Datasets:
Search is not available for this dataset
action list | observation.state list | observation.depth.robot0_agentview_left array 2D | observation.depth.robot0_agentview_right array 2D | observation.depth.robot0_eye_in_hand array 2D | observation.intrinsic.robot0_agentview_left array 2D | observation.intrinsic.robot0_agentview_right array 2D | observation.intrinsic.robot0_eye_in_hand array 2D | observation.extrinsic.robot0_agentview_left array 2D | observation.extrinsic.robot0_agentview_right array 2D | observation.extrinsic.robot0_eye_in_hand array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0,
0,
0,
0,
-1,
-0.1428571492433548,
0,
0,
0,
0,
0,
-1
] | [1.5638232231140137,-3.943739652633667,0.7000000476837158,0.0,0.0,-0.7071068286895752,0.707106649875(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.9140625,0.91455078125,0.91455078125,0.9150390625,0.9150390625,(...TRUNCATED) | [[0.6484375,0.6474609375,0.646484375,0.6455078125,0.64453125,0.6435546875,0.615234375,0.61279296875,(...TRUNCATED) | [[0.5185546875,0.52294921875,0.52685546875,0.53125,0.53564453125,0.5400390625,0.54443359375,0.548828(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799615144729614,0.18783597648143768,0.06628067046403885,1.840928554534912],[0.0517740994691848(...TRUNCATED) | [[-0.9608433842658997,-0.27277621626853943,0.04871435835957527,1.1021547317504883],[-0.2188317477703(...TRUNCATED) | [[-0.99992436170578,0.011867919936776161,0.003219442907720804,1.5427401065826416],[0.010663193650543(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[
0,
0,
0,
0,
-1,
-0.37142857909202576,
0,
0,
0,
-0.0028571428265422583,
0,
-1
] | [1.5638233423233032,-3.943742513656616,0.7000007629394531,0.0,0.0,-0.7071070671081543,0.707106411457(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.9140625,0.91455078125,0.91455078125,0.9150390625,0.9150390625,(...TRUNCATED) | [[0.6474609375,0.646484375,0.6455078125,0.64453125,0.6435546875,0.61767578125,0.6142578125,0.6123046(...TRUNCATED) | [[0.5185546875,0.5224609375,0.52685546875,0.53125,0.53564453125,0.5400390625,0.54443359375,0.5488281(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799614548683167,0.18783631920814514,0.06628014892339706,1.8409290313720703],[0.051774714142084(...TRUNCATED) | [[-0.960843563079834,-0.272775799036026,0.04871389642357826,1.1021552085876465],[-0.2188311368227005(...TRUNCATED) | [[-0.9999251961708069,0.011773155070841312,0.003308637300506234,1.5427542924880981],[0.0105561362579(...TRUNCATED) | 0.05 | 1 | 0 | 1 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-0.6285714507102966,-0.3928571343421936,-0.0,0.014285714365541935,-0.100000001(...TRUNCATED) | [1.563823938369751,-3.9437484741210938,0.7000021934509277,0.0,0.0,-0.7071065902709961,0.707106947898(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.9140625,0.91455078125,0.91455078125,0.9150390625,0.9150390625,(...TRUNCATED) | [[0.64453125,0.6435546875,0.642578125,0.6416015625,0.64111328125,0.61328125,0.61083984375,0.60888671(...TRUNCATED) | [[0.51806640625,0.5224609375,0.52685546875,0.53076171875,0.53515625,0.53955078125,0.5439453125,0.548(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799615144729614,0.18783549964427948,0.06628136336803436,1.8409287929534912],[0.051773276180028(...TRUNCATED) | [[-0.9608432054519653,-0.2727767527103424,0.048714976757764816,1.102155089378357],[-0.21883255243301(...TRUNCATED) | [[-0.9999265074729919,0.011596586555242538,0.0035337430890649557,1.5427405834197998],[0.010348937474(...TRUNCATED) | 0.1 | 2 | 0 | 2 