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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 54.8 | frame_index int64 0 1.64k | episode_index int64 0 9 | index int64 0 8.53k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-6.263253211975098,-99.34796142578125,99.27954864501953,75.02275085449219,-51.699729919433594,1.230(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.5854606628418,1.574803(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2114,2092,2071,2050,2037,2023,2010,1(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-6.211272239685059,-99.4263916015625,99.68064880371094,75.07208251953125,-51.78086853027344,1.23886(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.5854606628418,1.574803(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2099,2099,2092,2085,2085,2078,2071,2064,2064,2057,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-6.185429573059082,-99.19043731689453,99.84869384765625,75.09391021728516,-51.799072265625,1.266720(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.5854606628418,1.574803(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2023,2023,2023,2023,2023,2017,2023(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-6.114099502563477,-99.21833038330078,99.47557830810547,75.07363891601562,-52.00666046142578,1.1849(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.5854606628418,1.509186(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2037,2037,2030,2030,2037,2037,2037,2037,20(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-6.0727620124816895,-99.09591674804688,99.47203063964844,75.14326477050781,-51.849578857421875,1.25(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.5854606628418,1.443569(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2092,2071,2057,2043,2037,2023,2023,2017,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-6.153806209564209,-99.4066162109375,99.7790756225586,75.11418914794922,-51.91773223876953,1.200822(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.637020111083984,1.4435(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2099,2085,2078,2064,2057,2050,2037,203(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-6.102606773376465,-99.34750366210938,99.43354034423828,75.09274291992188,-51.82891845703125,1.1987(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.68857955932617,1.44356(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2003,2003,2003,1997,1997,1997,1990,199(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-6.290002822875977,-99.55399322509766,99.43029022216797,75.04609680175781,-51.99001693725586,1.2118(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.68857955932617,1.44356(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2037,2037,2037,2037,2037,2(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-6.154935836791992,-99.3586654663086,99.34075164794922,74.99213409423828,-52.14459991455078,1.20659(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.68857955932617,1.44356(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2057,2057,2057,2050,2043,2043,2037,2037,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-6.31108283996582,-99.69650268554688,99.56330871582031,75.04718017578125,-52.08704376220703,1.17898(...TRUNCATED) | [-6.334841728210449,-99.48957824707031,99.5511703491211,75.11231231689453,-51.79169845581055,1.44356(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2023,2023,2023,2010,2010,201(...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": 8533,
"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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