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Datasets:
shirasu206
/
fr5_dataset_20251106_v16

Tasks:
Robotics
Tags:
LeRobot
fr5
pi0
robot-dataset
License:
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xet
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image
image
wrist_image
image
state
list
actions
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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3.1
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62
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[ -0.40556323528289795, -1.1637787818908691, 1.6336249113082886, -2.1023547649383545, -1.5755919218063354, -0.6033404469490051 ]
[ -0.014379173517227173, 0.005194306373596191, -0.00767362117767334, 0.002460479736328125, 0.0008580684661865234, -0.01437157392501831 ]
3.15
63
0
63
0
[ -0.4199424088001251, -1.158584475517273, 1.6259512901306152, -2.0998942852020264, -1.574733853340149, -0.6177120208740234 ]
[ -0.007145941257476807, 0.0027414560317993164, -0.004009604454040527, 0.001245260238647461, 0.0004366636276245117, -0.007149696350097656 ]
3.2
64
0
64
0
[ -0.42708835005760193, -1.1558430194854736, 1.6219416856765747, -2.098649024963379, -1.5742971897125244, -0.6248617172241211 ]
[ 0, 0, 0, 0, 0, 0 ]
3.25
65
0
65
0
[ -0.42708835005760193, -1.1558430194854736, 1.6219416856765747, -2.098649024963379, -1.5742971897125244, -0.6248617172241211 ]
[ -0.00012150406837463379, 0.00006437301635742188, -0.00006830692291259766, 0.00003409385681152344, 0.000019073486328125, -0.00011396408081054688 ]
3.3
66
0
66
0
[ -0.42720985412597656, -1.1557786464691162, 1.621873378753662, -2.0986149311065674, -1.5742781162261963, -0.6249756813049316 ]
[ -0.00007972121238708496, 0.00003802776336669922, -0.00005316734313964844, 0.000019073486328125, 0.0000036954879760742188, -0.00005310773849487305 ]
3.35
67
0
67
0
[ -0.42728957533836365, -1.1557406187057495, 1.6218202114105225, -2.0985958576202393, -1.5742744207382202, -0.6250287890434265 ]
[ -0.000018984079360961914, 0.000011444091796875, -0.000015139579772949219, 0.000011444091796875, 0.00000762939453125, -0.0000152587890625 ]
3.4
68
0
68
0
[ -0.4273085594177246, -1.1557291746139526, 1.6218050718307495, -2.0985844135284424, -1.574266791343689, -0.625044047832489 ]
[ -0.000003814697265625, 0, -0.000011444091796875, 0.00000762939453125, 0.000003814697265625, -0.0000037550926208496094 ]
3.45
69
0
69
0
[ -0.42731237411499023, -1.1557291746139526, 1.6217936277389526, -2.098576784133911, -1.5742629766464233, -0.6250478029251099 ]
[ -0.000003814697265625, 0.000003814697265625, 0.0000036954879760742188, 0.000003814697265625, -0.000003814697265625, -0.00000762939453125 ]
3.5
70
0
70
0
[ -0.42731618881225586, -1.155725359916687, 1.6217973232269287, -2.0985729694366455, -1.574266791343689, -0.6250554323196411 ]
[ 0, -0.000007748603820800781, 0, 0.000003814697265625, 0.000003814697265625, 0.00000762939453125 ]
3.55
71
0
71
0
[ -0.42731618881225586, -1.1557331085205078, 1.6217973232269287, -2.09856915473938, -1.5742629766464233, -0.6250478029251099 ]
[ 0.00000762939453125, 0.000003933906555175781, 0.000003814697265625, -0.000003814697265625, 0, 0.0000037550926208496094 ]
3.6
72
0
72
0
[ -0.4273085594177246, -1.1557291746139526, 1.6218011379241943, -2.0985729694366455, -1.5742629766464233, -0.625044047832489 ]
