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action
sequence | observation.state
sequence | observation.depth.realsense_top
array 2D | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|
[-3.779296875,192.83203125,147.568359375,85.869140625,49.21875,21.795917510986328,-15.380859375,194.(...TRUNCATED)
| [-3.603515625,192.83203125,146.689453125,88.76953125,58.623046875,21.742259979248047,-15.8203125,194(...TRUNCATED)
| [[614,614,614,615,615,615,615,615,615,615,615,614,614,614,614,614,614,614,614,614,614,614,615,615,61(...TRUNCATED)
| 0
| 0
| 0
| 0
| 0
|
[-3.779296875,192.83203125,148.095703125,84.462890625,45.17578125,21.795917510986328,-15.380859375,1(...TRUNCATED)
| [-3.603515625,192.83203125,147.392578125,87.978515625,55.72265625,21.742259979248047,-15.8203125,194(...TRUNCATED)
| [[615,615,615,615,615,615,615,615,615,615,614,614,614,614,614,614,614,614,614,615,615,615,615,615,61(...TRUNCATED)
| 0.033333
| 1
| 0
| 1
| 0
|
[-3.779296875,192.83203125,148.53515625,83.232421875,41.220703125,21.795917510986328,-15.29296875,19(...TRUNCATED)
| [-3.603515625,192.83203125,147.83203125,86.748046875,51.6796875,21.742259979248047,-15.8203125,194.9(...TRUNCATED)
| [[615,615,615,616,616,616,617,617,617,617,617,618,618,618,618,618,619,619,619,619,619,619,618,618,61(...TRUNCATED)
| 0.066667
| 2
| 0
| 2
| 0
|
[-3.779296875,192.83203125,149.0625,81.9140625,36.298828125,21.795917510986328,-15.29296875,194.6777(...TRUNCATED)
| [-3.69140625,192.83203125,148.53515625,85.078125,47.28515625,21.742259979248047,-15.556640625,194.94(...TRUNCATED)
| [[613,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,615,615,615,615,61(...TRUNCATED)
| 0.1
| 3
| 0
| 3
| 0
|
[-3.779296875,192.744140625,151.259765625,79.892578125,24.9609375,21.795917510986328,-15.29296875,19(...TRUNCATED)
| [-3.603515625,192.83203125,149.23828125,83.408203125,40.95703125,21.742259979248047,-15.29296875,194(...TRUNCATED)
| [[614,614,614,614,614,614,614,614,615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,61(...TRUNCATED)
| 0.133333
| 4
| 0
| 4
| 0
|
[-3.779296875,192.744140625,153.017578125,77.958984375,17.841796875,21.795917510986328,-15.29296875,(...TRUNCATED)
| [-3.603515625,192.83203125,150.1171875,82.001953125,37.6171875,21.742259979248047,-15.556640625,194.(...TRUNCATED)
| [[615,615,614,614,614,615,615,615,615,615,615,615,615,615,615,615,616,617,617,617,617,617,617,617,61(...TRUNCATED)
| 0.166667
| 5
| 0
| 5
| 0
|
[-3.779296875,192.744140625,155.390625,76.025390625,11.953125,21.795917510986328,-14.677734375,194.6(...TRUNCATED)
| [-3.603515625,192.83203125,152.75390625,79.716796875,27.59765625,21.742259979248047,-15.29296875,194(...TRUNCATED)
| [[614,614,614,615,615,615,615,615,617,617,617,619,619,619,619,619,620,620,620,620,620,620,620,620,62(...TRUNCATED)
| 0.2
| 6
| 0
| 6
| 0
|
[-3.779296875,192.744140625,157.939453125,75.498046875,8.701171875,21.795917510986328,-13.974609375,(...TRUNCATED)
| [-3.603515625,192.83203125,154.072265625,78.046875,20.302734375,21.742259979248047,-15.380859375,194(...TRUNCATED)
| [[615,615,615,615,615,614,614,614,614,614,614,614,614,614,614,614,613,613,613,613,613,613,613,613,61(...TRUNCATED)
| 0.233333
| 7
| 0
| 7
| 0
|
[-3.779296875,192.744140625,160.400390625,75.41015625,6.064453125,21.795917510986328,-13.53515625,19(...TRUNCATED)
| [-3.603515625,192.83203125,156.97265625,76.728515625,12.83203125,21.742259979248047,-14.4140625,194.(...TRUNCATED)
| [[616,616,615,615,615,615,615,615,615,615,615,615,615,615,616,616,616,616,616,616,617,617,617,617,61(...TRUNCATED)
| 0.266667
| 8
| 0
| 8
| 0
|
[-3.779296875,192.744140625,162.24609375,75.41015625,5.009765625,21.795917510986328,-13.447265625,19(...TRUNCATED)
| [-3.69140625,192.83203125,158.818359375,76.201171875,9.66796875,21.742259979248047,-13.798828125,194(...TRUNCATED)
| [[614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,614,615,615,615,615,61(...TRUNCATED)
| 0.3
| 9
| 0
| 9
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 2,
"total_frames": 1022,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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": [
12
],
"names": [
"left_shoulder_pan",
"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_flex",
"left_wrist_roll",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_flex",
"right_wrist_roll",
"right_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan",
"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_flex",
"left_wrist_roll",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_flex",
"right_wrist_roll",
"right_gripper"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.realsense_top": {
"dtype": "int32",
"shape": [
480,
640
],
"names": [
"height",
"width"
],
"info": null
},
"observation.images.realsense_top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
Citation
BibTeX:
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