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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 21.7 | frame_index int64 0 650 | episode_index int64 0 14 | index int64 0 7.78k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-5.102657318115234,-98.8881607055664,97.47210693359375,75.89678955078125,-53.341407775878906,1.6882(...TRUNCATED) | [-5.656108379364014,-98.97915649414062,99.01256561279297,75.29199981689453,-53.02913284301758,2.0997(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1742,1742,1733,1733,1728,1723,1718(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-5.001242637634277,-98.8921890258789,97.53817749023438,75.89771270751953,-53.28657531738281,1.65998(...TRUNCATED) | [-5.656108379364014,-98.97915649414062,99.01256561279297,75.29199981689453,-53.02913284301758,2.0997(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1685,1680,1680,1676,1676,1671,1671,1(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-4.997002124786377,-98.84048461914062,97.28688049316406,75.96620178222656,-53.32316589355469,1.6562(...TRUNCATED) | [-5.656108379364014,-98.97915649414062,99.01256561279297,75.29199981689453,-53.02913284301758,2.0997(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1718,1713,1718,1713,1708,1708,1704,1(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-4.950503349304199,-98.5111312866211,97.0316390991211,75.78974914550781,-53.24993133544922,1.688542(...TRUNCATED) | [-5.656108379364014,-98.97915649414062,99.01256561279297,75.29199981689453,-53.02913284301758,2.0997(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1653,1653,1649,1645,1645,1645,1645,1(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-4.8843607902526855,-98.64151763916016,96.46273803710938,75.8952407836914,-53.29966735839844,1.6788(...TRUNCATED) | [-5.656108379364014,-98.97915649414062,98.47396850585938,75.29199981689453,-53.02913284301758,2.0341(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1676,1676,1676,1680,1680,1680,1680,168(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-4.918592929840088,-98.44857788085938,96.43258666992188,75.85116577148438,-53.28416442871094,1.6374(...TRUNCATED) | [-5.505279064178467,-98.97915649414062,98.20466613769531,75.29199981689453,-53.080692291259766,2.034(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1723,1728,1733,1737,1747,1752,1757,176(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-4.786684989929199,-98.6633071899414,96.33568572998047,75.79692840576172,-53.28246307373047,1.61211(...TRUNCATED) | [-5.354449272155762,-98.97915649414062,98.11489868164062,75.29199981689453,-53.080692291259766,2.034(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1685,1685,1685,1685,1685,1690,1690,1(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-4.8802947998046875,-98.46137237548828,95.7310791015625,75.84136962890625,-53.247886657714844,1.593(...TRUNCATED) | [-5.279034614562988,-98.97915649414062,98.02513122558594,75.29199981689453,-53.080692291259766,2.034(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1737,1737,1737,1733,1728,1728,1723,1(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-4.973904609680176,-98.39872741699219,95.61714935302734,75.97432708740234,-53.41341781616211,1.5892(...TRUNCATED) | [-5.279034614562988,-98.97915649414062,98.02513122558594,75.29199981689453,-53.080692291259766,1.968(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1658,1658,1658,1658,1662,1662,1662,166(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-4.929937839508057,-98.38471221923828,95.37322998046875,76.03593444824219,-53.4554328918457,1.54955(...TRUNCATED) | [-5.279034614562988,-98.97915649414062,97.93537139892578,75.29199981689453,-53.080692291259766,1.902(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1653,1653,1653,1658,1658,1658,1662,1(...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": 15,
"total_frames": 7776,
"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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