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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 26.1 | frame_index int64 0 784 | episode_index int64 0 9 | index int64 0 6.64k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-5.225113868713379,-99.97746276855469,99.19749450683594,74.26171875,-53.61958312988281,1.7423672676(...TRUNCATED) | [-5.128205299377441,-99.23436737060547,98.8330307006836,74.12399291992188,-53.7509651184082,2.099737(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2064,2064,2057,2050,2050,2043,20(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-5.167668342590332,-100.0074234008789,99.06716918945312,74.23845672607422,-53.55891418457031,1.7661(...TRUNCATED) | [-5.128205299377441,-99.23436737060547,98.8330307006836,74.12399291992188,-53.7509651184082,2.034120(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2181,2158,2136,2114,2099,2078,2064,2050,20(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-5.1814866065979,-99.82481384277344,99.11795806884766,74.26709747314453,-53.47014617919922,1.740839(...TRUNCATED) | [-5.128205299377441,-99.23436737060547,98.8330307006836,74.12399291992188,-53.699405670166016,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2043,2043,2043,2037,2037,2037,2037,2037,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-5.058027267456055,-99.69696807861328,99.0001449584961,74.23773193359375,-53.456382751464844,1.7775(...TRUNCATED) | [-5.128205299377441,-99.3194351196289,98.8330307006836,74.12399291992188,-53.699405670166016,1.96850(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2143,2128,2121,2106,2106,2106,2106,210(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-5.047759532928467,-99.83699035644531,98.8203125,74.2544174194336,-53.5080680847168,1.7324666976928(...TRUNCATED) | [-5.128205299377441,-99.40451049804688,98.8330307006836,74.12399291992188,-53.699405670166016,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2078,2078,2071,2071,2071,2064,2057,2057,20(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-5.118553161621094,-99.56161499023438,99.07627868652344,74.2098159790039,-53.422271728515625,1.6882(...TRUNCATED) | [-5.128205299377441,-99.48957824707031,98.8330307006836,74.12399291992188,-53.699405670166016,1.9685(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2064,2064,2064,2057,2057,2057,2050,205(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-5.124051094055176,-99.67333984375,98.87164306640625,74.26097869873047,-53.58708953857422,1.6624994(...TRUNCATED) | [-5.128205299377441,-99.48957824707031,98.8330307006836,74.12399291992188,-53.699405670166016,1.9028(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2030,2037,2043,2043,2050,2050,2050,2057,20(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-5.043612480163574,-99.81277465820312,98.92843627929688,74.22627258300781,-53.63406753540039,1.6420(...TRUNCATED) | [-5.128205299377441,-99.48957824707031,98.8330307006836,74.12399291992188,-53.699405670166016,1.8372(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2064,2071,2078,2085,2092(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-5.010232925415039,-99.84088134765625,99.1373291015625,74.2218246459961,-53.74369812011719,1.688839(...TRUNCATED) | [-5.128205299377441,-99.48957824707031,98.8330307006836,74.12399291992188,-53.699405670166016,1.8372(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2057,2057,2064,2078,2092,2099,21(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-5.051777362823486,-99.71775817871094,99.08882141113281,74.24805450439453,-53.696327209472656,1.722(...TRUNCATED) | [-5.128205299377441,-99.48957824707031,98.8330307006836,74.12399291992188,-53.699405670166016,1.8372(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2023,2023,2023,2030,2037,204(...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": 10,
"total_frames": 6637,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:10"
},
"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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