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action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.front array 3D | timestamp float32 0 9.07 | frame_index int64 0 136 | episode_index int64 0 2 | index int64 0 402 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[-0.39524102210998535,-102.29888916015625,98.90484619140625,74.865966796875,-2.7980856895446777,-0.6(...TRUNCATED) | [-3.5476717948913574,-97.71186065673828,93.14389038085938,74.90229797363281,-0.6535947918891907,0.19(...TRUNCATED) | [[[0.012763959355652332,0.01392810232937336,-0.002071137772873044,-0.002728379098698497,-0.020717857(...TRUNCATED) | [[[0.002547766314819455,-0.029522599652409554,-0.030453823506832123,0.004281184636056423,-0.00258636(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-0.26951324939727783,-103.09870910644531,99.31239318847656,74.69396209716797,-2.7638368606567383,-0(...TRUNCATED) | [-3.5476717948913574,-97.62712097167969,93.14389038085938,74.90229797363281,-0.6535947918891907,0.19(...TRUNCATED) | [[[0.012473671697080135,0.019552843645215034,-0.0009545983048155904,0.002136997180059552,-0.02152533(...TRUNCATED) | [[[0.011955752037465572,-0.02358018048107624,-0.021442025899887085,0.008503487333655357,0.0067069893(...TRUNCATED) | 0.066667 | 1 | 0 | 1 | 0 |
[-0.11001801490783691,-103.48406982421875,99.36521911621094,74.46007537841797,-2.622170925140381,-1.(...TRUNCATED) | [-2.88248348236084,-97.88135528564453,94.22643280029297,74.90229797363281,-1.2287582159042358,0.1986(...TRUNCATED) | [[[0.024157129228115082,0.018104560673236847,0.007241017650812864,0.0010232232743874192,-0.014085691(...TRUNCATED) | [[[-0.00456245569512248,-0.027071861550211906,-0.029403770342469215,0.001741274376399815,-0.01251588(...TRUNCATED) | 0.133333 | 2 | 0 | 2 | 0 |
[-0.0008869171142578125,-103.48709106445312,98.91090393066406,74.21556091308594,-2.4780259132385254,(...TRUNCATED) | [-0.8130081295967102,-97.96610260009766,98.19576263427734,74.38124084472656,-2.117647171020508,0.198(...TRUNCATED) | [[[0.022454505786299706,0.006438808515667915,-0.029614191502332687,0.018427876755595207,-0.006762764(...TRUNCATED) | [[[0.004039027728140354,-0.02012285776436329,-0.031053487211465836,0.006747233681380749,-0.004039340(...TRUNCATED) | 0.2 | 3 | 0 | 3 | 0 |
[0.07720232009887695,-102.96383666992188,98.51878356933594,73.96981811523438,-2.339315414428711,-0.7(...TRUNCATED) | [-0.8869179487228394,-98.05084991455078,99.0076675415039,74.38124084472656,-2.274509906768799,0.1986(...TRUNCATED) | [[[0.0018512329552322626,0.011603310704231262,-0.0167348925024271,0.0022185908164829016,-0.017851319(...TRUNCATED) | [[[0.00026325922226533294,-0.02762363851070404,-0.033298369497060776,0.005502341315150261,-0.0267102(...TRUNCATED) | 0.266667 | 4 | 0 | 4 | 0 |
[0.14504218101501465,-102.40400695800781,97.63592529296875,73.54269409179688,-2.183992385864258,-0.2(...TRUNCATED) | [-0.5173687934875488,-98.05084991455078,99.0076675415039,74.38124084472656,-2.3267974853515625,0.198(...TRUNCATED) | [[[0.013112370856106281,0.031712085008621216,-0.009059824049472809,0.0040368568152189255,-0.01462752(...TRUNCATED) | [[[0.001984152477234602,-0.02413865737617016,-0.03263489529490471,0.0042565613985061646,-0.027796983(...TRUNCATED) | 0.333333 | 5 | 0 | 5 | 0 |
[0.21997690200805664,-101.90904235839844,96.40225219726562,73.17432403564453,-2.016420841217041,0.62(...TRUNCATED) | [-0.295639306306839,-98.05084991455078,99.0076675415039,74.29439544677734,-2.3267974853515625,0.1986(...TRUNCATED) | [[[0.011330505833029747,0.02802582085132599,-0.012417446821928024,-0.0010754279792308807,-0.01697821(...TRUNCATED) | [[[0.0011240594321861863,-0.02661793865263462,-0.04476034641265869,0.002687972504645586,-0.025787977(...TRUNCATED) | 0.4 | 6 | 0 | 6 | 0 |
[0.35446596145629883,-101.13301086425781,95.71774291992188,72.80647277832031,-1.8877311944961548,1.8(...TRUNCATED) | [-0.295639306306839,-98.05084991455078,99.0076675415039,74.03386688232422,-2.3267974853515625,0.1986(...TRUNCATED) | [[[0.010651118122041225,0.03006451390683651,-0.009096642024815083,-0.004107831045985222,-0.019170457(...TRUNCATED) | [[[0.003827073145657778,-0.026708347722887993,-0.03332727029919624,0.0004799510061275214,-0.01216799(...TRUNCATED) | 0.466667 | 7 | 0 | 7 | 0 |
[0.41757333278656006,-100.24514770507812,94.41621398925781,72.44004821777344,-1.7530425786972046,3.3(...TRUNCATED) | [-0.295639306306839,-98.05084991455078,98.64682006835938,73.7733383178711,-2.222222328186035,0.39735(...TRUNCATED) | [[[0.007382034789770842,0.016707001253962517,-0.009883392602205276,0.007604216691106558,-0.019129715(...TRUNCATED) | [[[-0.0006806348683312535,-0.02558041177690029,-0.032948147505521774,-0.0025693876668810844,-0.01468(...TRUNCATED) | 0.533333 | 8 | 0 | 8 | 0 |
[0.4802199602127075,-98.71258544921875,92.90322875976562,72.20458221435547,-1.5978986024856567,4.953(...TRUNCATED) | [-0.07390982657670975,-98.05084991455078,98.28597259521484,73.42596435546875,-2.117647171020508,1.39(...TRUNCATED) | [[[0.012864512391388416,0.016759002581238747,-0.019284017384052277,0.012638942338526249,-0.016109310(...TRUNCATED) | [[[0.00742996484041214,-0.024436531588435173,-0.02902706153690815,0.0018832862842828035,-0.018812540(...TRUNCATED) | 0.6 | 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": 3,
"total_frames": 403,
"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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