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action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.front array 3D | timestamp float32 0 5.87 | frame_index int64 0 88 | episode_index int64 0 15 | index int64 0 1.17k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[-2.0332717895507812,-98.4013442993164,92.0577621459961,74.38124084472656,1.3863457441329956,1.90325(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.90229797363281,1.5424836874008179,1.788(...TRUNCATED) | [[[0.018027793616056442,0.02443355694413185,0.03811544552445412,-0.017926637083292007,-0.00990531127(...TRUNCATED) | [[[-0.008020293898880482,0.0037453174591064453,0.008096997626125813,-0.015855450183153152,0.00985659(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-2.0332717895507812,-98.4013442993164,92.0577621459961,74.38124084472656,1.3863457441329956,1.90325(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.90229797363281,1.5424836874008179,1.788(...TRUNCATED) | [[[0.013042948208749294,0.0259185079485178,0.025279339402914047,-0.01830066367983818,-0.005602803081(...TRUNCATED) | [[[-0.005056232213973999,0.0018142352346330881,0.0069800131022930145,-0.01695515587925911,0.00915209(...TRUNCATED) | 0.066667 | 1 | 0 | 1 | 0 |
[-2.1072089672088623,-98.4013442993164,92.0577621459961,74.38124084472656,1.543290615081787,1.903251(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.02026381902396679,0.02765963412821293,0.03274163231253624,-0.016310568898916245,-0.009948003105(...TRUNCATED) | [[[-0.005787804257124662,0.004247561562806368,0.00850384496152401,-0.014362648129463196,0.0079284040(...TRUNCATED) | 0.133333 | 2 | 0 | 2 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.595605492591858,1.903251(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.020587028935551643,0.018673771992325783,0.03377573564648628,-0.013619499281048775,-0.0066718817(...TRUNCATED) | [[[-0.005881125573068857,0.006943920161575079,0.006321609485894442,-0.013968244194984436,0.009538523(...TRUNCATED) | 0.2 | 3 | 0 | 3 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.543290615081787,1.823949(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.016708940267562866,0.02332269214093685,0.02781311422586441,-0.015994112938642502,-0.00642421562(...TRUNCATED) | [[[-0.004107980523258448,0.004819024354219437,0.004649997688829899,-0.01644558645784855,0.0091075776(...TRUNCATED) | 0.266667 | 4 | 0 | 4 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.4909756183624268,1.82394(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.02099595032632351,0.024160852655768394,0.028440268710255623,-0.01593138463795185,-0.00893539190(...TRUNCATED) | [[[-0.006192242261022329,0.006014585494995117,0.008929280564188957,-0.0165566336363554,0.01267982926(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.4909756183624268,1.82394(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.016515906900167465,0.021243907511234283,0.032699987292289734,-0.014277718961238861,-0.005384445(...TRUNCATED) | [[[0.0005663434858433902,0.005786034278571606,0.009177903644740582,-0.013068202883005142,0.006918917(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.543290615081787,1.823949(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.01936943456530571,0.025838453322649002,0.02819680981338024,-0.019000597298145294,-0.01128624193(...TRUNCATED) | [[[-0.007011475507169962,0.00019257594249211252,0.003906422294676304,-0.014872420579195023,0.0096777(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.3863457441329956,1.82394(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.015546380542218685,0.028839239850640297,0.02717987634241581,-0.015027783811092377,-0.0041511696(...TRUNCATED) | [[[-0.0065555269829928875,0.0018175579607486725,0.008414358831942081,-0.01529446616768837,0.00920136(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 |
[-2.1811461448669434,-98.4013442993164,92.0577621459961,74.38124084472656,1.2294009923934937,1.82394(...TRUNCATED) | [-2.0694751739501953,-97.37287902832031,92.24176788330078,74.81546020507812,1.5424836874008179,1.788(...TRUNCATED) | [[[0.01747598685324192,0.021664882078766823,0.03586744889616966,-0.01673116162419319,-0.008199726231(...TRUNCATED) | [[[-0.0065179308876395226,0.0014595193788409233,0.007138263434171677,-0.016011103987693787,0.0087784(...TRUNCATED) | 0.6 | 9 | 0 | 9 | 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 16,
"total_frames": 1169,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:16"
},
"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.wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.vfm_features.wrist": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"observation.vfm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"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
}
}
}
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