Tsagkas/VLA_sm_where_what_v16
Robotics • Updated • 20
Search is not available for this dataset
action list | observation.state list | observation.skill_feature list | observation.object_feature list | observation.vlm_features.wrist array 3D | observation.vlm_features.front array 3D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|
[
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1.0734930038452148
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[0.009294341318309307,0.000342287850799039,0.024587534368038177,0.0005934947985224426,-0.07925853133(...TRUNCATED) | [1.0128291845321655,0.0516633465886116,2.7372655868530273,0.032621029764413834,0.14178599417209625,0(...TRUNCATED) | [-0.02069091796875,0.011810302734375,0.0007796287536621094,-0.0140533447265625,0.00749969482421875,-(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.01517486572265625,0.036163330078125,0.020111083984375,0.05108642578125,0.049102783203125,-0.00(...TRUNCATED) | [[[-0.0027370452880859375,-0.017608642578125,0.0187835693359375,-0.0302581787109375,-0.022705078125,(...TRUNCATED) | 0.857143 | 6 | 0 | 6 | 0 |
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[0.006671958137303591,0.0009210144635289907,0.0189483892172575,-0.009408997371792793,-0.029328955337(...TRUNCATED) | [1.0128291845321655,0.05047571286559105,2.586101531982422,0.042402125895023346,0.15872018039226532,0(...TRUNCATED) | [-0.02069091796875,0.011810302734375,0.0007796287536621094,-0.0140533447265625,0.00749969482421875,-(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[0.002231597900390625,0.0335693359375,0.005889892578125,0.0008378028869628906,0.04296875,0.0069923(...TRUNCATED) | [[[-0.0039215087890625,-0.00762939453125,0.0201416015625,-0.031036376953125,-0.00807952880859375,0.0(...TRUNCATED) | 1.142857 | 8 | 0 | 8 | 0 |
[0.00639692135155201,0.0006105907377786934,0.01466215867549181,-0.0058237179182469845,-0.01763669028(...TRUNCATED) | [1.3504388332366943,0.048216357827186584,2.554640054702759,0.04489719867706299,0.16889585554599762,0(...TRUNCATED) | [-0.02069091796875,0.011810302734375,0.0007796287536621094,-0.0140533447265625,0.00749969482421875,-(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.01111602783203125,0.0224609375,0.0242919921875,0.004451751708984375,0.03143310546875,-0.004440(...TRUNCATED) | [[[-0.008697509765625,-0.003997802734375,0.0187225341796875,-0.032012939453125,-0.008056640625,-0.00(...TRUNCATED) | 1.285714 | 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": 60,
"total_frames": 4112,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 7,
"splits": {
"train": "0:60"
},
"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": [
"ee.x",
"ee.y",
"ee.z",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.gripper_pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"ee.gripper_pos",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.x",
"ee.y",
"ee.z"
],
"shape": [
7
]
},
"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": 7,
"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": 7,
"video.channels": 3,
"has_audio": false
}
},
"observation.skill_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.object_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.vlm_features.wrist": {
"dtype": "float32",
"shape": [
16,
16,
1024
],
"names": null
},
"observation.vlm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
1024
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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