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list | observation.state
list | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
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| 0
| 95
| 0
|
[
8.925166130065918,
13.610984802246094,
85.40443420410156,
-57.75440216064453,
-58.72540283203125,
29.072996139526367
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[
7.734375,
10.153101921081543,
87.39800262451172,
-54.2955322265625,
-58.487571716308594,
32.081912994384766
] | 3.2
| 96
| 0
| 96
| 0
|
[
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14.840805053710938,
84.50804901123047,
-57.714019775390625,
-58.64909362792969,
28.36831283569336
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[
8.046875,
11.039484024047852,
87.12602233886719,
-55.24055099487305,
-58.59333801269531,
31.604095458984375
] | 3.233333
| 97
| 0
| 97
| 0
|
[
9.676555633544922,
15.065021514892578,
84.60267639160156,
-57.896705627441406,
-58.55852127075195,
27.67740249633789
] |
[
8.046875,
11.92586612701416,
86.76337432861328,
-56.01374435424805,
-58.59333801269531,
31.126279830932617
] | 3.266667
| 98
| 0
| 98
| 0
|
[
9.951482772827148,
15.874282836914062,
83.91761779785156,
-57.673255920410156,
-58.5265998840332,
27.032194137573242
] |
[
8.359375,
12.731668472290039,
86.40072631835938,
-56.52920913696289,
-58.59333801269531,
30.1706485748291
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 2,
"total_frames": 1557,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.up": {
"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": {
"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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