Tsagkas/OTTER_v0
Robotics • Updated • 28
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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[0.00001042309304466471,-0.00024415188818238676,2.6613949444254104e-7,0.006060154642909765,-0.000122(...TRUNCATED) | [1.0803511142730713,0.05290045961737633,2.7725799083709717,0.02618933469057083,0.13739682734012604,0(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.020721435546875,0.03839111328125,-0.00972747802734375,0.003582000732421875,0.03741455078125,0.(...TRUNCATED) | [[[-0.026702880859375,-0.025909423828125,0.0150299072265625,-0.03033447265625,-0.0203094482421875,0.(...TRUNCATED) | 0.285714 | 2 | 0 | 2 | 0 |
[-6.47148112875584e-8,-7.25812287782901e-6,-1.3467148107793037e-7,-0.001265042694285512,0.0000179520(...TRUNCATED) | [1.0803511142730713,0.05008111894130707,2.7726731300354004,0.027659861370921135,0.13738353550434113,(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[0.0009522438049316406,0.041717529296875,0.002407073974609375,0.037628173828125,0.0633544921875,0.(...TRUNCATED) | [[[-0.0226898193359375,-0.0170135498046875,0.01251983642578125,-0.0275115966796875,-0.02383422851562(...TRUNCATED) | 0.428571 | 3 | 0 | 3 | 0 |
[5.064734523330117e-6,-0.00011482793343020603,2.7151668291480746e-7,0.004295011050999165,-0.00008410(...TRUNCATED) | [1.0803511142730713,0.05008111894130707,2.7726731300354004,0.027659861370921135,0.13738353550434113,(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[0.005832672119140625,0.035400390625,-0.0172271728515625,0.0228729248046875,0.0601806640625,0.0332(...TRUNCATED) | [[[-0.0157318115234375,-0.0198516845703125,0.0247955322265625,-0.031585693359375,-0.0286407470703125(...TRUNCATED) | 0.571429 | 4 | 0 | 4 | 0 |
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[-8.019348740617716e-8,-7.257921424752567e-6,-1.3718843661081337e-7,-0.0012650203425437212,0.0000193(...TRUNCATED) | [1.0803511142730713,0.0538543239235878,2.7711002826690674,0.02847270667552948,0.13761411607265472,0.(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.009613037109375,0.040191650390625,-0.002552032470703125,0.008148193359375,0.056610107421875,0.(...TRUNCATED) | [[[-0.0250396728515625,-0.014251708984375,0.0153961181640625,-0.025665283203125,-0.01398468017578125(...TRUNCATED) | 0.857143 | 6 | 0 | 6 | 0 |
[0.0010482786456122994,-0.00010839552123798057,0.0016677118837833405,-0.0009305772255174816,-0.00801(...TRUNCATED) | [1.0803511142730713,0.0538543239235878,2.7711002826690674,0.02847270667552948,0.13761411607265472,0.(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[0.007038116455078125,0.05657958984375,0.005748748779296875,0.027801513671875,0.06463623046875,0.0(...TRUNCATED) | [[[-0.0224609375,-0.0188140869140625,0.01064300537109375,-0.0290374755859375,-0.0297088623046875,0.0(...TRUNCATED) | 1 | 7 | 0 | 7 | 0 |
[0.008089444600045681,0.000296691752737388,0.013317177072167397,0.0023135857190936804,-0.06673556566(...TRUNCATED) | [1.0803511142730713,0.0538543239235878,2.7711002826690674,0.02847270667552948,0.13761411607265472,0.(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.002246856689453125,0.055389404296875,-0.001163482666015625,0.02374267578125,0.060455322265625,(...TRUNCATED) | [[[-0.0136566162109375,-0.0227508544921875,0.0160369873046875,-0.0190582275390625,-0.028549194335937(...TRUNCATED) | 1.142857 | 8 | 0 | 8 | 0 |
[0.00619840482249856,0.00021789546008221805,0.016564521938562393,0.00014407541311811656,-0.048287954(...TRUNCATED) | [1.0803511142730713,0.05345097556710243,2.7503466606140137,0.02988402545452118,0.14017847180366516,0(...TRUNCATED) | [0.004238128662109375,0.005329132080078125,-0.01354217529296875,-0.0205230712890625,-0.0164642333984(...TRUNCATED) | [-0.0248260498046875,-0.0205230712890625,0.0007214546203613281,-0.0228271484375,-0.0104522705078125,(...TRUNCATED) | [[[-0.002376556396484375,0.055633544921875,0.004421234130859375,0.03289794921875,0.058319091796875,0(...TRUNCATED) | [[[-0.026763916015625,-0.01355743408203125,0.01067352294921875,-0.02655029296875,-0.016021728515625,(...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": 48,
"total_frames": 4980,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 7,
"splits": {
"train": "0:48"
},
"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": {
"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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Models trained or fine-tuned on Tsagkas/dataset_deltas_lvfm_v8