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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [2.4132730960845947,-99.06422424316406,99.28186798095703,74.03414154052734,-53.02913284301758,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,740,740,739,738,737,73(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [2.4132730960845947,-99.06422424316406,99.28186798095703,74.03414154052734,-53.02913284301758,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,747,746,746,745,744,742,741,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [1.9607843160629272,-99.06422424316406,99.28186798095703,73.94429779052734,-53.44160842895508,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,745,746,744,744,744,744,743,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-0.07541478425264359,-99.06422424316406,99.28186798095703,73.67475128173828,-54.7306022644043,2.362(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,741,740,739,738,737,735,73(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-2.79034686088562,-99.06422424316406,99.28186798095703,73.49505615234375,-56.17427062988281,2.36220(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,748,747,746,746,744,742,740,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-4.449471950531006,-99.06422424316406,99.28186798095703,73.49505615234375,-56.844547271728516,2.230(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,745,745,744,743,743,743,743,74(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-4.8265461921691895,-99.06422424316406,99.28186798095703,73.49505615234375,-57.15390396118164,2.362(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,731,731,730,731,731,730,73(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-5.279034614562988,-99.06422424316406,99.28186798095703,73.40521240234375,-57.411705017089844,2.362(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,736,736,736,735,735,734,73(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-5.957767486572266,-99.06422424316406,99.28186798095703,73.40521240234375,-57.566383361816406,2.362(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,743,743,742,742,741,740,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-6.483882904052734,-98.56721496582031,99.72764587402344,73.43016052246094,-57.97747039794922,2.3130(...TRUNCATED) | [-6.033182621002197,-99.06422424316406,99.28186798095703,73.40521240234375,-57.66950225830078,2.3622(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,737,737,737,737,737,736,73(...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": 2,
"total_frames": 3594,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:2"
},
"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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