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-0.8142856955528259,-0.44999998807907104,-0.0,0.0657142847776413,-0.2142857164(...TRUNCATED) | [1.563849925994873,-3.9437575340270996,0.7000039219856262,0.0,0.0,-0.7070805430412292,0.707132995128(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.9140625,0.91455078125,0.91455078125,0.9150390625,0.9150390625,(...TRUNCATED) | [[0.63916015625,0.638671875,0.6376953125,0.63671875,0.6103515625,0.60693359375,0.6044921875,0.603027(...TRUNCATED) | [[0.52490234375,0.529296875,0.53369140625,0.5380859375,0.54248046875,0.546875,0.55126953125,0.556152(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.979965329170227,0.18779413402080536,0.06634218990802765,1.8409185409545898],[0.0517010949552059(...TRUNCATED) | [[-0.960827112197876,-0.27282384037971497,0.048769284039735794,1.1021499633789062],[-0.2189033329486(...TRUNCATED) | [[-0.9998629689216614,0.01637272536754608,0.0024479564744979143,1.5401248931884766],[0.0152472909539(...TRUNCATED) | 0.15 | 3 | 0 | 3 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.4642857015132904,-0.0,0.04285714402794838,-0.46000000834465027,-0.0599(...TRUNCATED) | [1.5638659000396729,-3.943767786026001,0.7000074982643127,0.0,0.0,-0.7070677876472473,0.707145750522(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.63134765625,0.63037109375,0.62939453125,0.62841796875,0.60009765625,0.59765625,0.595703125,0.594(...TRUNCATED) | [[0.53515625,0.53955078125,0.5439453125,0.54833984375,0.552734375,0.55712890625,0.56201171875,0.5668(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799671769142151,0.1877739280462265,0.06637192517518997,1.8409168720245361],[0.0516658164560794(...TRUNCATED) | [[-0.9608192443847656,-0.27284684777259827,0.048795826733112335,1.102150797843933],[-0.2189379185438(...TRUNCATED) | [[-0.9996839761734009,0.0246882326900959,0.004732629284262657,1.534783959388733],[0.0226497631520032(...TRUNCATED) | 0.2 | 4 | 0 | 4 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.48571428656578064,0.12142857164144516,0.05999999865889549,-0.554285705(...TRUNCATED) | [1.5638748407363892,-3.9437804222106934,0.7000120878219604,0.0,0.0,-0.7070591449737549,0.70715439319(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.62353515625,0.61962890625,0.61865234375,0.59033203125,0.5869140625,0.5849609375,0.58349609375,0.(...TRUNCATED) | [[0.5458984375,0.55029296875,0.5546875,0.55908203125,0.56396484375,0.568359375,0.5732421875,0.578125(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799684882164001,0.1877601146697998,0.06639222800731659,1.8409136533737183],[0.0516417250037193(...TRUNCATED) | [[-0.9608138203620911,-0.2728625535964966,0.04881395027041435,1.1021493673324585],[-0.21896153688430(...TRUNCATED) | [[-0.9993880987167358,0.03367624059319496,0.009454782120883465,1.5280998945236206],[0.02970703132450(...TRUNCATED) | 0.25 | 5 | 0 | 5 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.3499999940395355,0.3857142925262451,0.20000000298023224,-0.65714287757(...TRUNCATED) | [1.5638813972473145,-3.943789482116699,0.700018048286438,0.0,0.0,-0.7070514559745789,0.7071620821952(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.6103515625,0.60595703125,0.57470703125,0.572265625,0.5703125,0.56884765625,0.56787109375,0.56738(...TRUNCATED) | [[0.55810546875,0.5625,0.5673828125,0.57177734375,0.57666015625,0.58154296875,0.58642578125,0.591308(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799696207046509,0.18774794042110443,0.0664101392030716,1.8409096002578735],[0.0516204647719860(...TRUNCATED) | [[-0.9608091115951538,-0.27287641167640686,0.04882994294166565,1.1021467447280884],[-0.2189823836088(...TRUNCATED) | [[-0.9989126324653625,0.044248323887586594,0.014683214947581291,1.5206247568130493],[0.0373668409883(...TRUNCATED) | 0.3 | 6 | 0 | 6 