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episode_index int64 0 2 | frame_index int64 0 225 | index int64 0 627 | timestamp float32 0 15 | task_index int64 0 0 | observation.state list | observation.joints list | observation.gripper float32 120 120 | observation.joint_stamps int64 1,763B 1,763B | observation.depth.camera1 list | observation.depth.camera2 list | observation.source_timestamp.camera1_ms int64 1,763B 1,763B | observation.source_timestamp.camera2_ms int64 1,763B 1,763B | observation.source_timestamp.depth1_ms int64 1,763B 1,763B | observation.source_timestamp.depth2_ms int64 1,763B 1,763B | observation.source_timestamp.state_ms int64 1,763B 1,763B | observation.source_timestamp.joint_stamps_ms int64 1,763B 1,763B | observation.source_timestamp.gripper_ms int64 1,763B 1,763B | observation.source_timestamp.tactile1_deform_ms int64 1,763B 1,763B | observation.source_timestamp.tactile2_deform_ms int64 1,763B 1,763B | observation.source_timestamp.tactile1_raw_ms int64 1,763B 1,763B | observation.source_timestamp.tactile2_raw_ms int64 1,763B 1,763B | observation.source_timestamp.tactile1_diff_ms int64 1,763B 1,763B | observation.source_timestamp.tactile2_diff_ms int64 1,763B 1,763B |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | 0 | 0 | 0 | [218.50643920898438,366.1965026855469,356.83587646484375,-3.136920928955078,0.032262999564409256,3.0(...TRUNCATED) | [1.4787499904632568,-0.14167800545692444,-0.4387879967689514,0.9063929915428162,-0.08744999766349792(...TRUNCATED) | 120 | 1,763,001,638,946 | [[336.0,335.0,335.0,335.0,334.0,334.0,333.0,333.0,333.0,332.0,332.0,332.0,332.0,332.0,331.0,331.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,638,949 | 1,763,001,638,975 | 1,763,001,638,949 | 1,763,001,638,975 | 1,763,001,638,946 | 1,763,001,638,946 | 1,763,001,638,946 | 1,763,001,638,947 | 1,763,001,638,947 | 1,763,001,638,960 | 1,763,001,638,960 | 1,763,001,638,960 | 1,763,001,638,960 |
0 | 1 | 1 | 0.066667 | 0 | [218.50694274902344,366.19622802734375,356.8358459472656,-3.136915922164917,0.032274000346660614,3.0(...TRUNCATED) | [1.4787499904632568,-0.14167800545692444,-0.4387879967689514,0.9063929915428162,-0.08746399730443954(...TRUNCATED) | 120 | 1,763,001,639,013 | [[336.0,336.0,336.0,335.0,335.0,335.0,334.0,333.0,333.0,333.0,333.0,332.0,332.0,332.0,332.0,332.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,016 | 1,763,001,639,041 | 1,763,001,639,016 | 1,763,001,639,041 | 1,763,001,639,013 | 1,763,001,639,013 | 1,763,001,639,013 | 1,763,001,639,024 | 1,763,001,639,024 | 1,763,001,639,024 | 1,763,001,639,024 | 1,763,001,639,024 | 1,763,001,639,024 |
0 | 2 | 2 | 0.133333 | 0 | [219.33163452148438,365.7745666503906,357.04266357421875,-3.136492967605591,0.03431599959731102,3.09(...TRUNCATED) | [1.4781529903411865,-0.14191000163555145,-0.44003400206565857,0.9067689776420593,-0.0900830030441284(...TRUNCATED) | 120 | 1,763,001,639,080 | [[0.0,0.0,0.0,0.0,0.0,0.0,332.0,332.0,332.0,332.0,332.0,331.0,331.0,331.0,330.0,330.0,330.0,330.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,082 | 1,763,001,639,108 | 1,763,001,639,082 | 1,763,001,639,108 | 1,763,001,639,080 | 1,763,001,639,080 | 1,763,001,639,080 | 1,763,001,639,074 | 1,763,001,639,074 | 1,763,001,639,090 | 1,763,001,639,090 | 1,763,001,639,090 | 1,763,001,639,090 |
0 | 3 | 3 | 0.2 | 0 | [219.70753479003906,365.5442199707031,357.0597229003906,-3.1361091136932373,0.03521399945020676,3.09(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067739844322205,-0.0913830026984214(...TRUNCATED) | 120 | 1,763,001,639,146 | [[338.0,336.0,336.0,336.0,334.0,334.0,333.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,331.0,331.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,149 | 1,763,001,639,174 | 1,763,001,639,149 | 1,763,001,639,174 | 1,763,001,639,146 | 1,763,001,639,146 | 1,763,001,639,146 | 1,763,001,639,156 | 1,763,001,639,156 | 1,763,001,639,156 | 1,763,001,639,156 | 1,763,001,639,156 | 1,763,001,639,156 |
