lilkm/molmoact2_recap_sft_so100_blue
Robotics • 5B • Updated • 38
Datasets:
action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | language_persistent list | language_events list |
|---|---|---|---|---|---|---|---|---|
[
-4.219780445098877,
-102.37362670898438,
96.79120635986328,
72.26373291015625,
-0.21978022158145905,
1.794453501701355
] | [
-12.307692527770996,
-102.15384674072266,
97.0988998413086,
71.69230651855469,
-0.1318681389093399,
1.8685121536254883
] | 0 | 0 | 0 | 0 | 0 | [
{
"role": "user",
"content": "positive",
"style": "advantage",
"timestamp": 0,
"camera": null,
"tool_calls": null
},
{
"role": "user",
"content": "positive",
"style": "advantage",
"timestamp": 0.03333333507180214,
"camera": null,
"tool_calls": null
},
{
"r... | [] |
[
-4.219780445098877,
-102.37362670898438,
96.79120635986328,
72.26373291015625,
-0.21978022158145905,
1.794453501701355
] | [
-12.131868362426758,
-102.15384674072266,
97.0988998413086,
71.69230651855469,
-0.1318681389093399,
1.8685121536254883
] | 0.033333 | 1 | 0 | 1 | 0 | [
{
"role": "user",
"content": "positive",
"style": "advantage",
"timestamp": 0,
"camera": null,
"tool_calls": null
},
{
"role": "user",
"content": "positive",
"style": "advantage",
"timestamp": 0.03333333507180214,
"camera": null,
"tool_calls": null
},
{
"r... | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-10.461538314819336,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.86(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-7.824175834655762,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-5.714285850524902,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-5.450549602508545,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-5.714285850524902,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-5.1868133544921875,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.86(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-4.483516693115234,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-4.219780445098877,-102.37362670898438,96.79120635986328,72.26373291015625,-0.21978022158145905,1.7(...TRUNCATED) | [-4.395604610443115,-102.15384674072266,97.0988998413086,71.69230651855469,-0.1318681389093399,1.868(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 | [{"role":"user","content":"positive","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
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.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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": 100,
"total_frames": 79781,
"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": "0:100"
}
}
Citation
BibTeX:
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