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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 41.3 | frame_index int64 0 1.24k | episode_index int64 0 15 | index int64 0 12k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-5.02541971206665,-92.79322052001953,88.74555969238281,70.09888458251953,-51.35762405395508,2.23207(...TRUNCATED) | [-5.354449272155762,-91.9183349609375,87.5224380493164,70.17070770263672,-50.708946228027344,2.36220(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,661,661,660,659,659,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-5.0690202713012695,-92.76677703857422,88.8630142211914,70.12542724609375,-51.47625732421875,2.2155(...TRUNCATED) | [-5.354449272155762,-91.83325958251953,87.6122055053711,70.17070770263672,-50.657386779785156,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,659,659,659,659,658,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-4.895407676696777,-92.919189453125,89.21248626708984,70.08674621582031,-51.358062744140625,2.19198(...TRUNCATED) | [-5.354449272155762,-91.83325958251953,87.6122055053711,70.17070770263672,-50.657386779785156,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,657,657,657,657,657,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-4.9124603271484375,-92.90252685546875,89.14672088623047,70.09577941894531,-51.391357421875,2.22851(...TRUNCATED) | [-5.354449272155762,-92.17354583740234,88.42010498046875,70.17070770263672,-51.01830291748047,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,658,659,658,658,659,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-4.835865020751953,-93.1065902709961,89.4782485961914,70.14420318603516,-51.58338165283203,2.208599(...TRUNCATED) | [-5.354449272155762,-92.25861358642578,89.40753936767578,70.17070770263672,-51.17298126220703,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,661,661,661,661,661,66(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-4.870010852813721,-93.15943908691406,89.56645202636719,70.26266479492188,-51.69337463378906,2.2117(...TRUNCATED) | [-5.279034614562988,-91.7481918334961,89.76660919189453,70.26055908203125,-51.22454071044922,2.36220(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,664,663,663,662,662,66(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-4.71503210067749,-93.05564880371094,89.71951293945312,70.20049285888672,-51.64276885986328,2.18018(...TRUNCATED) | [-5.279034614562988,-92.25861358642578,89.94613647460938,70.26055908203125,-51.32766342163086,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,659,659,659,658,658,65(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-4.722869396209717,-93.24479675292969,89.85774993896484,70.10478210449219,-51.7760009765625,2.15753(...TRUNCATED) | [-5.279034614562988,-93.10931396484375,90.03590393066406,70.26055908203125,-51.48234176635742,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,661,660,660,660,660,66(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-4.685113906860352,-93.59420776367188,90.36434936523438,70.03304290771484,-51.84910202026367,2.1476(...TRUNCATED) | [-5.279034614562988,-93.10931396484375,90.03590393066406,70.26055908203125,-51.48234176635742,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,652,653,653,653,65(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-4.691697597503662,-93.40306854248047,90.30762481689453,69.95006561279297,-51.777183532714844,2.159(...TRUNCATED) | [-5.279034614562988,-93.19438171386719,90.30520629882812,70.26055908203125,-51.53390121459961,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,656,656,656,656,65(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 16,
"total_frames": 12032,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"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": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.front": {
"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.front.depth": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.images.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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