Tsagkas/afa_v0_CLS_NOafa
Robotics • Updated • 1
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action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.wrist_cls array 2D | observation.vfm_features.front array 3D | observation.vfm_features.front_cls array 2D | timestamp float32 0 9 | frame_index int64 0 135 | episode_index int64 0 26 | index int64 0 3.23k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
[0.25878003239631653,-98.48548889160156,91.42599487304688,74.98914337158203,-2.7465341091156006,1.90(...TRUNCATED) | [1.8477457761764526,-97.2033920288086,91.52007293701172,75.33651733398438,-2.745098114013672,1.92052(...TRUNCATED) | [[[0.010861718095839024,0.020288905128836632,-0.006038371007889509,-0.00970796775072813,0.0010743312(...TRUNCATED) | [[-0.21924211084842682,1.4271936416625977,-0.6322451233863831,-0.6198149919509888,0.3942702710628509(...TRUNCATED) | [[[-0.0025918579194694757,-0.02553892508149147,-0.03784357011318207,0.007178096100687981,-0.00530981(...TRUNCATED) | [[-0.17658281326293945,0.7881807684898376,-0.6474810242652893,0.41513827443122864,0.7668237090110779(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
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[0.25878003239631653,-98.48548889160156,91.42599487304688,74.98914337158203,-2.7465341091156006,1.90(...TRUNCATED) | [1.3303769826889038,-97.45762634277344,91.52007293701172,75.33651733398438,-2.745098114013672,1.9205(...TRUNCATED) | [[[0.0089742885902524,0.017643103376030922,-0.0010367262875661254,-0.007016140967607498,0.0050030434(...TRUNCATED) | [[-0.341073602437973,1.461953043937683,-0.5781397819519043,-0.36316242814064026,0.42229920625686646,(...TRUNCATED) | [[[0.0015948573127388954,-0.026805628091096878,-0.030439097434282303,0.007832150906324387,-0.0134447(...TRUNCATED) | [[-0.20394422113895416,0.8491705656051636,-0.6345029473304749,0.4545004963874817,0.8183866143226624,(...TRUNCATED) | 0.133333 | 2 | 0 | 2 | 0 |
[0.18484288454055786,-98.4013442993164,91.42599487304688,74.98914337158203,-2.7465341091156006,1.982(...TRUNCATED) | [0.5173687934875488,-97.45762634277344,91.61028289794922,75.33651733398438,-2.745098114013672,1.9205(...TRUNCATED) | [[[0.015859074890613556,0.01664050482213497,-0.0018531788373365998,-0.003787394380196929,-0.00205833(...TRUNCATED) | [[-0.41832080483436584,1.2871657609939575,-0.6050322651863098,-0.5391362905502319,0.4840675592422485(...TRUNCATED) | [[[-0.0006947726360522211,-0.027975482866168022,-0.020330004394054413,0.0034356338437646627,-0.01440(...TRUNCATED) | [[-0.16035465896129608,0.7515791654586792,-0.6498323082923889,0.294948011636734,0.8070968985557556,0(...TRUNCATED) | 0.2 | 3 | 0 | 3 | 0 |
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[-0.03696857765316963,-97.223388671875,89.98194885253906,74.20755767822266,-2.6942191123962402,2.379(...TRUNCATED) | [0.1478196531534195,-97.45762634277344,91.61028289794922,75.33651733398438,-2.745098114013672,1.9205(...TRUNCATED) | [[[0.010056746192276478,0.015172172337770462,0.0011098330141976476,-0.008681077510118484,-0.00437721(...TRUNCATED) | [[-0.49054014682769775,1.3030511140823364,-0.7271336913108826,-0.5618693828582764,0.4339825510978699(...TRUNCATED) | [[[0.0022835952695459127,-0.019949128851294518,-0.030409054830670357,0.0017645128536969423,-0.009537(...TRUNCATED) | [[-0.14673016965389252,0.8774539828300476,-0.7216057777404785,0.2710729241371155,0.7690635323524475,(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 |
[0.18484288454055786,-94.53092193603516,86.28158569335938,72.81806182861328,-2.6942191123962402,2.37(...TRUNCATED) | [-0.1478196531534195,-97.45762634277344,91.61028289794922,75.24967193603516,-2.745098114013672,2.052(...TRUNCATED) | [[[0.014453846961259842,0.016323450952768326,0.004690529778599739,-0.011306695640087128,-0.009510709(...TRUNCATED) | [[-0.370790958404541,1.3742426633834839,-0.5523857474327087,-0.37927207350730896,0.4071953594684601,(...TRUNCATED) | [[[0.0063673630356788635,-0.027949411422014236,-0.029197782278060913,0.0011407547863200307,-0.013126(...TRUNCATED) | [[-0.17964720726013184,0.8095055222511292,-0.7957053184509277,0.39948925375938416,0.706956684589386,(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 |
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[0.1109057292342186,-84.51830291748047,73.10469055175781,71.42857360839844,-2.641904354095459,2.3790(...TRUNCATED) | [0.22172948718070984,-95.59322357177734,89.2647705078125,73.68649291992188,-2.745098114013672,2.2516(...TRUNCATED) | [[[0.011783916503190994,0.01489788293838501,0.00399181479588151,-0.006745791994035244,-0.01558537408(...TRUNCATED) | [[-0.5007513165473938,1.1093196868896484,-0.35033857822418213,-0.6992897391319275,0.4319711923599243(...TRUNCATED) | [[[0.0027609069366008043,-0.025604167953133583,-0.02813355065882206,0.004701956175267696,-0.01116712(...TRUNCATED) | [[-0.18019941449165344,0.7324666976928711,-0.7274173498153687,0.4915994107723236,0.6972062587738037,(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 3553,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:30"
},
"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": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"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": 15,
"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": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.vfm_features.wrist": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"observation.vfm_features.wrist_cls": {
"dtype": "float32",
"shape": [
1,
768
],
"names": null
},
"observation.vfm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"observation.vfm_features.front_cls": {
"dtype": "float32",
"shape": [
1,
768
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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1
],
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},
"index": {
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1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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