Hugging Face's logo

Datasets:
Tsagkas
/
SLMC_twist_sponge_back_car

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
observation.vfm_features.wrist
array 3D
observation.vfm_features.front
array 3D
observation.skill_feature
list
observation.object_feature
list
observation.full_text_features
array 2D
observation.vlm_features.wrist
array 3D
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, 1.5224359035491943 ]
[1.564625859260559,0.0023365686647593975,2.7471718788146973,0.030548620969057083,0.14027300477027893(...TRUNCATED)
[[[0.03029515966773033,0.049905095249414444,0.03396100923418999,-0.03808250278234482,-0.013356329873(...TRUNCATED)
[[[0.01605277881026268,-0.013863024301826954,-0.006032185163348913,-0.011833667755126953,-0.00244311(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.034761276096105576,-0.021741610020399094,0.0264675784856081,-0.026016682386398315,0.0419488810(...TRUNCATED)
[[[-0.02274598740041256,-0.01143573597073555,-0.024362962692975998,0.011798250488936901,0.0452449843(...TRUNCATED)
0
0
0
0
0
[ 0, 0, 0, 0, 0, 0, 1.5224359035491943 ]
[1.564625859260559,0.0023365686647593975,2.7471718788146973,0.030548620969057083,0.14027300477027893(...TRUNCATED)
[[[0.031083514913916588,0.050693754106760025,0.03342818841338158,-0.0398779921233654,-0.011220716871(...TRUNCATED)
[[[0.015580108389258385,-0.01089267898350954,-0.0067441645078361034,-0.0135732376947999,-0.002203762(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.03347525745630264,-0.011842654086649418,0.031415436416864395,-0.024838294833898544,0.044556807(...TRUNCATED)
[[[-0.026084793731570244,-0.006453830748796463,-0.023738164454698563,0.017037054523825645,0.04682251(...TRUNCATED)
0.1
1
0
1
0
[ 0, 0, 0, 0, 0, 0, 1.5224359035491943 ]
[1.564625859260559,0.03857887163758278,2.751187562942505,0.026070913299918175,0.13989906013011932,0.(...TRUNCATED)
[[[0.03472069650888443,0.037718649953603745,0.030582983046770096,-0.04340461641550064,-0.00905709061(...TRUNCATED)
[[[0.01515070628374815,-0.017464492470026016,-0.007977841421961784,-0.013091272674500942,-0.00063688(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.018866393715143204,-0.007429349701851606,0.03163975849747658,-0.013199802488088608,0.060998037(...TRUNCATED)
[[[-0.018302053213119507,-0.010642535984516144,-0.022015316411852837,0.0001263091980945319,0.0398484(...TRUNCATED)
0.2
2
0
2
0
[ 0, 0, 0, 0, 0, 0, 1.5224359035491943 ]
[1.564625859260559,0.034993015229701996,2.751253843307495,0.026779470965266228,0.13988953828811646,0(...TRUNCATED)
[[[0.027644386515021324,0.030630171298980713,0.024635151028633118,-0.034114427864551544,-0.002958694(...TRUNCATED)
[[[0.017061876133084297,-0.014352335594594479,-0.008529005572199821,-0.010911252349615097,-0.0037243(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.02491261065006256,-0.018240448087453842,0.009848286397755146,-0.03917642682790756,0.0319233834(...TRUNCATED)
[[[-0.022176653146743774,-0.006476137787103653,-0.022654421627521515,0.025744399055838585,0.03634162(...TRUNCATED)
0.3
3
0
3
0
[-0.00017241336172446609,-5.000851615477586e-6,-0.00010556596680544317,0.000026569014153210446,0.001(...TRUNCATED)
[1.564625859260559,0.03857887163758278,2.751187562942505,0.026070913299918175,0.13989906013011932,0.(...TRUNCATED)
[[[0.0122957369312644,0.03390154242515564,0.01623144932091236,-0.01988265849649906,-0.00355676305480(...TRUNCATED)
[[[0.01738734170794487,-0.01489681750535965,-0.008305668830871582,-0.014836876653134823,-0.002210436(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.023375432938337326,-0.0003501322353258729,0.0015930254012346268,-0.044119782745838165,0.046912(...TRUNCATED)
[[[-0.027011729776859283,-0.00387015612795949,-0.017182715237140656,0.015405798330903053,0.046002019(...TRUNCATED)
0.4
4
0
4
0
[0.0016174885677173734,0.0002163589815609157,0.0025608805008232594,0.004232841543853283,-0.012754962(...TRUNCATED)
[1.564625859260559,0.03857887163758278,2.751187562942505,0.026070913299918175,0.13989906013011932,0.(...TRUNCATED)
[[[0.015946004539728165,0.0366658940911293,0.018514707684516907,-0.022364875301718712,0.000293396296(...TRUNCATED)
[[[0.021089814603328705,-0.0186070054769516,-0.006789923179894686,-0.013593410141766071,-0.003945638(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.022706948220729828,-0.005918536335229874,-0.0003785626031458378,-0.04299597069621086,0.0352178(...TRUNCATED)
