Tsagkas/afa_v2_afa
Robotics • Updated • 1
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action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.front array 3D | timestamp float32 0 10.9 | frame_index int64 0 164 | episode_index int64 0 20 | index int64 0 2.72k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [1.5521063804626465,-97.28813934326172,92.06134796142578,75.33651733398438,-1.2287582159042358,1.854(...TRUNCATED) | [[[0.01597217097878456,0.018393248319625854,0.0017455951310694218,-0.008581772446632385,-0.013361395(...TRUNCATED) | [[[0.0017338547622784972,-0.014468587003648281,-0.03593992441892624,-0.0025272753555327654,0.0141579(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [1.5521063804626465,-97.28813934326172,92.06134796142578,75.33651733398438,-1.2287582159042358,1.854(...TRUNCATED) | [[[0.009843061678111553,0.017533864825963974,-0.004496991168707609,-0.006169854663312435,-0.00753547(...TRUNCATED) | [[[-0.0032462910749018192,-0.015335063450038433,-0.04529309272766113,-0.0004277269181329757,0.013735(...TRUNCATED) | 0.066667 | 1 | 0 | 1 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [2.217294931411743,-97.45762634277344,92.15155792236328,74.90229797363281,-1.8562091588974,1.8543046(...TRUNCATED) | [[[0.002229380188509822,0.01416356023401022,-0.003232239279896021,0.0001280892756767571,-0.015117125(...TRUNCATED) | [[[-0.00800568237900734,-0.01666700839996338,-0.0448542982339859,-0.00009468752978136763,0.020884189(...TRUNCATED) | 0.133333 | 2 | 0 | 2 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [3.0303030014038086,-97.45762634277344,92.15155792236328,74.554931640625,-2.9542484283447266,1.85430(...TRUNCATED) | [[[0.02699499949812889,0.012741351500153542,0.006664928048849106,0.007143301423639059,-0.01949222013(...TRUNCATED) | [[[-0.002936281030997634,-0.023091495037078857,-0.04030752182006836,-0.003188658971339464,0.00925099(...TRUNCATED) | 0.2 | 3 | 0 | 3 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [2.88248348236084,-97.45762634277344,92.15155792236328,74.38124084472656,-3.215686321258545,1.854304(...TRUNCATED) | [[[0.025695711374282837,0.02421826496720314,0.0036660823971033096,0.010984784923493862,-0.0000250348(...TRUNCATED) | [[[-0.0014278540620580316,-0.023089880123734474,-0.0418325737118721,-0.0048856595531105995,0.0147329(...TRUNCATED) | 0.266667 | 4 | 0 | 4 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [2.956393241882324,-97.45762634277344,92.15155792236328,74.38124084472656,-3.372549057006836,1.85430(...TRUNCATED) | [[[0.02224578522145748,0.015537431463599205,-0.0060224407352507114,-0.009388050995767117,-0.00158289(...TRUNCATED) | [[[-0.00462192902341485,-0.017755653709173203,-0.04129243642091751,-0.0031008801888674498,0.01952346(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [3.0303030014038086,-97.45762634277344,92.15155792236328,74.38124084472656,-3.372549057006836,1.8543(...TRUNCATED) | [[[0.02353942021727562,0.016629783436655998,-0.001195587683469057,0.005078141577541828,-0.0107086719(...TRUNCATED) | [[[-0.0013340059667825699,-0.024458400905132294,-0.044540148228406906,-0.01548805646598339,0.0151847(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [2.956393241882324,-97.45762634277344,92.15155792236328,74.38124084472656,-3.372549057006836,1.85430(...TRUNCATED) | [[[0.027179919183254242,0.021924305707216263,-0.005727291572839022,-0.002430058317258954,-0.00487817(...TRUNCATED) | [[[-0.004232647363096476,-0.02284768410027027,-0.03976297006011009,0.0018356558866798878,0.009347087(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 |
[3.364140510559082,-98.31720733642578,92.0577621459961,73.7733383178711,-3.58357310295105,1.82394921(...TRUNCATED) | [2.956393241882324,-97.45762634277344,92.15155792236328,74.38124084472656,-3.372549057006836,1.85430(...TRUNCATED) | [[[0.030681980773806572,0.015926092863082886,-0.00898480974137783,-0.0067146276123821735,-0.00315732(...TRUNCATED) | [[[-0.0015801849076524377,-0.02605702169239521,-0.035354550927877426,-0.0028394379187375307,0.010417(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 |
[3.290203332901001,-98.31720733642578,91.9675064086914,74.03386688232422,-3.58357310295105,1.8239492(...TRUNCATED) | [2.956393241882324,-97.45762634277344,92.15155792236328,74.38124084472656,-3.372549057006836,1.85430(...TRUNCATED) | [[[0.024981265887618065,0.023808740079402924,-0.003833385882899165,-0.0037649956066161394,0.00756132(...TRUNCATED) | [[[0.00152528693433851,-0.018152885138988495,-0.0346192829310894,-0.0059311105869710445,0.0132834222(...TRUNCATED) | 0.6 | 9 | 0 | 9 | 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 21,
"total_frames": 2718,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:21"
},
"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.front": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"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
}
}
}
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