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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 37.5 | frame_index int64 0 1.13k | episode_index int64 0 2 | index int64 0 2.28k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-8.863260269165039,-98.41082763671875,98.6136703491211,74.367919921875,-56.703243255615234,1.978345(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.755(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,777,779,779,779,781,783,785,78(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-8.738062858581543,-98.38025665283203,98.95551300048828,74.29527282714844,-56.61771774291992,1.9477(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.755(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,779,780,780,781,782,784,785,78(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-8.562761306762695,-98.29782104492188,98.74369812011719,74.18000030517578,-56.487327575683594,1.995(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.755(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,779,779,780,780,782,783,785,786,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-8.51954174041748,-98.56111907958984,98.71199798583984,74.34383392333984,-56.47601318359375,1.89963(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.427(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,778,779,779,780,781,782,783,78(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-8.513956069946289,-98.30590057373047,98.79838562011719,74.23310089111328,-56.435630798339844,1.917(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.296(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,782,782,782,782,782,783,784,785,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-8.387260437011719,-98.3240737915039,98.6511459350586,74.3453598022461,-56.43646240234375,1.9239397(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.165(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,777,778,779,780,782,783,785,78(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-8.32397174835205,-98.08562469482422,98.52279663085938,74.29549407958984,-56.46891784667969,1.94755(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.165(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,780,781,781,781,783,784,785,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-8.469352722167969,-98.05720520019531,98.46431732177734,74.30786895751953,-56.610992431640625,1.957(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.19210052490234,74.21383666992188,-56.432071685791016,2.165(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,776,777,779,780,782,784,786,(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-8.459766387939453,-97.93541717529297,98.63386535644531,74.2969741821289,-56.48688888549805,1.96626(...TRUNCATED) | [-8.898943901062012,-98.46873474121094,99.10233306884766,74.21383666992188,-56.432071685791016,2.165(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,795,794,791,789,789,789,789,789,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-8.232040405273438,-98.23753356933594,98.39386749267578,74.32994842529297,-56.405677795410156,1.889(...TRUNCATED) | [-8.823529243469238,-98.46873474121094,99.10233306884766,74.21383666992188,-56.432071685791016,2.165(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,776,777,778,780,782,784,786,(...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": 3,
"total_frames": 2278,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:3"
},
"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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