059540733695,-0.005632234737(...TRUNCATED) | [2.0945944786071777,-0.03626641631126404,2.729355812072754,0.03277457132935524,0.14337573945522308,0(...TRUNCATED) | [[[0.015633434057235718,-0.01150437816977501,-0.014892352744936943,-0.04281364008784294,-0.007000567(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02472767047584057,-0.015448013320565224,-0.013896369375288486,0.03193672001361847,0.0493349917(...TRUNCATED) | 0.8 | 8 | 0 | 8 | 0 |
[0.004514236468821764,0.002985395258292556,0.013140423223376274,-0.03150061517953873,0.0007599456002(...TRUNCATED) | [5.405405521392822,-0.041692208498716354,2.7589447498321533,0.02970943972468376,0.14193212985992432,(...TRUNCATED) | [[[0.019962146878242493,-0.009614551439881325,-0.013455095700919628,-0.03746461495757103,-0.00690382(...TRUNCATED) | [0.008758463896811008,0.005076300352811813,0.004565742798149586,-0.001289671752601862,-0.00077448692(...TRUNCATED) | [0.010959372855722904,0.033817678689956665,0.0021482936572283506,-0.043327320367097855,0.00325866229(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.03363489732146263,-0.01113501749932766,-0.015009244903922081,0.02984137088060379,0.05829479917(...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": 2741,
"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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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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