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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 30.9 | frame_index int64 0 926 | episode_index int64 0 14 | index int64 0 9.45k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-0.6013784408569336,-96.92530059814453,98.4350357055664,76.50554656982422,-55.60211944580078,2.5683(...TRUNCATED) | [-1.0558069944381714,-98.5538101196289,99.10233306884766,75.92093658447266,-55.50399398803711,2.5590(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1404,1398,1395,1392,1392,1392,1398,0,0,0,0,1623,0,1680,169(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-0.6884276866912842,-96.92261505126953,98.33879089355469,76.46174621582031,-55.611141204833984,2.60(...TRUNCATED) | [-1.0558069944381714,-98.5538101196289,99.10233306884766,75.92093658447266,-55.50399398803711,2.5590(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1434,1424,1414,1407,1407,1407,1407,1420,1447,1475,1507,1545,15(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-0.6440644264221191,-96.86250305175781,98.52188110351562,76.41353607177734,-55.5982780456543,2.6367(...TRUNCATED) | [-1.0558069944381714,-98.5538101196289,99.10233306884766,75.92093658447266,-55.50399398803711,2.5590(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1395,1392,1392,1395,1404,1424,1454,1489,1526,1569,1606,164(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-0.5739526748657227,-96.96110534667969,98.3333511352539,76.4063949584961,-55.534271240234375,2.6094(...TRUNCATED) | [-1.0558069944381714,-98.3836669921875,99.10233306884766,75.92093658447266,-55.50399398803711,2.5590(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1395,1388,1385,1379,1376,1370,1388,0,0,0,1534,1577,1614,1645(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-0.6464154720306396,-96.77899169921875,98.33089447021484,76.47885131835938,-55.65060806274414,2.565(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,99.10233306884766,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1447,1444,1430,1424,1417,1407,1404,1407,1407,1424,1451,1493,1538(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-0.5602240562438965,-96.53469848632812,98.04463195800781,76.5173568725586,-55.548641204833984,2.535(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,99.01256561279297,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1407,1398,1388,1382,1376,0,0,0,0,0,0,0,1733,0,1737,1737,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-0.6528782844543457,-96.56340789794922,97.78446960449219,76.4036636352539,-55.58043670654297,2.5170(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,98.92279815673828,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1388,1382,1376,1382,1395,1414,1444,1478,1515,1553,1589,162(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-0.5651545524597168,-96.81655883789062,97.82146453857422,76.43169403076172,-55.57838439941406,2.519(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,98.74327087402344,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1424,1411,1398,1392,1388,1385,0,0,0,0,0,0,0,0,1658,1694,16(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-0.5543060302734375,-96.47515106201172,97.75460815429688,76.58943939208984,-55.63813781738281,2.509(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,98.47396850585938,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1515,1511,1500,1489,1478,1471,1468,1464,1478,1507,1534,1565,1598(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-0.5858092308044434,-96.42717742919922,97.8423080444336,76.45951843261719,-55.53678894042969,2.4804(...TRUNCATED) | [-1.0558069944381714,-98.2135238647461,98.47396850585938,75.92093658447266,-55.50399398803711,2.6246(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1434,1424,1420,1414,1417,1430,1451,0,1519,1557,1593,1631,166(...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": 9453,
"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
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