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action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.front array 3D | timestamp float32 0 5.33 | frame_index int64 0 80 | episode_index int64 0 2 | index int64 0 202 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[-1.9263468980789185,-93.27424621582031,85.34005737304688,75.24799346923828,-0.7198052406311035,1.59(...TRUNCATED) | [-8.64745044708252,-97.62712097167969,93.14389038085938,74.81546020507812,-1.2287582159042358,1.5231(...TRUNCATED) | [[[0.020404238253831863,0.04731088504195213,-0.021547574549913406,-0.032058585435152054,-0.010636086(...TRUNCATED) | [[[0.001599823939613998,0.009663619101047516,-0.015348655171692371,-0.013595081865787506,0.006282219(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-1.972119927406311,-92.57743072509766,84.55130004882812,75.4166030883789,-0.5795731544494629,2.6908(...TRUNCATED) | [-8.64745044708252,-97.62712097167969,93.14389038085938,74.81546020507812,-1.2287582159042358,1.5231(...TRUNCATED) | [[[0.020739875733852386,0.04341454431414604,-0.012547769583761692,-0.03979464992880821,-0.0064493180(...TRUNCATED) | [[[0.006951424293220043,0.002870480064302683,-0.013545929454267025,-0.01373959518969059,0.0064474996(...TRUNCATED) | 0.066667 | 1 | 0 | 1 | 0 |
[-1.8473073244094849,-92.30985260009766,84.15302276611328,75.34618377685547,-0.5972473621368408,3.68(...TRUNCATED) | [-7.908351898193359,-97.11864471435547,92.87325286865234,74.90229797363281,-1.0718954801559448,1.523(...TRUNCATED) | [[[0.02155853621661663,0.03911289945244789,-0.011084180325269699,-0.03659920394420624,-0.00966363493(...TRUNCATED) | [[[0.0025862420443445444,0.005933879408985376,-0.01684536598622799,-0.00884498842060566,0.0031605272(...TRUNCATED) | 0.133333 | 2 | 0 | 2 | 0 |
[-2.010941505432129,-92.95588684082031,83.45086669921875,75.59049987792969,-0.6311383247375488,4.620(...TRUNCATED) | [-3.9172210693359375,-93.81356048583984,88.90392303466797,75.07598876953125,-0.8104575276374817,2.25(...TRUNCATED) | [[[0.024397702887654305,0.04159003123641014,0.007628772407770157,-0.007953982800245285,-0.0252032950(...TRUNCATED) | [[[0.0018339052330702543,0.002983917947858572,-0.013305419124662876,-0.012833764776587486,0.00962364(...TRUNCATED) | 0.2 | 3 | 0 | 3 | 0 |
[-1.8748852014541626,-91.8261947631836,82.71992492675781,74.94044494628906,-0.6670353412628174,7.929(...TRUNCATED) | [-3.1781227588653564,-93.6440658569336,87.28010559082031,75.07598876953125,-0.8104575276374817,3.245(...TRUNCATED) | [[[0.013509886339306831,0.04478267952799797,0.010876881889998913,0.004482014570385218,-0.02269004844(...TRUNCATED) | [[[0.002209089696407318,0.0014597499975934625,-0.008705385960638523,-0.010989970527589321,0.00594788(...TRUNCATED) | 0.266667 | 4 | 0 | 4 | 0 |
[-1.7680894136428833,-90.2262191772461,79.99169158935547,74.41038513183594,-0.7804739475250244,11.79(...TRUNCATED) | [-2.5129342079162598,-93.30508422851562,86.55841064453125,75.33651733398438,-0.8104575276374817,4.10(...TRUNCATED) | [[[0.028547819703817368,0.06265601515769958,-0.000492919993121177,-0.0007317715208046138,-0.03681454(...TRUNCATED) | [[[2.404059614491416e-6,0.004438392352312803,-0.011422072537243366,-0.01396502647548914,0.0133181065(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 |
[-1.5337952375411987,-86.7860107421875,75.86387634277344,74.09013366699219,-0.8050053119659424,17.47(...TRUNCATED) | [-2.2912046909332275,-92.62712097167969,85.65629577636719,75.33651733398438,-0.8104575276374817,6.35(...TRUNCATED) | [[[-0.0017834235914051533,0.05948343127965927,-0.0016022712225094438,0.00562310079112649,-0.01397333(...TRUNCATED) | [[[0.005577039439231157,0.0016873189015313983,-0.017537860199809074,-0.012844040058553219,0.00592221(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 |
[-1.4645074605941772,-83.2718734741211,72.13788604736328,74.11354064941406,-0.6050310134887695,23.18(...TRUNCATED) | [-2.0694751739501953,-90.4237289428711,83.49120330810547,75.16283416748047,-0.8104575276374817,9.801(...TRUNCATED) | [[[0.004077684599906206,0.041177671402692795,0.0011819051578640938,0.0039032611530274153,-0.00539020(...TRUNCATED) | [[[0.0031215264461934566,0.0015516943531110883,-0.01615961082279682,-0.011036651208996773,0.00497620(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 |
[-1.3865026235580444,-80.34393310546875,68.35721588134766,74.3435287475586,-0.27601051330566406,28.8(...TRUNCATED) | [-1.7738358974456787,-88.72881317138672,80.15335845947266,74.81546020507812,-0.8104575276374817,13.9(...TRUNCATED) | [[[0.019453570246696472,0.06065269187092781,-0.00027506929473020136,-0.007567837368696928,-0.0168294(...TRUNCATED) | [[[-0.003863581456243992,0.004142065066844225,-0.009668383747339249,-0.017438262701034546,0.00593599(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 |
[-1.4920598268508911,-76.85057067871094,63.366188049316406,75.0753173828125,-0.051497697830200195,34(...TRUNCATED) | [-1.7738358974456787,-85.08474731445312,76.27424621582031,74.81546020507812,-0.8104575276374817,19.2(...TRUNCATED) | [[[0.007035064045339823,0.05557895451784134,-0.003924895543605089,0.016884461045265198,-0.0064686425(...TRUNCATED) | [[[-0.001246198546141386,0.006692924536764622,-0.01397369708865881,-0.009960869327187538,0.011297180(...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": 3,
"total_frames": 203,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:3"
},
"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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