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.3142857253551483,0.4714285731315613,0.23428571224212646,-0.69142854213(...TRUNCATED) | [1.5638835430145264,-3.9437968730926514,0.700019896030426,0.0,0.0,-0.7070502042770386,0.707163274288(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.55859375,0.55615234375,0.55419921875,0.552734375,0.5517578125,0.55078125,0.55029296875,0.5498046(...TRUNCATED) | [[0.56640625,0.57080078125,0.57568359375,0.580078125,0.5712890625,0.5712890625,0.5712890625,0.575683(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799697399139404,0.18774603307247162,0.06641294062137604,1.8409100770950317],[0.051617141813039(...TRUNCATED) | [[-0.9608083367347717,-0.27287858724594116,0.048832446336746216,1.1021474599838257],[-0.218985632061(...TRUNCATED) | [[-0.9978958964347839,0.05829048529267311,0.028389085084199905,1.5131584405899048],[0.04405407980084(...TRUNCATED) | 0.35 | 7 | 0 | 7 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.3571428656578064,0.5428571701049805,0.2742857038974762,-0.711428582668(...TRUNCATED) | [1.5638856887817383,-3.943800449371338,0.700020968914032,0.0,0.0,-0.7070478796958923,0.7071655988693(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.53466796875,0.53369140625,0.53271484375,0.5322265625,0.53173828125,0.53125,0.53125,0.53125,0.531(...TRUNCATED) | [[0.5712890625,0.57568359375,0.58056640625,0.5849609375,0.58984375,0.5947265625,0.599609375,0.604492(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799700975418091,0.18774233758449554,0.06641837954521179,1.8409090042114258],[0.051610685884952(...TRUNCATED) | [[-0.9608069062232971,-0.2728827893733978,0.04883730039000511,1.102146863937378],[-0.218991965055465(...TRUNCATED) | [[-0.9958867430686951,0.07564003020524979,0.0498821996152401,1.5057371854782104],[0.0481625162065029(...TRUNCATED) | 0.4 | 8 | 0 | 8 | 0 |
[0.0,0.0,0.0,0.0,-1.0,-1.0,-0.4714285731315613,0.550000011920929,0.2914285659790039,-0.6857143044471(...TRUNCATED) | [1.5638898611068726,-3.9438016414642334,0.700019896030426,0.0,0.0,-0.7070446014404297,0.707168877124(...TRUNCATED) | [[0.91357421875,0.9140625,0.9140625,0.91455078125,0.91455078125,0.91455078125,0.9150390625,0.9150390(...TRUNCATED) | [[0.51171875,0.51123046875,0.51123046875,0.51123046875,0.51123046875,0.51123046875,0.50830078125,0.5(...TRUNCATED) | [[0.5751953125,0.57958984375,0.58447265625,0.5888671875,0.59375,0.5986328125,0.603515625,0.608398437(...TRUNCATED) | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
221.70249938964844,
0,
128
],
[
0,
221.70249938964844,
128
],
[
0,
0,
1
]
] | [
[
166.81285095214844,
0,
128
],
[
0,
166.81285095214844,
128
],
[
0,
0,
1
]
] | [[-0.9799705743789673,0.1877371221780777,0.06642605364322662,1.8409086465835571],[0.0516015812754631(...TRUNCATED) | [[-0.9608048796653748,-0.272888720035553,0.04884415119886398,1.1021472215652466],[-0.219000890851020(...TRUNCATED) | [[-0.992661714553833,0.09471236914396286,0.07518190890550613,1.4979794025421143],[0.0485322363674640(...TRUNCATED) | 0.45 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "PandaOmron",
"total_episodes": 106,
"total_frames": 26888,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:106"
},
"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",
"features": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"base_x",
"base_y",
"base_rot",
"base_torso",
"control_mode",
"ee_x",
"ee_y",
"ee_z",
"ee_rx",
"ee_ry",
"ee_rz",
"gripper_close"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"base_x",
"base_y",
"base_z",
"base_qx",
"base_qy",
"base_qz",
"base_qw",
"ee_rel_x",
"ee_rel_y",
"ee_rel_z",
"ee_rel_qx",
"ee_rel_qy",
"ee_rel_qz",
"ee_rel_qw",
"gripper_left",
"gripper_right"
]
},
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.robot0_agentview_left": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_agentview_right": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_eye_in_hand": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.intrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"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
BibTeX:
[More Information Needed]
- Downloads last month
- 30