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eval_act_moss_train_grasp_new_20250314_155949

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action
sequence
observation.state
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float32
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2.8
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int64
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65
0
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[ 44.12109375, 146.6015625, 70.6640625, 130.693359375, 53.173828125, 0.8310249447822571 ]
2.2
66
0
66
0
[ 44.23634338378906, 145.6650390625, 70.19446563720703, 129.8636932373047, 53.713165283203125, 0.37192344665527344 ]
[ 44.12109375, 146.6015625, 70.6640625, 130.60546875, 53.173828125, 0.8310249447822571 ]
2.233333
67
0
67
0
[ 44.287017822265625, 146.01239013671875, 70.32803344726562, 130.17640686035156, 53.749263763427734, 0.4364509582519531 ]
[ 44.12109375, 146.6015625, 70.6640625, 130.60546875, 53.173828125, 0.8310249447822571 ]
2.266667
68
0
68
0
[ 44.19574737548828, 145.70501708984375, 70.24221801757812, 129.9511260986328, 53.77357482910156, 0.3780784606933594 ]
[ 44.208984375, 146.6015625, 70.6640625, 130.341796875, 53.173828125, 0.8310249447822571 ]
2.3
69
0
69
0
[ 44.24866485595703, 145.80267333984375, 70.29764556884766, 129.859130859375, 53.71198654174805, 0.33890724182128906 ]
[ 44.12109375, 146.6015625, 70.6640625, 130.341796875, 53.173828125, 0.8310249447822571 ]
2.333333
70
0
70
0
[ 44.3072624206543, 145.54885864257812, 70.27015686035156, 129.60093688964844, 53.59724426269531, 0.30599403381347656 ]
[ 44.12109375, 146.6015625, 70.6640625, 130.078125, 53.173828125, 0.8310249447822571 ]
2.366667
71
0
71
0
[ 44.19384765625, 145.66615295410156, 70.27562713623047, 129.8055419921875, 53.754669189453125, 0.3236503601074219 ]
[ 44.12109375, 146.6015625, 70.6640625, 129.990234375, 53.173828125, 0.8310249447822571 ]
2.4
72
0
72
0
[ 44.13081359863281, 145.050048828125, 70.410400390625, 129.18040466308594, 53.75354766845703, 0.22003555297851562 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.990234375, 53.173828125, 0.8310249447822571 ]
2.433333
73
0
73
0
[ 44.16545104980469, 145.70848083496094, 70.33763122558594, 129.78082275390625, 53.781776428222656, 0.31412696838378906 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.990234375, 53.173828125, 0.8310249447822571 ]
2.466667
74
0
74
0
[ 44.17488479614258, 145.52099609375, 70.30232238769531, 129.62152099609375, 53.72263717651367, 0.2759265899658203 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.990234375, 53.173828125, 0.8310249447822571 ]
2.5
75
0
75
0
[ 44.136531829833984, 145.32810974121094, 70.1067886352539, 129.60324096679688, 53.72332000732422, 0.2397632598876953 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.533333
76
0
76
0
[ 44.24019241333008, 145.35443115234375, 70.13922119140625, 129.50982666015625, 53.6344108581543, 0.23701858520507812 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.566667
77
0
77
0
[ 44.181846618652344, 145.32186889648438, 70.06303405761719, 129.57028198242188, 53.6884651184082, 0.22145843505859375 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.6
78
0
78
0
[ 44.01004409790039, 144.8877716064453, 70.25497436523438, 129.19085693359375, 53.82520294189453, 0.17481231689453125 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.633333
79
0
79
0
[ 44.16575622558594, 145.02188110351562, 70.15133666992188, 129.23104858398438, 53.66752243041992, 0.1947040557861328 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.666667
80
0
80
0
[ 43.99158477783203, 144.7868194580078, 70.08443450927734, 129.1488037109375, 53.84649658203125, 0.114593505859375 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.7
81
0
81
0
[ 44.034847259521484, 144.67823791503906, 70.01451873779297, 129.10250854492188, 53.76683807373047, 0.12298393249511719 ]
[ 44.208984375, 146.6015625, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.733333
82
0
82
0
[ 43.999229431152344, 144.5283203125, 69.99398803710938, 129.00607299804688, 53.80863571166992, 0.07951927185058594 ]
[ 44.12109375, 146.42578125, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.766667
83
0
83
0
[ 44.05596923828125, 144.7555694580078, 69.91435241699219, 129.19520568847656, 53.76110076904297, 0.11822509765625 ]
[ 43.59375, 146.07421875, 70.6640625, 129.814453125, 53.173828125, 0.8310249447822571 ]
2.8
84
0
84
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 1,
    "total_frames": 85,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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