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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 41.7 | frame_index int64 0 1.25k | episode_index int64 0 19 | index int64 0 13.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-8.586749076843262,-96.89697265625,95.36719512939453,74.69928741455078,-53.88488006591797,1.3325376(...TRUNCATED) | [-9.276018142700195,-97.44789123535156,99.19210052490234,74.21383666992188,-53.64784622192383,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2834,2821,2821,2808,2808,2796,2770,2758,2734,272(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-8.707706451416016,-96.585693359375,94.43598175048828,74.7582778930664,-54.00099182128906,1.2663974(...TRUNCATED) | [-9.276018142700195,-97.44789123535156,99.19210052490234,74.21383666992188,-53.64784622192383,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2888,2888,2888,2888,2888,2888,2901,2901,29(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-8.465572357177734,-96.81987762451172,93.51371002197266,74.7987289428711,-53.952659606933594,1.2393(...TRUNCATED) | [-9.276018142700195,-97.44789123535156,99.19210052490234,74.21383666992188,-53.64784622192383,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2957,2957,2971,2971,2971,2971,2971,2957,2943,2943,2929,2(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-8.281373023986816,-96.92557525634766,92.50050354003906,74.94869995117188,-54.06587219238281,1.2297(...TRUNCATED) | [-9.276018142700195,-97.44789123535156,99.01256561279297,74.21383666992188,-53.64784622192383,1.7060(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2758,2770,2783,2796,2808,2821,28(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-8.349599838256836,-96.78803253173828,90.86489868164062,75.03705596923828,-53.91252136230469,1.2313(...TRUNCATED) | [-9.125188827514648,-97.44789123535156,97.57630157470703,74.30368041992188,-53.699405670166016,1.574(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2628,2628,2617,2606,2617,2617,2617,2617,26(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-8.28631591796875,-97.01441955566406,90.10462188720703,75.28565216064453,-54.124610900878906,1.1979(...TRUNCATED) | [-8.672699928283691,-96.9374771118164,96.40933227539062,74.4833755493164,-53.854087829589844,1.50918(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2834,2861,2874,2888,2888,2888,2888,2874,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-8.342485427856445,-97.09088134765625,89.11854553222656,75.62049102783203,-54.1821174621582,1.23903(...TRUNCATED) | [-8.446455955505371,-97.44789123535156,95.33213806152344,74.4833755493164,-54.060325622558594,1.5091(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2674,2663,2663,2651,2651,2651,2651,2663,2663,266(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-8.36831283569336,-97.17605590820312,87.89004516601562,76.23120880126953,-54.304176330566406,1.2031(...TRUNCATED) | [-8.446455955505371,-97.19268035888672,94.16516876220703,74.57322692871094,-54.11188507080078,1.5091(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2808,2796,2783,2770,2758,2758,2758,2758,2758,2(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-8.504329681396484,-97.08363342285156,86.5494384765625,77.03788757324219,-54.362613677978516,1.1827(...TRUNCATED) | [-8.672699928283691,-97.44789123535156,93.26750183105469,74.57322692871094,-53.854087829589844,1.509(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2986,2986,2971,2957,2957,2943,2943,2(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-8.40333366394043,-96.91926574707031,85.54744720458984,77.81793212890625,-54.491371154785156,1.1677(...TRUNCATED) | [-8.823529243469238,-97.44789123535156,92.1903076171875,74.84276580810547,-53.90564727783203,1.50918(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2783,2796,2808,2834,2834,2847,2861,2874,2874,2888,2888(...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": 20,
"total_frames": 13786,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:20"
},
"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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