justintiensmith/molmoact2_Reorient_Block
Robotics • 5B • Updated • 43
Datasets:
Search is not available for this dataset
action list | observation.state list | observation.motor_currents list | observation.motor_velocities list | observation.depths.middle array 2D | timestamp float32 0 21.7 | frame_index int64 0 650 | episode_index int64 0 27 | index int64 0 14k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
[-5.098901271820068,-102.63735961914062,96.52747344970703,68.87911987304688,0.3076923191547394,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,70.06593322753906,0.6593406796455383,2.0109(...TRUNCATED) | [
1,
1,
0,
2,
0,
1
] | [
0,
0,
0,
0,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1861,1867,1878,1884,1895,1907,1919,1931,1943,1955,1955,1(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-5.010989189147949,-102.63735961914062,96.52747344970703,67.38461303710938,0.5714285969734192,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,69.89010620117188,0.6593406796455383,2.0109(...TRUNCATED) | [
0,
0,
0,
2,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1878,1884,1884,1890,1890,1901,1895,1895,0,0,0,0,0,0,0,0,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-5.010989189147949,-102.63735961914062,96.52747344970703,67.38461303710938,0.5714285969734192,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,69.89010620117188,0.6593406796455383,2.0109(...TRUNCATED) | [
1,
1,
0,
5,
1,
1
] | [
0,
0,
0,
0,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1895,1901,1913,1913,1913,1925,1931,1937,1937,1943,1943,1(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-5.010989189147949,-102.63735961914062,96.52747344970703,67.29669952392578,0.5714285969734192,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,69.36264038085938,0.6593406796455383,2.0109(...TRUNCATED) | [
0,
1,
0,
1,
0,
1
] | [
0,
0,
0,
-250,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1955,1961,1974,1961,1955,0,0,0,0,0,0,0,0,1943,1943,195(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-5.010989189147949,-102.63735961914062,96.52747344970703,67.20879364013672,0.3956044018268585,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.92308044433594,0.6593406796455383,2.0109(...TRUNCATED) | [
0,
1,
0,
2,
0,
1
] | [
0,
0,
0,
-200,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1867,1872,1878,1890,1907,1925,1937,1949,1968,1986,1999,2(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-5.010989189147949,-102.63735961914062,96.52747344970703,67.03296661376953,0.3956044018268585,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.65933990478516,0.6593406796455383,2.0109(...TRUNCATED) | [
1,
1,
0,
2,
0,
0
] | [
0,
0,
0,
-50,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1850,1856,1856,1861,1861,1861,1861,1861,1861,1861,1867,1(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-5.010989189147949,-102.63735961914062,96.43955993652344,67.03296661376953,0.3956044018268585,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.48351287841797,0.6593406796455383,2.0109(...TRUNCATED) | [
0,
0,
0,
1,
0,
1
] | [
0,
0,
0,
-50,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1884,1884,1884,1884,1895,1907,1919,1925,1937,1943,19(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-5.010989189147949,-102.63735961914062,96.43955993652344,67.03296661376953,0.5714285969734192,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.30769348144531,0.6593406796455383,2.0109(...TRUNCATED) | [
1,
1,
0,
2,
0,
1
] | [
0,
0,
0,
-100,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1901,1913,1919,1925,0,0,1968,1993,2019,2045,2066,2087,(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-5.010989189147949,-102.63735961914062,96.43955993652344,67.03296661376953,0.6593406796455383,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.21977996826172,0.6593406796455383,2.0109(...TRUNCATED) | [
1,
1,
0,
1,
0,
0
] | [
0,
0,
0,
-50,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1931,1937,1949,1961,1961,1968,1980,1986,1993,2006,2006,201(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-5.098901271820068,-102.63735961914062,96.43955993652344,67.03296661376953,0.7472527623176575,1.714(...TRUNCATED) | [-5.450549602508545,-102.06593322753906,96.3956069946289,68.21977996826172,0.6593406796455383,2.0109(...TRUNCATED) | [
0,
1,
0,
2,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1919,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"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": [
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.images.above": {
"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.images.right": {
"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.images.left": {
"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.images.middle": {
"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.motor_currents": {
"dtype": "int32",
"names": [
"shoulder_pan.current",
"shoulder_lift.current",
"elbow_flex.current",
"wrist_flex.current",
"wrist_roll.current",
"gripper.current"
],
"shape": [
6
]
},
"observation.motor_velocities": {
"dtype": "int32",
"names": [
"shoulder_pan.velocity",
"shoulder_lift.velocity",
"elbow_flex.velocity",
"wrist_flex.velocity",
"wrist_roll.velocity",
"gripper.velocity"
],
"shape": [
6
]
},
"observation.depths.middle": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"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
}
},
"total_episodes": 99,
"total_frames": 40827,
"total_tasks": 1,
"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": "0:99"
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 177