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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 28.9 | frame_index int64 0 866 | episode_index int64 0 14 | index int64 0 9.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-3.0232315063476562,-98.5055923461914,97.47108459472656,75.39078521728516,-54.715728759765625,5.314(...TRUNCATED) | [-3.996983289718628,-98.5538101196289,99.01256561279297,75.74124145507812,-54.215003967285156,7.0866(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,0,0,0,0,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-2.8783326148986816,-98.476806640625,97.33246612548828,75.37378692626953,-54.592796325683594,5.2041(...TRUNCATED) | [-3.996983289718628,-98.5538101196289,99.01256561279297,75.74124145507812,-54.215003967285156,7.0866(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,594,596,59(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-2.8528928756713867,-98.40238952636719,97.23397064208984,75.41336822509766,-54.51640319824219,5.067(...TRUNCATED) | [-3.996983289718628,-98.5538101196289,99.01256561279297,75.74124145507812,-54.215003967285156,7.0209(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,59(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-2.7770938873291016,-98.36703491210938,97.01692962646484,75.35868835449219,-54.50394821166992,5.011(...TRUNCATED) | [-3.7707390785217285,-98.5538101196289,99.01256561279297,75.74124145507812,-54.215003967285156,6.430(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,591,593,59(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-2.674184560775757,-98.54234313964844,96.94711303710938,75.39028930664062,-54.41260528564453,4.8421(...TRUNCATED) | [-3.393665075302124,-98.5538101196289,98.56373596191406,75.74124145507812,-54.215003967285156,5.8398(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,593,0,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-2.756558895111084,-97.90880584716797,96.91968536376953,75.26856231689453,-54.46379852294922,4.7246(...TRUNCATED) | [-3.1674208641052246,-98.5538101196289,98.20466613769531,75.74124145507812,-54.215003967285156,5.577(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,593,59(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-2.8027586936950684,-98.00306701660156,96.85758972167969,75.33363342285156,-54.395118713378906,4.77(...TRUNCATED) | [-3.1674208641052246,-98.5538101196289,98.11489868164062,75.74124145507812,-54.215003967285156,5.380(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,594,0,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-2.582787275314331,-97.80584716796875,96.63775634765625,75.25617980957031,-54.35883712768555,4.7305(...TRUNCATED) | [-3.242835521697998,-98.5538101196289,98.11489868164062,75.74124145507812,-54.215003967285156,5.1837(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,59(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-2.576913833618164,-98.03079223632812,96.8284683227539,75.25016021728516,-54.330169677734375,4.6585(...TRUNCATED) | [-3.393665075302124,-98.5538101196289,98.11489868164062,75.6513900756836,-54.215003967285156,5.18372(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,587,589,590,59(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-2.444300651550293,-98.07643127441406,96.77078247070312,75.28743743896484,-54.297977447509766,4.634(...TRUNCATED) | [-3.242835521697998,-98.5538101196289,98.11489868164062,75.47169494628906,-54.215003967285156,5.1837(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,590,593,(...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": 15,
"total_frames": 9597,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:15"
},
"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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