0 | 4 | 4 | 0.266667 | 0 | [219.70799255371094,365.5444030761719,357.0605163574219,-3.1361091136932373,0.03521899878978729,3.09(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067760109901428,-0.091389000415802,(...TRUNCATED) | 120 | 1,763,001,639,213 | [[338.0,338.0,0.0,0.0,334.0,334.0,332.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,331.0,331.0,331.0,(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,215 | 1,763,001,639,239 | 1,763,001,639,215 | 1,763,001,639,239 | 1,763,001,639,213 | 1,763,001,639,213 | 1,763,001,639,213 | 1,763,001,639,207 | 1,763,001,639,207 | 1,763,001,639,223 | 1,763,001,639,223 | 1,763,001,639,223 | 1,763,001,639,223 |
0 | 5 | 5 | 0.333333 | 0 | [219.7083740234375,365.5446472167969,357.061279296875,-3.1361091136932373,0.03522299975156784,3.0983(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067779779434204,-0.0913930013775825(...TRUNCATED) | 120 | 1,763,001,639,280 | [[336.0,335.0,335.0,334.0,333.0,333.0,333.0,332.0,332.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,282 | 1,763,001,639,305 | 1,763,001,639,282 | 1,763,001,639,305 | 1,763,001,639,280 | 1,763,001,639,280 | 1,763,001,639,280 | 1,763,001,639,275 | 1,763,001,639,275 | 1,763,001,639,290 | 1,763,001,639,290 | 1,763,001,639,290 | 1,763,001,639,290 |
0 | 6 | 6 | 0.4 | 0 | [219.70875549316406,365.54486083984375,357.06207275390625,-3.1361091136932373,0.03522700071334839,3.(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067800045013428,-0.0913959965109825(...TRUNCATED) | 120 | 1,763,001,639,347 | [[336.0,335.0,335.0,334.0,333.0,333.0,332.0,332.0,331.0,331.0,331.0,330.0,330.0,330.0,330.0,330.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,349 | 1,763,001,639,372 | 1,763,001,639,349 | 1,763,001,639,372 | 1,763,001,639,347 | 1,763,001,639,347 | 1,763,001,639,347 | 1,763,001,639,356 | 1,763,001,639,356 | 1,763,001,639,356 | 1,763,001,639,356 | 1,763,001,639,356 | 1,763,001,639,356 |
0 | 7 | 7 | 0.466667 | 0 | [219.70889282226562,365.5447998046875,357.0620422363281,-3.1361069679260254,0.03522999957203865,3.09(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067800045013428,-0.0913999974727630(...TRUNCATED) | 120 | 1,763,001,639,413 | [[336.0,334.0,334.0,334.0,333.0,333.0,332.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,331.0,330.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,415 | 1,763,001,639,439 | 1,763,001,639,415 | 1,763,001,639,439 | 1,763,001,639,413 | 1,763,001,639,413 | 1,763,001,639,413 | 1,763,001,639,412 | 1,763,001,639,412 | 1,763,001,639,430 | 1,763,001,639,430 | 1,763,001,639,430 | 1,763,001,639,430 |
0 | 8 | 8 | 0.533333 | 0 | [219.7090301513672,365.5447082519531,357.0620422363281,-3.136106014251709,0.03523299843072891,3.0983(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067800045013428,-0.0914039984345436(...TRUNCATED) | 120 | 1,763,001,639,479 | [[336.0,335.0,335.0,334.0,333.0,333.0,332.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,331.0,331.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,482 | 1,763,001,639,505 | 1,763,001,639,482 | 1,763,001,639,505 | 1,763,001,639,479 | 1,763,001,639,479 | 1,763,001,639,479 | 1,763,001,639,488 | 1,763,001,639,488 | 1,763,001,639,488 | 1,763,001,639,488 | 1,763,001,639,488 | 1,763,001,639,488 |
0 | 9 | 9 | 0.6 | 0 | [219.7091064453125,365.5446472167969,357.0620422363281,-3.1361050605773926,0.0352340005338192,3.0983(...TRUNCATED) | [1.4781060218811035,-0.14201000332832336,-0.44086599349975586,0.9067800045013428,-0.0914060026407241(...TRUNCATED) | 120 | 1,763,001,639,546 | [[336.0,335.0,335.0,334.0,333.0,333.0,332.0,332.0,332.0,331.0,331.0,331.0,331.0,331.0,331.0,331.0,33(...TRUNCATED) | [[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.(...TRUNCATED) | 1,763,001,639,549 | 1,763,001,639,572 | 1,763,001,639,549 | 1,763,001,639,572 | 1,763,001,639,546 | 1,763,001,639,546 | 1,763,001,639,546 | 1,763,001,639,555 | 1,763,001,639,555 | 1,763,001,639,555 | 1,763,001,639,555 | 1,763,001,639,555 | 1,763,001,639,555 |
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OmniViTac LeRobot v3 (Test Run)
This dataset is in LeRobot v3.0 format and contains 16 OmniViTac episodes.
