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Datasets:
taikonauts
/
record-test-16

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
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observation.state
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frame_index
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[ 476.6938171386719, 160.10655212402344, 75.52839660644531, 0.01726025901734829, -0.03167574852705002, 0.32360514998435974, 0.06470117717981339 ]
3.2
96
0
96
0
[ 485.6802062988281, 170.62245178222656, 64.34024047851562, 0.020639784634113312, -0.034333448857069016, 0.3395097553730011, 0.06470117717981339 ]
[ 485.6802062988281, 170.62245178222656, 64.34024047851562, 0.020639784634113312, -0.034333448857069016, 0.3395097553730011, 0.06470117717981339 ]
3.233333
97
0
97
0
[ 490.18707275390625, 174.11572265625, 57.214141845703125, 0.02029833011329174, -0.030477870255708694, 0.3467782437801361, 0.06470117717981339 ]
[ 490.18707275390625, 174.11572265625, 57.214141845703125, 0.02029833011329174, -0.030477870255708694, 0.3467782437801361, 0.06470117717981339 ]
3.266667
98
0
98
0
[ 491.0478515625, 174.70367431640625, 55.387535095214844, 0.02045150101184845, -0.02916019968688488, 0.34792694449424744, 0.06470117717981339 ]
[ 491.0478515625, 174.70367431640625, 55.387535095214844, 0.02045150101184845, -0.02916019968688488, 0.34792694449424744, 0.06470117717981339 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "xarm_end_effector",
    "total_episodes": 51,
    "total_frames": 6247,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper.pos"
            ],
            "shape": [
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            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper_fisheye": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
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                "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.gripper_color": {
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            "shape": [
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                640,
                3
            ],
            "names": [
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                "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
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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