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Datasets:
manavgoel4
/
molmo_act2_motor_box

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
robot-learning
imitation-learning
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.state
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float32
0
34.9
frame_index
int64
0
349
episode_index
int64
0
49
index
int64
0
8.65k
task_index
int64
0
0
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1.4
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1.9
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2.1
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3
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3.1
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3.3
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3.6
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
51
0
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5.2
52
0
52
0
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5.3
53
0
53
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5.4
54
0
54
0
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5.5
55
0
55
0
[ -9.699999809265137, -107.80000305175781, -29.399999618530273, -71.80000305175781, -2.5, -9.699999809265137, -270 ]
[ -17.84619140625, -100.44355773925781, -26.173667907714844, -69.38483428955078, -5.781181335449219, -7.027008056640625, -196.7452392578125 ]
5.6
56
0
56
0
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[ -16.86264419555664, -102.7166976928711, -27.157268524169922, -71.17713165283203, -4.032598495483398, -8.20726490020752, -211.58609008789062 ]
5.7
57
0
57
0
[ -7.599999904632568, -107.69999694824219, -29.700000762939453, -70.5, -1.399999976158142, -10.100000381469727, -270 ]
[ -15.813472747802734, -104.3122329711914, -27.20098304748535, -71.17713165283203, -3.94517183303833, -8.38211727142334, -226.4488067626953 ]
5.8
58
0
58
0
[ -7.300000190734863, -107, -30, -68.69999694824219, -1.2000000476837158, -10.5, -270 ]
[ -14.80806827545166, -105.3613510131836, -28.009675979614258, -71.39569091796875, -3.245760440826416, -9.300149917602539, -241.6175079345703 ]
5.9
59
0
59
0
[ -8.100000381469727, -106.69999694824219, -30.899999618530273, -67, -1.600000023841858, -9.800000190734863, -270 ]
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
[ -14, -105, -32.79999923706055, -61.400001525878906, -2.4000000953674316, -6.5, -270 ]
[ -12.403787612915039, -105.8859634399414, -30.872947692871094, -65.97514343261719, -1.9125076532363892, -9.693568229675293, -268.2611389160156 ]
6.4
64
0
64
0
[ -15.199999809265137, -104.9000015258789, -32.79999923706055, -61.099998474121094, -2.700000047683716, -6, -270 ]
[ -12.513070106506348, -105.62362670898438, -31.463075637817383, -64.22661590576172, -1.9125076532363892, -9.627998352050781, -269.026123046875 ]
6.5
65
0
65
0
[ -15.899999618530273, -104.9000015258789, -32.79999923706055, -61, -2.9000000953674316, -5.099999904632568, -270 ]
[ -12.797261238098145, -105.38320922851562, -32.140628814697266, -63.35235595703125, -1.9343641996383667, -8.666253089904785, -269.59442138671875 ]
6.6
66
0
66
0
[ -16.100000381469727, -104.9000015258789, -32.900001525878906, -60.900001525878906, -3, -4.699999809265137, -270 ]
[ -13.212536811828613, -105.25206756591797, -32.1624870300293, -62.76222610473633, -1.9562208652496338, -7.879415512084961, -269.6600036621094 ]
6.7
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0
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0
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6.8
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0
68
0
[ -16.5, -105.19999694824219, -33.5, -60.20000076293945, -3.5999999046325684, -4.5, -270 ]
[ -13.911948204040527, -105.05535888671875, -32.66518783569336, -61.101070404052734, -1.9999340772628784, -6.043460845947266, -269.98785400390625 ]
6.9
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0
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0
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7
70
0
70
0
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7.1
71
0
71
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[ -16.5, -105.80000305175781, -35.29999923706055, -58, -3.9000000953674316, -4.099999904632568, -270 ]
[ -14.917351722717285, -105.38320922851562, -33.99843978881836, -60.77322006225586, -3.0709075927734375, -4.9287190437316895, -270.00970458984375 ]
7.2
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0
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7.3
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0
[ -15.800000190734863, -106, -35.5, -57.29999923706055, -3.200000047683716, -4.300000190734863, -270 ]
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7.4
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7.5
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0
75
0
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7.6
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0
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0
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7.7
77
0
77
0
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7.8
78
0
78
0
[ -16.5, -106.19999694824219, -36.900001525878906, -53.5, -4.099999904632568, -3.5, -261 ]
[ -15.529336929321289, -105.95153045654297, -35.98744583129883, -56.46741485595703, -3.442470073699951, -3.8796021938323975, -269.20098876953125 ]
7.9
79
0
79
0
[ -16.799999237060547, -106.5, -38, -52.29999923706055, -4.5, -3.4000000953674316, -261.5999755859375 ]
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8
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0
80
0
[ -17.799999237060547, -107.0999984741211, -39.599998474121094, -50.5, -5.5, -2.700000047683716, -261 ]
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8.1
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8.2
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8.3
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0
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0
[ -20, -109, -44.5, -46, -7.800000190734863, -1.2999999523162842, -262.20001220703125 ]
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8.4
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0
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8.5
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8.6
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8.7
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0
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0
[ -21, -111, -49.599998474121094, -41.20000076293945, -9.600000381469727, -1.100000023841858, -262.20001220703125 ]
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8.8
88
0
88
0
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8.9
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0
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0
[ -21.100000381469727, -112.0999984741211, -51.900001525878906, -39, -10, -1.5, -249.59999084472656 ]
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9
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0
90
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9.1
91
0
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9.2
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[ -21, -112.19999694824219, -52.70000076293945, -37.70000076293945, -9.800000190734863, -1.600000023841858, -145.79998779296875 ]
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9.3
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0
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[ -21, -112.4000015258789, -52.70000076293945, -37.599998474121094, -9, -0.8999999761581421, -93.60000610351562 ]
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9.4
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0
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[ -21.299999237060547, -112.5, -52.70000076293945, -37.5, -8.800000190734863, -0.8999999761581421, -48.60000228881836 ]
[ -19.966337203979492, -111.9840087890625, -51.877418518066406, -38.50101089477539, -10.43669319152832, -1.0819019079208374, -214.25265502929688 ]
9.5
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9.6
96
0
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0
[ -22.700000762939453, -112.69999694824219, -52.900001525878906, -37.5, -9.300000190734863, 2.0999999046325684, 0 ]
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9.7
97
0
97
0
[ -23, -112.69999694824219, -52.900001525878906, -37.5, -9.899999618530273, 2.0999999046325684, 0 ]
[ -20.600177764892578, -112.39928436279297, -52.511314392089844, -38.10759353637695, -9.496858596801758, -1.0819019079208374, -175.67514038085938 ]
9.8
98
0
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0
[ -22.899999618530273, -112, -52.79999923706055, -37.70000076293945, -10.600000381469727, 2.4000000953674316, 0 ]
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9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

LeRobot demonstration dataset for the Molmo ACT2 motor box task, collected with a seeed_b601_dm_follower robot at 10 FPS. The dataset contains 50 episodes and 8648 frames, with synchronized top and wrist camera observations and 7-DoF arm/gripper actions.

Important collection note: the observation.images.wrist and observation.images.top streams were swapped during data collection due to a collection-time labeling error. This dataset therefore requires post-processing to swap those two camera streams back before training or analysis.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "seeed_b601_dm_follower",
    "total_episodes": 50,
    "total_frames": 8648,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
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}

Citation

BibTeX:

@software{lerobot,
  title = {LeRobot},
  author = {Hugging Face},
  year = {2024},
  url = {https://github.com/huggingface/lerobot}
}
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