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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 47.5 | frame_index int64 0 1.43k | episode_index int64 0 15 | index int64 0 14.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-8.399463653564453,-98.7913818359375,98.03861999511719,75.86595916748047,-56.64020538330078,1.60172(...TRUNCATED) | [-8.672699928283691,-98.72394561767578,99.10233306884766,75.74124145507812,-56.27738952636719,2.2965(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,645,645,644,643,643,643,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-8.243083000183105,-98.55643463134766,97.97581481933594,75.84031677246094,-56.499671936035156,1.582(...TRUNCATED) | [-8.672699928283691,-98.72394561767578,99.10233306884766,75.74124145507812,-56.27738952636719,2.2965(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,641,641,641,641,641,641,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-8.14604377746582,-98.61646270751953,98.39690399169922,75.80265808105469,-56.48655319213867,1.59772(...TRUNCATED) | [-8.672699928283691,-98.72394561767578,99.10233306884766,75.74124145507812,-56.27738952636719,2.2965(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,641,640,641,640,640,641,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-8.12763786315918,-98.59436798095703,97.96004486083984,75.79692840576172,-56.46556854248047,1.58423(...TRUNCATED) | [-8.672699928283691,-98.72394561767578,99.10233306884766,75.74124145507812,-56.328948974609375,2.034(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,643,643,643,642,641,641,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-8.148368835449219,-98.60665130615234,98.17841339111328,75.72896575927734,-56.50391387939453,1.5434(...TRUNCATED) | [-8.597285270690918,-98.72394561767578,98.92279815673828,75.74124145507812,-56.38051223754883,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,643,643,643,643,642,64(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-7.976750373840332,-98.32952117919922,98.04742431640625,75.6904525756836,-56.56916427612305,1.51360(...TRUNCATED) | [-8.446455955505371,-98.72394561767578,98.8330307006836,75.74124145507812,-56.38051223754883,1.90288(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,640,641,641,640,640,64(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-7.769506454467773,-98.57173156738281,97.67994689941406,75.82080841064453,-56.52948760986328,1.5665(...TRUNCATED) | [-8.446455955505371,-98.72394561767578,98.65350341796875,75.74124145507812,-56.38051223754883,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,640,640,640,640,640,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-7.813503742218018,-98.43673706054688,97.80426788330078,75.7360610961914,-56.56524658203125,1.55974(...TRUNCATED) | [-8.446455955505371,-98.72394561767578,98.65350341796875,75.74124145507812,-56.38051223754883,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,639,639,639,639,640,64(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-7.658539295196533,-98.39511108398438,97.39826965332031,75.72064208984375,-56.56732940673828,1.5908(...TRUNCATED) | [-8.446455955505371,-98.72394561767578,98.47396850585938,75.74124145507812,-56.38051223754883,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,640,640,640,639,639,639,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-7.759720325469971,-98.48280334472656,97.58942413330078,75.85203552246094,-56.5247802734375,1.51833(...TRUNCATED) | [-8.144796371459961,-98.72394561767578,98.38420104980469,75.74124145507812,-56.38051223754883,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,643,643,642,641,641,64(...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": 16,
"total_frames": 14062,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:16"
},
"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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