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action list | observation.state list | observation.depth.realsense_main array 2D | timestamp float32 0 7.9 | frame_index int64 0 237 | episode_index int64 0 0 | index int64 0 237 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[
-16.083984375,
94.130859375,
112.587890625,
88.154296875,
-44.560546875,
40
] | [
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94.21875,
114.609375,
88.59375,
-44.912109375,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,646,647,648,649,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[
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93.69140625,
111.708984375,
88.06640625,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
94.21875,
114.609375,
88.505859375,
-45,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,646,647,648,649,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[
-15.99609375,
93.69140625,
110.7421875,
87.890625,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
94.04296875,
114.169921875,
88.505859375,
-45,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,649,651,652,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[
-15.99609375,
93.69140625,
110.302734375,
87.099609375,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.779296875,
113.5546875,
88.505859375,
-44.82421875,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,649,649,649,651,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[
-15.99609375,
93.69140625,
110.126953125,
86.220703125,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.69140625,
112.939453125,
88.2421875,
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39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,646,646,647,648,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[
-15.99609375,
93.603515625,
109.951171875,
85.693359375,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.69140625,
112.412109375,
87.626953125,
-44.736328125,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,646,647,648,649,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[
-15.99609375,
93.603515625,
110.0390625,
85.25390625,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.603515625,
112.060546875,
87.01171875,
-44.736328125,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,649,649,651,651,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[
-15.99609375,
93.515625,
110.302734375,
84.814453125,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.515625,
111.884765625,
86.396484375,
-44.736328125,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,646,647,648,649,(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[
-15.99609375,
93.33984375,
110.7421875,
84.0234375,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.515625,
111.884765625,
85.95703125,
-44.736328125,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,647,648,649,649,65(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[
-15.99609375,
93.076171875,
111.796875,
82.79296875,
-44.47265625,
40.082645416259766
] | [
-15.64453125,
93.515625,
111.884765625,
85.4296875,
-44.736328125,
39.69938278198242
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,652,65(...TRUNCATED) | 0.3 | 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": "so101",
"total_episodes": 1,
"total_frames": 238,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.realsense_main": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.realsense_main": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
],
"info": 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
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