nice-6/ur3_gt200_grasp_demonstrations-act-policy
Robotics • Updated
• 2
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observation.camera.rgb array 3D | observation.state_joint_position list | observation.state_joint_velocity list | observation.state_gripper_position float64 0 0 | action.joint_position list | action.gripper_command float64 -1 1 | timestamp float32 0 17.3 | frame_index int64 0 520 | episode_index int64 0 9 | index int64 0 4.09k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
[[[82,86,81],[77,81,76],[83,90,82],[84,91,83],[86,87,83],[87,88,84],[102,89,93],[109,96,100],[112,10(...TRUNCATED) | [1.657454252243042,-0.07255584398378545,0.00308990478515625,-1.978779141102926,-1.5685341993915003,0(...TRUNCATED) | [0.0,0.00024927189224399626,-0.0,-0.0007190534961409867,0.00004793690095539205,0.0000958738019107841(...TRUNCATED) | 0 | [1.6574063301086426,-0.07259160677065069,0.0030541419982910156,-1.978755299245016,-1.568473641072408(...TRUNCATED) | 1 | 5.740954 | 172 | 8 | 3,474 | 0 |
[[[64,55,36],[61,52,33],[68,56,38],[71,59,41],[74,65,46],[75,66,47],[64,61,45],[61,58,42],[60,54,39](...TRUNCATED) | [1.5174782276153564,-0.8904507795916956,-0.000203434620992482,-1.1759761015521448,-1.570155445729391(...TRUNCATED) | [-0.07052476704120636,0.2899223864078522,-0.0,-0.27484622597694397,0.00028762139845639467,0.00002396(...TRUNCATED) | 0 | [1.5147225856781006,-0.878887955342428,-0.0002396742450159195,-1.1858862082110804,-1.570167366658346(...TRUNCATED) | 0 | 2.668973 | 80 | 4 | 1,855 | 0 |
[[[38,22,0],[38,22,0],[40,20,0],[40,20,0],[41,20,7],[41,20,7],[31,19,3],[33,21,5],[32,18,3],[32,18,3(...TRUNCATED) | [1.5707851648330688,-1.116983715687887,-0.000035587941304981996,-0.9425242582904261,-1.5707557837115(...TRUNCATED) | [
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] | 0 | [1.5708091259002686,-1.1169961134540003,-0.000035587941304981996,-0.9425481001483362,-1.570755783711(...TRUNCATED) | 0 | 0.600464 | 18 | 2 | 993 | 0 |
[[[132,133,122],[136,137,126],[129,137,126],[131,139,128],[133,140,134],[133,140,134],[137,137,131],(...TRUNCATED) | [1.338944673538208,-0.3724635283099573,-0.018767658864156544,-1.4099352995501917,-1.5234525839435022(...TRUNCATED) | [
0.014860439114272594,
-0.01654781773686409,
-0.02130795270204544,
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] | 0 | [1.3395555019378662,-0.3735545317279261,-0.020156685506002248,-1.4098990599261683,-1.523452583943502(...TRUNCATED) | 0 | 9.667186 | 290 | 6 | 2,819 | 0 |
[[[40,22,2],[39,21,1],[39,20,3],[38,19,2],[37,18,5],[38,19,6],[40,21,6],[38,19,4],[38,20,0],[40,22,2(...TRUNCATED) | [1.5708450078964233,-1.116971794758932,0.000011920928955078125,-0.9424884955035608,-1.57080346742738(...TRUNCATED) | [
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] | 0 | [1.5708450078964233,-1.116971794758932,0.000011920928955078125,-0.9424884955035608,-1.57080346742738(...TRUNCATED) | 0 | 0.110491 | 2 | 4 | 1,777 | 0 |
[[[24,19,15],[35,30,26],[45,41,30],[51,47,36],[49,46,41],[42,39,34],[36,29,40],[31,24,35],[30,21,28](...TRUNCATED) | [1.3231674432754517,-0.48759156862367803,-0.021150890980855763,-1.4099591414081019,-1.46464759508241(...TRUNCATED) | [-0.047093212604522705,0.06668981909751892,0.0009347695740871131,-0.00011984225420746952,-0.07156979(...TRUNCATED) | 0 | [1.3221491575241089,-0.48555261293520147,-0.021102730427877248,-1.4099233786212366,-1.46695357957948(...TRUNCATED) | 0 | 8.233825 | 247 | 6 | 2,776 | 0 |
[[[39,20,3],[39,20,3],[42,21,4],[42,21,4],[46,17,5],[48,19,7],[47,18,6],[46,17,5],[43,19,5],[44,20,6(...TRUNCATED) | [1.5707851648330688,-1.1170080343829554,0.00002384185791015625,-0.942512337361471,-1.570791546498433(...TRUNCATED) | [
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] | 0 | [1.5707612037658691,-1.1169961134540003,0.0,-0.9425242582904261,-1.5708397070514124,-0.0000360647784(...TRUNCATED) | 0 | 0.319699 | 8 | 0 | 8 | 0 |
[[[16,9,1],[17,10,2],[12,14,3],[10,12,1],[10,11,2],[11,12,3],[17,9,6],[15,7,4],[4,7,8],[4,7,8],[0,8,(...TRUNCATED) | [1.4417940378189087,-0.3090103308307093,-0.0001557509051721695,-1.759615723286764,-1.568546120320455(...TRUNCATED) | [0.05994030088186264,-0.2633461654186249,0.003595267655327916,0.2798556387424469,0.00004793690095539(...TRUNCATED) | 0 | [1.4439024925231934,-0.31769115129579717,-0.000035587941304981996,-1.749686066304342,-1.568558041249(...TRUNCATED) | 0 | 7.633842 | 229 | 4 | 2,004 | 0 |
[[[52,17,2],[52,17,2],[47,19,0],[48,20,1],[47,19,0],[47,19,0],[47,19,0],[47,19,0],[37,21,0],[36,20,0(...TRUNCATED) | [1.5707731246948242,-1.116971794758932,0.000011920928955078125,-0.9425481001483362,-1.57082778612245(...TRUNCATED) | [
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] | 0 | [1.5707372426986694,-1.116971794758932,0.000011920928955078125,-0.9424765745746058,-1.57080346742738(...TRUNCATED) | 0 | 0.867188 | 26 | 9 | 3,729 | 0 |
[[[35,16,3],[34,15,2],[36,19,5],[33,16,2],[34,22,6],[34,22,6],[36,24,8],[40,28,12],[36,28,16],[33,25(...TRUNCATED) | [1.5577369928359985,-1.0739310423480433,0.00009584426879882812,-0.9814460913287562,-1.57062369981874(...TRUNCATED) | [-0.06151263043284416,0.17583255469799042,-0.001318264752626419,-0.31432226300239563,0.0001198422542(...TRUNCATED) | 0 | [1.555843472480774,-1.0686171690570276,0.00008392333984375,-0.9910691420184534,-1.5706475416766565,0(...TRUNCATED) | 0 | 1.937208 | 58 | 4 | 1,833 | 0 |
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Size of the auto-converted Parquet files (First 5GB per split):
1.97 GB
Number of rows (First 5GB per split):
2,939
Estimated number of rows:
3,780
Models trained or fine-tuned on nice-6/ur3_gt200_grasp_demonstrations