k1000dai/rt_pi0_libero_spatial
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observation.images.image image | observation.images.wrist_image image | observation.state list | action list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | vla_actions array 2D | vlm_hidden list |
|---|---|---|---|---|---|---|---|---|---|---|
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[-0.14203132688999176,-0.01083107478916645,1.1664727926254272,3.1354777812957764,0.00620671408250927(...TRUNCATED) | [0.9375,0.0,-0.12857143580913544,-0.017142856493592262,-0.09535714238882065,0.0053571430034935474,-1(...TRUNCATED) | 0.9 | 9 | 0 | 9 | 0 | [[0.8377878665924072,-0.11893689632415771,-0.031107768416404724,0.015119812451303005,-0.036077290773(...TRUNCATED) | [-0.029541015625,-0.68359375,-0.279296875,0.1494140625,0.10400390625,-0.380859375,0.69921875,0.41796(...TRUNCATED) |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"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": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
},
"vla_actions": {
"dtype": "float32",
"shape": [
50,
7
],
"names": [
"vla_actions"
]
},
"vlm_hidden": {
"dtype": "float32",
"shape": [
2048
],
"names": [
"vlm_hidden"
]
}
}
}
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