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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 49.6 | frame_index int64 0 1.49k | episode_index int64 0 14 | index int64 0 10.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-0.5573247671127319,-98.17787170410156,97.46001434326172,76.302978515625,-55.35243606567383,1.82902(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,99.10233306884766,75.92093658447266,-55.50399398803711,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1478,1511,1553,1598,1640,1671,1699,1718,1718,1713,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-0.527550458908081,-98.19249725341797,97.34255981445312,76.26641082763672,-55.48924255371094,1.8184(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,99.10233306884766,75.92093658447266,-55.50399398803711,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1718,1631,1553,1507,1500,1489,1507,1530,1561,1598,1627,1653,16(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-0.5374280214309692,-98.1886978149414,97.45492553710938,76.23458862304688,-55.46245574951172,1.7830(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,99.10233306884766,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1733,1772,1772,1772,1772,1772,1767,176(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-0.2494492530822754,-97.84649658203125,97.31710052490234,76.26261138916016,-55.43932342529297,1.802(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.92279815673828,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1447,0,1444,1447,1454,1493,1530,1577,1619,1653,1685,1708,1(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-0.3146231174468994,-97.73271942138672,96.89041137695312,76.30279541015625,-55.526336669921875,1.77(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.38420104980469,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1414,1424,1434,1464,1500,1549,1589,1623,1658,1671,1676(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-0.32607483863830566,-97.9337158203125,96.97531127929688,76.30927276611328,-55.481483459472656,1.79(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.20466613769531,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1420,1424,1427,1471,1522,1573,1623,1662,1690,1704,17(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-0.34268808364868164,-97.95030212402344,96.75459289550781,76.31846618652344,-55.52240753173828,1.80(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.02513122558594,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1434,1444,1489,1545,1602,1645,1680,1708,1723,1723,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-0.2761240005493164,-97.74771118164062,96.91898345947266,76.24628448486328,-55.61219787597656,1.819(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.02513122558594,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1457,1489,1526,1565,1606,1640,1671,1685,1694,1694,(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-0.23702573776245117,-97.91009521484375,96.7549819946289,76.2764663696289,-55.587310791015625,1.819(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.02513122558594,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1434,1437,1444,1468,1493,1522,1557,1589,1614,1640,1658,1(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-0.27259182929992676,-97.56723022460938,96.60166931152344,76.23544311523438,-55.78667449951172,1.80(...TRUNCATED) | [-0.9049773812294006,-98.5538101196289,98.02513122558594,75.92093658447266,-55.45243453979492,2.1653(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1427,1430,1440,1475,1511,1553,1602,1645,1680,1713,1723,1(...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": 15,
"total_frames": 10116,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:15"
},
"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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