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shirasu206
/
ur5e_dataset_20251015_v7

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
ur5e
pi0
robot-dataset
Libraries:
Datasets
pandas
License:
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image
imagewidth (px)
256
256
wrist_image
imagewidth (px)
256
256
state
list
actions
list
timestamp
float32
0
18.5
frame_index
int64
0
74
episode_index
int64
0
0
index
int64
0
74
task_index
int64
0
0
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11
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11.5
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12
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12.25
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49
0
[ 1.7153257131576538, -1.488312840461731, -1.2580941915512085, -0.9842599034309387, -1.6657942533493042, -0.9542897343635559, 1 ]
[ 1.8885644674301147, -1.536463975906372, -1.2579296827316284, -1.25766921043396, -1.6368635892868042, -0.8221543431282043, 1 ]
12.5
50
0
50
0
[ 1.8885644674301147, -1.536463975906372, -1.2579296827316284, -1.25766921043396, -1.6368635892868042, -0.8221543431282043, 1 ]
[ 2.0542428493499756, -1.5783601999282837, -1.2580374479293823, -1.542226791381836, -1.6374658346176147, -0.8223779797554016, 1 ]
12.75
51
0
51
0
[ 2.0542428493499756, -1.5783601999282837, -1.2580374479293823, -1.542226791381836, -1.6374658346176147, -0.8223779797554016, 1 ]
[ 2.1791703701019287, -1.6136409044265747, -1.2579983472824097, -1.7976452112197876, -1.6373099088668823, -0.8221133351325989, 1 ]
13
52
0
52
0
[ 2.1791703701019287, -1.6136409044265747, -1.2579983472824097, -1.7976452112197876, -1.6373099088668823, -0.8221133351325989, 1 ]
[ 2.2386467456817627, -1.615845799446106, -1.2572273015975952, -1.956640362739563, -1.6357020139694214, -0.8221061825752258, 1 ]
13.25
53
0
53
0
[ 2.2386467456817627, -1.615845799446106, -1.2572273015975952, -1.956640362739563, -1.6357020139694214, -0.8221061825752258, 1 ]
[ 2.2387168407440186, -1.615890622138977, -1.2015422582626343, -2.0275256633758545, -1.494284987449646, -0.8226965069770813, 1 ]
13.5
54
0
54
0
[ 2.2387168407440186, -1.615890622138977, -1.2015422582626343, -2.0275256633758545, -1.494284987449646, -0.8226965069770813, 1 ]
[ 2.238314390182495, -1.6159096956253052, -1.056911826133728, -2.2176992893218994, -1.4203451871871948, -0.7824457287788391, 1 ]
13.75
55
0
55
0
[ 2.238314390182495, -1.6159096956253052, -1.056911826133728, -2.2176992893218994, -1.4203451871871948, -0.7824457287788391, 1 ]
[ 2.2381341457366943, -1.6159216165542603, -0.911363422870636, -2.235680341720581, -1.4209145307540894, -0.47545844316482544, 1 ]
14
56
0
56
0
[ 2.2381341457366943, -1.6159216165542603, -0.911363422870636, -2.235680341720581, -1.4209145307540894, -0.47545844316482544, 1 ]
[ 2.2254135608673096, -1.6159182786941528, -0.7485154271125793, -2.235776662826538, -1.4310048818588257, -0.3228767514228821, 1 ]
14.25
57
0
57
0
[ 2.2254135608673096, -1.6159182786941528, -0.7485154271125793, -2.235776662826538, -1.4310048818588257, -0.3228767514228821, 1 ]
[ 2.2072174549102783, -1.6159216165542603, -0.611985981464386, -2.235630750656128, -1.5016239881515503, -0.27714425325393677, 1 ]
14.5
58
0
58
0
[ 2.2072174549102783, -1.6159216165542603, -0.611985981464386, -2.235630750656128, -1.5016239881515503, -0.27714425325393677, 1 ]
[ 2.207361936569214, -1.615777611732483, -0.5501616597175598, -2.234813928604126, -1.6252378225326538, -0.14903098344802856, 1 ]
14.75
59
0
59
0
[ 2.207361936569214, -1.615777611732483, -0.5501616597175598, -2.234813928604126, -1.6252378225326538, -0.14903098344802856, 1 ]
[ 2.207303285598755, -1.6148954629898071, -0.5618794560432434, -2.2348291873931885, -1.6482328176498413, -0.1230824664235115, 1 ]
15
60
0
60
0
[ 2.207303285598755, -1.6148954629898071, -0.5618794560432434, -2.2348291873931885, -1.6482328176498413, -0.1230824664235115, 1 ]
[ 2.207170248031616, -1.6102863550186157, -0.6124289631843567, -2.234964609146118, -1.6656802892684937, -0.12343055754899979, 1 ]
15.25
61
0
61
0
[ 2.207170248031616, -1.6102863550186157, -0.6124289631843567, -2.234964609146118, -1.6656802892684937, -0.12343055754899979, 1 ]
