Datasets:
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exterior_image_1_left imagewidth (px) 320 320 | exterior_image_2_left imagewidth (px) 320 320 | wrist_image_left imagewidth (px) 320 320 | joint_position list | gripper_position float32 0 1 | actions list | wrist_left_dinov3_embeddings list | timestamp float32 0 40 | frame_index int64 0 600 | episode_index int64 0 117 | index int64 0 23.5k | task_index int64 0 69 |
|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[-0.013833312317728996,-0.2885163426399231,-0.10398641228675842,-2.3413541316986084,0.10481268167495(...TRUNCATED) | 0 | [-0.0740189477801323,0.004007082898169756,0.06758926808834076,0.0072915032505989075,0.01868409104645(...TRUNCATED) | [0.20680901408195496,-0.07396815717220306,0.04940660670399666,-0.24716442823410034,0.025573907420039(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 | |||
[-0.013827166520059109,-0.28851327300071716,-0.10397471487522125,-2.341356039047241,0.10481193661689(...TRUNCATED) | 0 | [-0.07401522994041443,0.004006911534816027,0.06758587062358856,0.007291479967534542,0.01868294551968(...TRUNCATED) | [0.20192056894302368,-0.07667956501245499,0.05825512483716011,-0.2391480952501297,0.0206878706812858(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 | |||
[-0.01382958609610796,-0.28851333260536194,-0.10397446900606155,-2.3413591384887695,0.10481269657611(...TRUNCATED) | 0 | [-0.07402047514915466,0.004007355775684118,0.0675908550620079,0.007291427813470364,0.018684459850192(...TRUNCATED) | [0.20186379551887512,-0.07638704776763916,0.05819098651409149,-0.23895101249217987,0.020875649526715(...TRUNCATED) | 0.6 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 187,
"total_frames": 39592,
"total_tasks": 100,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:187"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"exterior_image_1_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"exterior_image_2_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_position"
]
},
"gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"wrist_left_dinov3_embeddings": {
"dtype": "float32",
"shape": [
1280
],
"names": [
"wrist_left_dinov3_embeddings"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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