k1000dai/residualact_libero_smolvla_1_10
Robotics • Updated • 1
Search is not available for this dataset
observation.images.image imagewidth (px) 256 256 | observation.images.wrist_image imagewidth (px) 256 256 | observation.state list | action list | timestamp float32 0 45.4 | frame_index int64 0 454 | episode_index int64 0 143 | index int64 0 39.3k | task_index int64 0 9 | vla_actions array 2D |
|---|---|---|---|---|---|---|---|---|---|
[
-0.05338004603981972,
0.007029631175100803,
0.6783280968666077,
3.1407692432403564,
0.0017593271331861615,
-0.08994418382644653,
0.03878866136074066,
-0.03878721222281456
] | [
0.01607142947614193,
0,
0,
0,
0,
0,
-1
] | 0 | 0 | 0 | 0 | 0 | [
[
0.004660371690988541,
-0.20128369331359863,
0.024386413395404816,
0.0020710027310997248,
0.009798496961593628,
-0.011575676500797272,
-0.9874270558357239
],
[
0.0073511675000190735,
-0.28258273005485535,
0.04602711647748947,
0.010769955813884735,
0.0170117840170... | ||
[
-0.05331140756607056,
0.007027116138488054,
0.6783228516578674,
3.140770196914673,
0.0017220743466168642,
-0.08966746926307678,
0.038882121443748474,
-0.0388808399438858
] | [
0.013392857275903225,
0,
0,
0,
0,
0,
-1
] | 0.1 | 1 | 0 | 1 | 0 | [
[
0.17085707187652588,
0.10292917490005493,
0.021864287555217743,
-0.03566789627075195,
0.011817654594779015,
0.007372764870524406,
-1.0019760131835938
],
[
0.07949701696634293,
0.08434054255485535,
0.004652068018913269,
-0.026061516255140305,
0.005799815990030765... | ||
[
-0.05320742353796959,
0.007024175021797419,
0.6782967448234558,
3.140775442123413,
0.00169978360645473,
-0.08934350311756134,
0.03893638029694557,
-0.038935188204050064
] | [
0.0026785715017467737,
0,
0,
0,
0,
0,
-1
] | 0.2 | 2 | 0 | 2 | 0 | [
[
0.06006073206663132,
-0.04182682931423187,
0.0061911046504974365,
0.00024228007532656193,
0.04006018862128258,
0.0018452880904078484,
-0.9973717927932739
],
[
0.047050368040800095,
-0.05984106659889221,
-0.004801101982593536,
0.00481988862156868,
0.0145490253344... | ||
[
-0.05315941572189331,
0.007020609453320503,
0.6782735586166382,
3.140772581100464,
0.0016853907145559788,
-0.08930182456970215,
0.038982097059488297,
-0.038980912417173386
] | [
0,
-0.010714286006987095,
0,
0,
0,
0,
-1
] | 0.3 | 3 | 0 | 3 | 0 | [
[
0.0063895657658576965,
0.011545240879058838,
-0.05668271705508232,
0.0002802687813527882,
0.0016360790468752384,
-0.010554181411862373,
-1.0004801750183105
],
[
0.020983725786209106,
-0.028359457850456238,
-0.005709134042263031,
-0.006136887241154909,
0.00096239... | ||
[
-0.053153958171606064,
0.006965538952499628,
0.6782670021057129,
3.1407337188720703,
0.001578160678036511,
-0.08931978791952133,
0.03902563080191612,
-0.03902474790811539
] | [
0,
-0.0535714291036129,
0,
0,
0,
0,
-1
] | 0.4 | 4 | 0 | 4 | 0 | [
[
0.0536046102643013,
0.04287534952163696,
0.003292486071586609,
-0.00016988639254122972,
-0.0006792619824409485,
-0.01448504626750946,
-1.0038443803787231
],
[
0.15281829237937927,
-0.007130853831768036,
0.1004604622721672,
-0.0008024783455766737,
0.0060440320521... | ||
[
-0.053149230778217316,
0.00663584191352129,
0.678267240524292,
3.140554428100586,
0.0010026784148067236,
-0.08931048959493637,
0.03906673565506935,
-0.039067257195711136
] | [
0,
-0.12589286267757416,
-0.013392857275903225,
0,
0,
0,
-1
] | 0.5 | 5 | 0 | 5 | 0 | [
[
-0.023357205092906952,
0.0646328255534172,
0.030572965741157532,
-0.001447745831683278,
0.004165099002420902,
0.0001939120702445507,
-1.0049023628234863
],
[
-0.005980692803859711,
0.1867600381374359,
-0.026929065585136414,
-0.01808994635939598,
0.01669445820152... | ||
[
-0.053141187876462936,
