justintiensmith/molmoact2_Merged_Reasoning_Tasks
Robotics • 5B • Updated • 39
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action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.sensor_timestamps list | observation.depths.middle array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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[-3.3406593799591064,-102.37362670898438,96.61538696289062,54.32966995239258,-1.3626374006271362,2.4(...TRUNCATED) | [-3.912087917327881,-102.72527313232422,97.62637329101562,55.78022003173828,-1.890109896659851,3.287(...TRUNCATED) | [
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This dataset was created using LeRobot.
Dataset Structure
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"fps": 30,
"features": {
"action": {
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"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
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},
"observation.state": {
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"names": [
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"elbow_flex.pos",
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"gripper.pos"
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6
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},
"observation.images.wrist": {
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},
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"wrist_flex.current",
"wrist_roll.current",
"gripper.current"
],
"shape": [
6
]
},
"observation.motor_velocities": {
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"names": [
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"shoulder_lift.velocity",
"elbow_flex.velocity",
"wrist_flex.velocity",
"wrist_roll.velocity",
"gripper.velocity"
],
"shape": [
6
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},
"observation.sensor_timestamps": {
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"names": [
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"motor_currents.perf_counter_s",
"motor_velocities.perf_counter_s",
"camera.wrist.perf_counter_s",
"camera.middle.perf_counter_s",
"camera.above.perf_counter_s",
"camera.right.perf_counter_s",
"camera.left.perf_counter_s"
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"shape": [
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},
"observation.depths.middle": {
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"shape": [
480,
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"names": [
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},
"timestamp": {
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"frame_index": {
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"task_index": {
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},
"total_episodes": 302,
"total_frames": 226574,
"total_tasks": 42,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "so_follower",
"splits": {
"train": "0:302"
}
}
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