Dataset Summary
- Robot type:
OmniViTac - Total episodes:
16 - Total frames:
3278 - FPS:
15.0 - Splits:
train: 0:16 - Data path template:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - Video path template:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Dataset Structure
meta/
info.json
stats.json
tasks.parquet
episodes/chunk-000/file-000.parquet
data/
chunk-000/file-000.parquet
videos/
observation.images.camera1/chunk-000/file-000.mp4
observation.images.camera2/chunk-000/file-000.mp4
observation.images.tactile1_raw/chunk-000/file-000.mp4
observation.images.tactile2_raw/chunk-000/file-000.mp4
observation.images.tactile1_diff/chunk-000/file-000.mp4
observation.images.tactile2_diff/chunk-000/file-000.mp4
meta/info.json
{
"codebase_version": "v3.0",
"robot_type": "OmniViTac",
"total_episodes": 16,
"total_frames": 3278,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15.0,
"splits": {
"train": "0:16"
},
"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": {
"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
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"observation.joints": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"observation.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": {
"axes": [
"gripper_pos"
]
}
},
"observation.joint_stamps": {
"dtype": "int64",
"shape": [
1
],
"names": {
"axes": [
"joint_stamp_ms"
]
}
},
"observation.tactile1_deform": {
"dtype": "float32",
"shape": [
2100
],
"names": null
},
"observation.tactile2_deform": {
"dtype": "float32",
"shape": [
2100
],
"names": null
},
"observation.depth.camera1": {
"dtype": "float16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.depth.camera2": {
"dtype": "float16",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.images.camera1": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.camera2": {
"dtype": "video",
"shape": [
3,
720,
1280
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile1_raw": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile2_raw": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile1_diff": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.tactile2_diff": {
"dtype": "video",
"shape": [
3,
700,
400
],
"names": [
"channel",
"height",
"width"
]
},
"observation.source_timestamp.camera1_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.camera2_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.depth1_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.depth2_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.state_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.joint_stamps_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.gripper_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_deform_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_deform_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_raw_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_raw_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile1_diff_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.source_timestamp.tactile2_diff_ms": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Features
- Scalars:
timestamp,frame_index,episode_index,index,task_index - State/action-like vectors:
observation.state(6)observation.joints(7)observation.gripper(1)observation.joint_stamps(1)observation.tactile1_deform(2100)observation.tactile2_deform(2100)
- Depth:
observation.depth.camera1(480x640, float16)observation.depth.camera2(720x1280, float16)
- Videos:
observation.images.camera1(3x480x640)observation.images.camera2(3x720x1280)observation.images.tactile1_raw(3x700x400)observation.images.tactile2_raw(3x700x400)observation.images.tactile1_diff(3x700x400)observation.images.tactile2_diff(3x700x400)
- Source timestamps:
observation.source_timestamp.camera1_msobservation.source_timestamp.camera2_msobservation.source_timestamp.depth1_msobservation.source_timestamp.depth2_msobservation.source_timestamp.state_msobservation.source_timestamp.joint_stamps_msobservation.source_timestamp.gripper_msobservation.source_timestamp.tactile1_deform_msobservation.source_timestamp.tactile2_deform_msobservation.source_timestamp.tactile1_raw_msobservation.source_timestamp.tactile2_raw_msobservation.source_timestamp.tactile1_diff_msobservation.source_timestamp.tactile2_diff_ms
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