0.005687231197953224,
0.6782097816467285,
3.140174388885498,
-0.0000849748685141094,
-0.08941115438938141,
0.03910535201430321,
-0.03910866752266884
] | [
-0.0053571430034935474,
-0.21964286267757416,
-0.04553571343421936,
0,
0,
0,
-1
] | 0.6 | 6 | 0 | 6 | 0 | [
[
0.005749005824327469,
-0.056432679295539856,
-0.03638000041246414,
-0.0008910871692933142,
0.0053794593550264835,
0.007081962190568447,
-1.000398874282837
],
[
0.008734796196222305,
-0.08023494482040405,
-0.03484773263335228,
0.00007073974120430648,
0.0024357079... | ||
[
-0.05314163118600845,
0.003786786925047636,
0.6779237985610962,
3.1396303176879883,
-0.0014228069921955466,
-0.08980439603328705,
0.039141543209552765,
-0.03914906457066536
] | [
-0.02946428582072258,
-0.30000001192092896,
-0.07500000298023224,
0,
0,
0,
-1
] | 0.7 | 7 | 0 | 7 | 0 | [
[
0.03768853470683098,
0.0453806146979332,
-0.0002829432487487793,
-0.02108544297516346,
0.003760745283216238,
-0.0066107045859098434,
-1.0019336938858032
],
[
0.001878105103969574,
0.007580123841762543,
0.08497888594865799,
-0.007143722847104073,
0.01038419455289... | ||
[
-0.0532541386783123,
0.0008253292180597782,
0.6773104667663574,
3.1390726566314697,
-0.002667847089469433,
-0.09075944870710373,
0.03917582333087921,
-0.039188072085380554
] | [
-0.03482142835855484,
-0.3508928716182709,
-0.09910714626312256,
0,
0,
0,
-1
] | 0.8 | 8 | 0 | 8 | 0 | [
[
0.015209879726171494,
-0.12277290225028992,
-0.12530024349689484,
0.0005775318131782115,
-0.005434968508780003,
0.0077821798622608185,
-1.0061180591583252
],
[
0.04403224587440491,
-0.0744636058807373,
-0.1401568055152893,
-0.001288979547098279,
-0.0312746949493... | ||
[
-0.053471047431230545,
-0.0030237147584557533,
0.6764023303985596,
3.1386992931365967,
-0.0034863611217588186,
-0.09187526255846024,
0.03920866176486015,
-0.039225369691848755
] | [
-0.01875000074505806,
-0.39642858505249023,
-0.11785714328289032,
0,
0,
0,
-1
] | 0.9 | 9 | 0 | 9 | 0 | [
[
-0.08009544759988785,
-0.027032621204853058,
-0.02911243587732315,
0.0003487323992885649,
0.005990997422486544,
0.012529894709587097,
-0.9928962588310242
],
[
0.015344705432653427,
-0.15473602712154388,
-0.04655000939965248,
-0.00027565291384235024,
-0.000794980... | ||
[
-0.053646765649318695,
-0.0075844363309443,
0.6752105355262756,
3.1385488510131836,
-0.0038596061058342457,
-0.09241518378257751,
0.03923991322517395,
-0.03926124423742294
] | [
-0.02142857201397419,
-0.4580357074737549,
-0.13660714030265808,
0.008571428246796131,
0,
0,
-1
] | 1 | 10 | 0 | 10 | 0 | [
[
0.05372384935617447,
-0.3009275496006012,
-0.1172492504119873,
0.0016872375272214413,
0.015861425548791885,
-0.005056493449956179,
-0.9828100800514221
],
[
0.10615511238574982,
-0.37069255113601685,
-0.07774512469768524,
0.010158073157072067,
0.00559556996449828... | ||
[
-0.05384565144777298,
-0.012862059287726879,
0.673697829246521,
3.138770580291748,
-0.00456340191885829,
-0.09286058694124222,
0.03926924616098404,
-0.03929615393280983
] | [
-0.02142857201397419,
-0.543749988079071,
-0.1473214328289032,
0.025714285671710968,
0.002142857061699033,
0,
-1
] | 1.1 | 11 | 0 | 11 | 0 | [
[
-0.015702255070209503,
-0.181339830160141,
-0.04444286599755287,
0.0006716483039781451,
0.012564759701490402,
-0.0061993710696697235,
-0.9913938641548157
],
[
0.006203074008226395,
-0.15696290135383606,
-0.04957343637943268,
-0.002150150714442134,
0.013293389230... | ||
[
-0.05412883311510086,
-0.018942469730973244,
0.6719239950180054,
3.1401681900024414,
-0.005927462596446276,
-0.09348346292972565,
0.03929658234119415,
-0.03933029994368553
] | [
0,
-0.6508928537368774,
