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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 35 | frame_index int64 0 1.05k | episode_index int64 0 9 | index int64 0 5.83k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-6.601531028747559,-96.58743286132812,97.80426025390625,67.96815490722656,-53.909915924072266,4.894(...TRUNCATED) | [-7.013574600219727,-97.78817749023438,99.19210052490234,68.28392028808594,-54.36968231201172,6.6272(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1181,1181,1181,1183,1185,1187,1187,1192,1194,1(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-6.476190567016602,-96.37823486328125,97.7220687866211,67.94116973876953,-53.78483581542969,4.74143(...TRUNCATED) | [-7.013574600219727,-97.78817749023438,99.19210052490234,68.28392028808594,-54.36968231201172,6.6272(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1194,1194,1190,1187,1187,1187,1187,1187,1190,119(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-6.48748779296875,-96.53791809082031,97.68109130859375,67.95166778564453,-53.87385559082031,4.56034(...TRUNCATED) | [-7.013574600219727,-97.78817749023438,99.19210052490234,68.28392028808594,-54.36968231201172,6.6272(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1163,1160,1156,1156,1156,1158,1156,1158,1158,1(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-6.187911033630371,-96.46066284179688,97.06524658203125,68.0107421875,-53.83959197998047,4.42719173(...TRUNCATED) | [-7.013574600219727,-97.78817749023438,99.01256561279297,68.28392028808594,-54.31812286376953,6.1023(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1174,1174,1172,1172,1174,1176,1174,1176,1176,1(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-6.294735908508301,-96.40538787841797,96.72547912597656,68.02168273925781,-53.76812744140625,4.2502(...TRUNCATED) | [-6.938159942626953,-97.78817749023438,98.56373596191406,68.28392028808594,-54.31812286376953,5.3805(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1190,1190,1185,1183,1185,1187,1187,1192,1192,119(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-6.181026458740234,-96.169189453125,96.4845962524414,68.02136993408203,-53.611785888671875,4.093698(...TRUNCATED) | [-6.86274528503418,-97.7031021118164,98.29443359375,68.28392028808594,-54.060325622558594,5.05249357(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1174,1176,1174,1172,1174,1174,1176,1178,1181,118(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-6.19550895690918,-96.47138214111328,95.9887924194336,68.02727508544922,-53.66118621826172,4.037398(...TRUNCATED) | [-6.711915493011475,-97.53296661376953,98.11489868164062,68.28392028808594,-54.008766174316406,4.790(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1176,1176,1174,1172,1174,1174,1176,1176,1181,118(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-6.1227006912231445,-96.22373962402344,95.5352554321289,68.05664825439453,-53.6088752746582,3.98732(...TRUNCATED) | [-6.561086177825928,-97.36282348632812,98.02513122558594,68.28392028808594,-54.16344451904297,4.5931(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1185,1185,1181,1181,1181,1183,1183,1185,1190,119(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-6.1776933670043945,-96.13066101074219,95.2076416015625,68.00001525878906,-53.53032302856445,4.0339(...TRUNCATED) | [-6.485671043395996,-97.27775573730469,98.02513122558594,68.28392028808594,-54.060325622558594,4.396(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1190,1190,1187,1187,1190,1192,1194,1197,1199,1(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-6.225009441375732,-96.17411804199219,95.0311279296875,67.98221588134766,-53.543434143066406,4.0399(...TRUNCATED) | [-6.485671043395996,-97.19268035888672,97.93537139892578,68.28392028808594,-53.95720672607422,4.3307(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1178,1176,1174,1174,1174,1174,1176,1178,1181,0(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 5835,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:10"
},
"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
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