[ 2.207218885421753, -1.6102877855300903, -0.6215971112251282, -2.2348806858062744, -1.665446162223816, -0.12340623885393143, 1 ]
15.5
62
0
62
0
[ 2.207218885421753, -1.6102877855300903, -0.6215971112251282, -2.2348806858062744, -1.665446162223816, -0.12340623885393143, 1 ]
[ 2.2072341442108154, -1.6103378534317017, -0.6216128468513489, -2.2348577976226807, -1.6654495000839233, -0.1233871653676033, 1 ]
15.75
63
0
63
0
[ 2.2072341442108154, -1.6103378534317017, -0.6216128468513489, -2.2348577976226807, -1.6654495000839233, -0.1233871653676033, 1 ]
[ 2.207218885421753, -1.6103492975234985, -0.6215937733650208, -2.2348921298980713, -1.6654528379440308, -0.1234024241566658, 1 ]
16
64
0
64
0
[ 2.207218885421753, -1.6103492975234985, -0.6215937733650208, -2.2348921298980713, -1.6654528379440308, -0.1234024241566658, 1 ]
[ 2.207226514816284, -1.610334038734436, -0.6215971112251282, -2.2348649501800537, -1.665472388267517, -0.12342197448015213, 1 ]
16.25
65
0
65
0
[ 2.207226514816284, -1.610334038734436, -0.6215971112251282, -2.2348649501800537, -1.665472388267517, -0.12342197448015213, 1 ]
[ 2.2072455883026123, -1.6103187799453735, -0.6215818524360657, -2.234877347946167, -1.665465235710144, -0.1234024241566658, 1 ]
16.5
66
0
66
0
[ 2.2072455883026123, -1.6103187799453735, -0.6215818524360657, -2.234877347946167, -1.665465235710144, -0.1234024241566658, 1 ]
[ 2.207195520401001, -1.6102997064590454, -0.6215937733650208, -2.234877347946167, -1.665465235710144, -0.12343055754899979, 1 ]
16.75
67
0
67
0
[ 2.207195520401001, -1.6102997064590454, -0.6215937733650208, -2.234877347946167, -1.665465235710144, -0.12343055754899979, 1 ]
[ 2.2072527408599854, -1.6103187799453735, -0.6215818524360657, -2.2349045276641846, -1.6654495000839233, -0.12340623885393143, 1 ]
17
68
0
68
0
[ 2.2072527408599854, -1.6103187799453735, -0.6215818524360657, -2.2349045276641846, -1.6654495000839233, -0.12340623885393143, 1 ]
[ 2.207202672958374, -1.610334038734436, -0.6215479969978333, -2.234888792037964, -1.6654690504074097, -0.1234181597828865, 1 ]
17.25
69
0
69
0
[ 2.207202672958374, -1.610334038734436, -0.6215479969978333, -2.234888792037964, -1.6654690504074097, -0.1234181597828865, 1 ]
[ 2.2072150707244873, -1.6103187799453735, -0.6215627789497375, -2.2348740100860596, -1.6654342412948608, -0.12340623885393143, 1 ]
17.5
70
0
70
0
[ 2.2072150707244873, -1.6103187799453735, -0.6215627789497375, -2.2348740100860596, -1.6654342412948608, -0.12340623885393143, 1 ]
[ 2.2072489261627197, -1.6103154420852661, -0.6215627789497375, -2.2348740100860596, -1.6654657125473022, -0.1233871653676033, 1 ]
17.75
71
0
71
0
[ 2.2072489261627197, -1.6103154420852661, -0.6215627789497375, -2.2348740100860596, -1.6654657125473022, -0.1233871653676033, 1 ]
[ 2.2072412967681885, -1.610334038734436, -0.6215751767158508, -2.2348992824554443, -1.6654495000839233, -0.1234181597828865, 1 ]
18
72
0
72
0
[ 2.2072412967681885, -1.610334038734436, -0.6215751767158508, -2.2348992824554443, -1.6654495000839233, -0.1234181597828865, 1 ]
[ 2.2072341442108154, -1.6102997064590454, -0.6215937733650208, -2.2348806858062744, -1.6654618978500366, -0.12342149764299393, 1 ]
18.25
73
0
73
0
[ 2.2072341442108154, -1.6102997064590454, -0.6215937733650208, -2.2348806858062744, -1.6654618978500366, -0.12342149764299393, 1 ]
[ 2.2072227001190186, -1.6102877855300903, -0.6215785145759583, -2.234888792037964, -1.6654495000839233, -0.1234181597828865, 1 ]
18.5
74
0
74
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5e",
    "total_episodes": 1,
    "total_frames": 75,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 4.0,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
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            "names": [
                "state"
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        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
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            "names": [
                "actions"
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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