-0.13928571343421936,
0.046071428805589676,
0.009642857126891613,
0,
-1
] | 1.2 | 12 | 0 | 12 | 0 | [
[
-0.007127396762371063,
-0.23544028401374817,
-0.006194636225700378,
0.000755072629544884,
-0.005049917846918106,
-0.021540625020861626,
-0.9987511038780212
],
[
0.022399485111236572,
-0.2565194070339203,
-0.04030699282884598,
0.0005239149904809892,
0.00900387763... | ||
[
-0.05444972589612007,
-0.026075584813952446,
0.6699947118759155,
3.1434507369995117,
-0.007626569829881191,
-0.09411434829235077,
0.03932143747806549,
-0.0393642857670784
] | [
0,
-0.6803571581840515,
-0.13928571343421936,
0.0503571443259716,
0.014999999664723873,
0.003214285708963871,
-1
] | 1.3 | 13 | 0 | 13 | 0 | [
[
-0.005499877035617828,
-0.5497370958328247,
-0.12730026245117188,
0.02511957474052906,
0.008642503060400486,
-0.005141319241374731,
-1.0029033422470093
],
[
0.005098480731248856,
-0.5597401261329651,
-0.1409008800983429,
0.03617532551288605,
0.005464838352054357... | ||
[
-0.05483999848365784,
-0.03414702042937279,
0.6679643988609314,
3.1483395099639893,
-0.008793200366199017,
-0.09510301798582077,
0.03934510052204132,
-0.03939693793654442
] | [
0,
-0.7124999761581421,
-0.1339285671710968,
0.055714286863803864,
0.01607142947614193,
0.008571428246796131,
-1
] | 1.4 | 14 | 0 | 14 | 0 | [
[
0.007555358111858368,
-0.39558035135269165,
-0.24404403567314148,
0.0059095886535942554,
-0.0026831887662410736,
0.006371132098138332,
-0.9919997453689575
],
[
-0.06203626096248627,
-0.3495996296405792,
-0.3692321181297302,
0.009767085313796997,
-0.0055939797312... | ||
[
-0.055296435952186584,
-0.04282631352543831,
0.665916919708252,
3.1541872024536133,
-0.008729499764740467,
-0.09634958952665329,
0.03936770185828209,
-0.0394282341003418
] | [
0,
-0.7285714149475098,
-0.1339285671710968,
0.061071429401636124,
0.014999999664723873,
0.012857142835855484,
-1
] | 1.5 | 15 | 0 | 15 | 0 | [
[
-0.05354473739862442,
-0.315117746591568,
-0.17886024713516235,
0.002089529298245907,
0.009936518967151642,
0.016560614109039307,
-1.0090292692184448
],
[
-0.027880996465682983,
-0.42451751232147217,
-0.15911370515823364,
0.006792845204472542,
0.0093488059937953... | ||
[
-0.055803101509809494,
-0.05191003158688545,
0.6638696193695068,
3.1608452796936035,
-0.007363406475633383,
-0.09749018400907516,
0.03938949480652809,
-0.039458028972148895
] | [
0,
-0.7205356955528259,
-0.13660714030265808,
0.061071429401636124,
0.006428571417927742,
0.017142856493592262,
-1
] | 1.6 | 16 | 0 | 16 | 0 | [
[
-0.20311203598976135,
-0.4631551504135132,
-0.48602494597435,
0.05652269721031189,
-0.03131602331995964,
0.01631794311106205,
-0.991604745388031
],
[
-0.18408629298210144,
-0.343029260635376,
-0.5165885090827942,
0.029732927680015564,
-0.013083354569971561,
... | ||
[
-0.056261200457811356,
-0.06118137389421463,
0.6618544459342957,
3.168027639389038,
-0.004714262671768665,
-0.09779372066259384,
0.03941080719232559,
-0.03948609158396721
] | [
0,
-0.6937500238418579,
-0.13928571343421936,
0.056785713881254196,
0,
0.020357143133878708,
-1
] | 1.7 | 17 | 0 | 17 | 0 | [
[
0.006491653621196747,
-0.43346214294433594,
-0.22529742121696472,
0.0028625614941120148,
-0.011582220904529095,
0.01747218146920204,
-0.9941043853759766
],
[
-0.0093064084649086,
-0.3213675320148468,
-0.30832692980766296,
0.0016566251870244741,
-0.00768788531422... | ||
[
-0.056646328419446945,
-0.07040910422801971,
0.6598634123802185,
3.1752309799194336,
-0.0008644186891615391,
-0.09703662246465683,
0.03943196311593056,
-0.03951219841837883
] | [
0,
-0.6482142806053162,
-0.15803571045398712,
0.051428571343421936,
0,
0.023571427911520004,
-1
