observation.state list | language_instruction stringclasses 1
value | action list | timestamp float32 0 2.07 | next.reward float32 0 1 | next.done bool 1
class | frame_index int64 0 31 | episode_index int64 0 0 | index int64 0 31 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
[
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[
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0.2321617156267166
] | Pick and place object | [
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0,
0,
0
] | 0.066667 | 0 | false | 1 | 0 | 1 | 0 |
[
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0.23212718963623047
] | Pick and place object | [
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0,
0,
0
] | 0.133333 | 0 | false | 2 | 0 | 2 | 0 |
[
-0.525065004825592,
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] | Pick and place object | [
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0,
0,
0
] | 0.2 | 0 | false | 3 | 0 | 3 | 0 |
[
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] | Pick and place object | [
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0,
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0
] | 0.266667 | 0 | false | 4 | 0 | 4 | 0 |
[
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0.23217378556728363
] | Pick and place object | [
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0,
0,
0
] | 0.333333 | 0 | false | 5 | 0 | 5 | 0 |
[
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0.23218147456645966
] | Pick and place object | [
0,
0,
0,
0
] | 0.4 | 0 | false | 6 | 0 | 6 | 0 |
[
-0.52506023645401,
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0.23224832117557526
] | Pick and place object | [
0,
0,
0,
0
] | 0.466667 | 0 | false | 7 | 0 | 7 | 0 |
[
-0.5250749588012695,
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0.23213280737400055
] | Pick and place object | [
0,
0,
0,
0
] | 0.533333 | 0 | false | 8 | 0 | 8 | 0 |
[
-0.5250850319862366,
-0.7215403914451599,
0.23217622935771942
] | Pick and place object | [
0,
0,
0,
0
] | 0.6 | 0 | false | 9 | 0 | 9 | 0 |
[
-0.5250847339630127,
-0.7215495705604553,
0.23218104243278503
] | Pick and place object | [
0,
0,
0,
0
] | 0.666667 | 0 | false | 10 | 0 | 10 | 0 |
[
-0.525077760219574,
-0.7215639352798462,
0.2321716845035553
] | Pick and place object | [
0,
0,
0,
0
] | 0.733333 | 0 | false | 11 | 0 | 11 | 0 |
[
-0.5250714421272278,
-0.7215869426727295,
0.2321774810552597
] | Pick and place object | [
0,
0,
0,
0
] | 0.8 | 0 | false | 12 | 0 | 12 | 0 |
[
-0.5250672698020935,
-0.7215999364852905,
0.2322251945734024
] | Pick and place object | [
0,
0,
0,
0
] | 0.866667 | 0 | false | 13 | 0 | 13 | 0 |
[
-0.5250871181488037,
-0.7215870022773743,
0.2321927547454834
] | Pick and place object | [
0,
0,
0,
0
] | 0.933333 | 0 | false | 14 | 0 | 14 | 0 |
[
-0.5251105427742004,
-0.7215699553489685,
0.2321905642747879
] | Pick and place object | [
0,
0,
0,
0
] | 1 | 0 | false | 15 | 0 | 15 | 0 |
[
-0.5250805616378784,
-0.7216082215309143,
0.23221920430660248
] | Pick and place object | [
0,
0,
0,
0
] | 1.066667 | 0 | false | 16 | 0 | 16 | 0 |
[
-0.5250577926635742,
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0.23216472566127777
] | Pick and place object | [
0,
0,
0,
0
] | 1.133333 | 0 | false | 17 | 0 | 17 | 0 |
[
-0.5250858068466187,
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0.232181578874588
] | Pick and place object | [
0,
0,
0,
0
] | 1.2 | 0 | false | 18 | 0 | 18 | 0 |
[
-0.5250741243362427,
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0.2321377992630005
] | Pick and place object | [
0,
0,
0,
0
] | 1.266667 | 0 | false | 19 | 0 | 19 | 0 |
[
-0.5250667929649353,
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0.23210503160953522
] | Pick and place object | [
0,
0,
0,
0
] | 1.333333 | 0 | false | 20 | 0 | 20 | 0 |
[
-0.5250369906425476,
-0.7215844392776489,
0.23217269778251648
] | Pick and place object | [
0,
0,
0,
0
] | 1.4 | 0 | false | 21 | 0 | 21 | 0 |
[
-0.5250681042671204,
-0.7215619087219238,
0.23214296996593475
] | Pick and place object | [
0,
0,
0,
0
] | 1.466667 | 0 | false | 22 | 0 | 22 | 0 |
[
-0.5250769853591919,
-0.7215583920478821,
0.23215655982494354
] | Pick and place object | [
0,
0,
0,
0
] | 1.533333 | 0 | false | 23 | 0 | 23 | 0 |
[
-0.5250802636146545,
-0.7215621471405029,
0.23218363523483276
] | Pick and place object | [
0,
0,
0,
0
] | 1.6 | 0 | false | 24 | 0 | 24 | 0 |
[
-0.5250598788261414,
-0.7215648889541626,
0.2322007715702057
] | Pick and place object | [
0,
0,
0,
0
] | 1.666667 | 0 | false | 25 | 0 | 25 | 0 |
[
-0.525044322013855,
-0.7215674519538879,
0.23210762441158295
] | Pick and place object | [
0,
0,
0,
0
] | 1.733333 | 0 | false | 26 | 0 | 26 | 0 |
[
-0.5250797867774963,
-0.7215656042098999,
0.2321367859840393
] | Pick and place object | [
0,
0,
0,
0
] | 1.8 | 0 | false | 27 | 0 | 27 | 0 |
[
-0.5250719785690308,
-0.7215238809585571,
0.23218661546707153
] | Pick and place object | [
0,
0,
0,
0
] | 1.866667 | 0 | false | 28 | 0 | 28 | 0 |
[
-0.525078535079956,
-0.7215974926948547,
0.23224471509456635
] | Pick and place object | [
0,
0,
0,
0
] | 1.933333 | 0 | false | 29 | 0 | 29 | 0 |
[
-0.5250656008720398,
-0.721535325050354,
0.23212876915931702
] | Pick and place object | [
0,
0,
0,
0
] | 2 | 0 | false | 30 | 0 | 30 | 0 |
[
-0.525078535079956,
-0.7215249538421631,
0.2321653664112091
] | Pick and place object | [
0,
0,
0,
0
] | 2.066667 | 1 | false | 31 | 0 | 31 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 1,
"total_frames": 32,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"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": {
"observation.image.kinect_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.image.kinect_depth": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
3
],
"names": null
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"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:
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