[[[-0.0253707617521286,-0.00888102687895298,-0.017826121300458908,0.012136748991906643,0.04543188959(...TRUNCATED)
0.5
5
0
5
0
[0.005844918079674244,-0.00010499135532882065,0.013559019193053246,0.0025994942989200354,-0.04412063(...TRUNCATED)
[1.564625859260559,0.03857887163758278,2.751187562942505,0.026070913299918175,0.13989906013011932,0.(...TRUNCATED)
[[[0.023045029491186142,0.03457903116941452,0.01771559566259384,-0.026318371295928955,0.000079576675(...TRUNCATED)
[[[0.02012387104332447,-0.013985139317810535,-0.010256213136017323,-0.014040001668035984,-0.00206864(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.0271015465259552,-0.004683122970163822,-0.001110563287511468,-0.03444929048418999,0.0471785292(...TRUNCATED)
[[[-0.018732208758592606,-0.013466263189911842,-0.017336009070277214,0.009649612940847874,0.04349509(...TRUNCATED)
0.6
6
0
6
0
[0.005164860747754574,-0.0004330973024480045,0.017368219792842865,0.008802701719105244,-0.0238397773(...TRUNCATED)
[1.564625859260559,0.04486922174692154,2.751124620437622,0.027313683182001114,0.13989906013011932,0.(...TRUNCATED)
[[[0.019954711198806763,0.03617429360747337,0.017092552036046982,-0.020353218540549278,-0.0042575816(...TRUNCATED)
[[[0.020418977364897728,-0.021380890160799026,-0.009724973700940609,-0.01013527624309063,-0.00176355(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.023821672424674034,-0.018482189625501633,0.015478620305657387,-0.03938530385494232,0.043137595(...TRUNCATED)
[[[-0.026649167761206627,-0.018414795398712158,-0.019515974447131157,0.010185650549829006,0.04134751(...TRUNCATED)
0.7
7
0
7
0
[0.005796280689537525,0.00013790317461825907,0.018393201753497124,0.0009292497998103499,-0.011447857(...TRUNCATED)
[1.564625859260559,0.05475965514779091,2.7343552112579346,0.026752393692731857,0.14237172901630402,0(...TRUNCATED)
[[[0.017611755058169365,0.02008870802819729,0.017016883939504623,-0.022488988935947418,0.00211875466(...TRUNCATED)
[[[0.019109494984149933,-0.017143430188298225,-0.009926974773406982,-0.011724804528057575,-0.0032475(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.020759934559464455,-0.005875299219042063,0.015380906872451305,-0.02976551093161106,0.040968753(...TRUNCATED)
[[[-0.026588257402181625,-0.009524203836917877,-0.020678918808698654,0.027043526992201805,0.04860701(...TRUNCATED)
0.8
8
0
8
0
[0.008044332265853882,0.0001814315764931962,0.01716540940105915,-0.0006640973733738065,-0.0266670454(...TRUNCATED)
[1.564625859260559,0.055923644453287125,2.7044310569763184,0.02807328850030899,0.14861690998077393,0(...TRUNCATED)
[[[0.020290521904826164,0.025286387652158737,0.015431755222380161,-0.012073506601154804,0.0046981871(...TRUNCATED)
[[[0.014480134472250938,-0.020353063941001892,-0.0070945341140031815,-0.010166965425014496,0.0005576(...TRUNCATED)
[0.004232902079820633,0.0052971919067204,-0.013511113822460175,-0.020532438531517982,-0.016476672142(...TRUNCATED)
[-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED)
[[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED)
[[[-0.014579725451767445,-0.0015944879269227386,0.00159756513312459,-0.0025124314706772566,0.0253933(...TRUNCATED)
[[[-0.02210278809070587,-0.006818454712629318,-0.027563925832509995,0.022108815610408783,0.047783933(...TRUNCATED)
0.9
9
0
9
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 72,
    "total_frames": 8100,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:72"
    },
    "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.wrist": {
            "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.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.wrist": {
            "dtype": "float32",
            "shape": [
                16,
                16,
                768
            ],
            "names": null
        },
        "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.wrist": {
            "dtype": "float32",
            "shape": [
                16,
                16,
                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

BibTeX:

[More Information Needed]
Downloads last month
230
License:
apache-2.0
Number of rows:
8,100
Total file size:
31.5 GB