] | 1.8 | 18 | 0 | 18 | 0 | [
[
-0.3064376413822174,
-0.23730126023292542,
-0.5742996335029602,
0.0009391680941917002,
-0.038908421993255615,
0.037457264959812164,
-1.001906394958496
],
[
-0.2725715637207031,
-0.20178478956222534,
-0.5373963713645935,
0.0009404555894434452,
-0.0192180387675762... | ||
[
-0.05702266842126846,
-0.07932669669389725,
0.6577470898628235,
3.1820743083953857,
0.004057177342474461,
-0.09588723629713058,
0.03945333510637283,
-0.039536066353321075
] | [
0,
-0.5839285850524902,
-0.16875000298023224,
0.039642855525016785,
0,
0.02678571455180645,
-1
] | 1.9 | 19 | 0 | 19 | 0 | [
[
-0.08081088215112686,
-0.25393402576446533,
-0.5400236248970032,
0.03950360044836998,
-0.03470112755894661,
0.011532872915267944,
-0.9895429611206055
],
[
-0.12815669178962708,
-0.17288139462471008,
-0.5305793881416321,
0.00695375632494688,
-0.013764978386461735... | ||
[
-0.05738645792007446,
-0.08770597726106644,
0.6554505825042725,
3.188067674636841,
0.00999080017209053,
-0.09483782947063446,
0.039475034922361374,
-0.03955766558647156
] | [
0,
-0.5276785492897034,
-0.17946428060531616,
0.028928572311997414,
0,
0.02678571455180645,
-1
] | 2 | 20 | 0 | 20 | 0 | [
[
-0.004813544452190399,
-0.34304413199424744,
-0.31848084926605225,
0.0012393324868753552,
-0.0173758827149868,
0.019835617393255234,
-1.0028592348098755
],
[
-0.022700488567352295,
-0.37787291407585144,
-0.3507022559642792,
0.0003462184686213732,
-0.023588545620... | ||
[
-0.05770399421453476,
-0.09543540328741074,
0.6530237793922424,
3.1928369998931885,
0.016485823318362236,
-0.09405901283025742,
0.03949684649705887,
-0.03957730904221535
] | [
0.03214285895228386,
-0.4312500059604645,
-0.20892857015132904,
0.013928571715950966,
0,
0.028928572311997414,
-1
] | 2.1 | 21 | 0 | 21 | 0 | [
[
-0.03524402529001236,
-0.1440657526254654,
-0.5920407772064209,
0.0007465061498805881,
-0.01599421352148056,
0.04439216107130051,
-0.9947202801704407
],
[
-0.11641251295804977,
-0.16224351525306702,
-0.5689401030540466,
0.0006447650375775993,
-0.0212813951075077... | ||
[
-0.057784080505371094,
-0.10228823125362396,
0.6503650546073914,
3.196106195449829,
0.02352972887456417,
-0.09329493343830109,
0.039519309997558594,
-0.03959451988339424
] | [
0.07767856866121292,
-0.23303571343421936,
-0.27321428060531616,
0,
0,
0.039642855525016785,
-1
] | 2.2 | 22 | 0 | 22 | 0 | [
[
-0.00565580278635025,
-0.11266277730464935,
-0.5461503863334656,
-0.02015840634703636,
-0.00852964073419571,
0.04156245291233063,
-1.0031332969665527
],
[
-0.11983264237642288,
-0.1347268670797348,
-0.569794237613678,
0.00008363110828213394,
-0.01853484660387039... | ||
[
-0.05736402049660683,
-0.10742872953414917,
0.6471503973007202,
3.19789457321167,
0.032504625618457794,
-0.09274236112833023,
0.03954409807920456,
-0.03960771486163139
] | [
0.0401785708963871,
-0.15000000596046448,
-0.31607142090797424,
0,
0,
0.04285714402794838,
-1
] | 2.3 | 23 | 0 | 23 | 0 | [
[
-0.1279367208480835,
-0.13074827194213867,
-0.478017121553421,
-0.010695201344788074,
-0.004293144680559635,
0.0022028135135769844,
-0.995522141456604
],
[
-0.1540299654006958,
-0.06842613220214844,
-0.4555243253707886,
-0.034420326352119446,
-0.0000099753960967... |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1693"
},
"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": {
"observation.images.image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"action"
]
},
"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
},
"vla_actions": {
"dtype": "float32",
"shape": [
50,
7
],
"names": [
"vla_actions"
]
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 3