[ -0.000003814697265625, 0, -0.000003814697265625, 0, -0.000003814697265625, -0.000007569789886474609 ]
3.65
73
0
73
0
[ -0.42731237411499023, -1.1557291746139526, 1.6217973232269287, -2.0985729694366455, -1.574266791343689, -0.6250516176223755 ]
[ 0, 0.000003814697265625, -0.0000036954879760742188, 0.0000073909759521484375, 0.000003814697265625, 0 ]
3.7
74
0
74
0
[ -0.42731237411499023, -1.155725359916687, 1.6217936277389526, -2.0985655784606934, -1.5742629766464233, -0.6250516176223755 ]
[ 0.000003814697265625, -0.000003814697265625, 0.000007510185241699219, -0.0000035762786865234375, 0, 0 ]
3.75
75
0
75
0
[ -0.4273085594177246, -1.1557291746139526, 1.6218011379241943, -2.09856915473938, -1.5742629766464233, -0.6250516176223755 ]
[ 0, 0, 0, 0, 0.0000036954879760742188, 0.00001138448715209961 ]
3.8
76
0
76
0
[ -0.4273085594177246, -1.1557291746139526, 1.6218011379241943, -2.09856915473938, -1.5742592811584473, -0.6250402331352234 ]
[ 0.00001138448715209961, 0, 0, 0, 0, 0.00000762939453125 ]
3.85
77
0
77
0
[ -0.4272971749305725, -1.1557291746139526, 1.6218011379241943, -2.09856915473938, -1.5742592811584473, -0.6250326037406921 ]
[ 0, 0, -0.000003814697265625, 0, -0.0000036954879760742188, 0.000003814697265625 ]
3.9
78
0
78
0
[ -0.4272971749305725, -1.1557291746139526, 1.6217973232269287, -2.09856915473938, -1.5742629766464233, -0.6250287890434265 ]
[ 0, 0, 0.000003814697265625, 0, 0, 0.000003814697265625 ]
3.95
79
0
79
0
[ -0.4272971749305725, -1.1557291746139526, 1.6218011379241943, -2.09856915473938, -1.5742629766464233, -0.6250249743461609 ]
[ 0.000003814697265625, -0.000003933906555175781, 0.00000762939453125, 0.0000035762786865234375, 0.0000036954879760742188, 0.000007569789886474609 ]
4
80
0
80
0
[ -0.4272933602333069, -1.1557331085205078, 1.6218087673187256, -2.0985655784606934, -1.5742592811584473, -0.6250174045562744 ]
[ 0.000007569789886474609, -0.0000036954879760742188, -0.0000036954879760742188, 0, 0, 0.00001519918441772461 ]
4.05
81
0
81
0
[ -0.4272857904434204, -1.1557368040084839, 1.6218050718307495, -2.0985655784606934, -1.5742592811584473, -0.6250022053718567 ]
[ 0.000003814697265625, 0.0000036954879760742188, 0.000007510185241699219, -0.0000035762786865234375, -0.0000036954879760742188, 0.0000037550926208496094 ]
4.1
82
0
82
0
[ -0.4272819757461548, -1.1557331085205078, 1.6218125820159912, -2.09856915473938, -1.5742629766464233, -0.6249984502792358 ]
[ 0.02928990125656128, -0.010498523712158203, 0.01556384563446045, -0.0049817562103271484, -0.001780867576599121, 0.029289960861206055 ]
4.15
83
0
83
0
[ -0.3979920744895935, -1.166231632232666, 1.6373764276504517, -2.103550910949707, -1.5760438442230225, -0.5957084894180298 ]
[ 0.00005695223808288574, -0.000026702880859375, 0.00002276897430419922, -0.000003814697265625, -0.0000036954879760742188, 0.00003790855407714844 ]
4.2
84
0
84
0
[ -0.3979351222515106, -1.1662583351135254, 1.6373991966247559, -2.1035547256469727, -1.5760475397109985, -0.5956705808639526 ]
[ 0.00012150406837463379, -0.00006437301635742188, 0.000060677528381347656, -0.000015020370483398438, -0.000019073486328125, 0.00008356571197509766 ]
4.25
85
0
85
0
[ -0.397813618183136, -1.1663227081298828, 1.6374598741531372, -2.103569746017456, -1.5760666131973267, -0.5955870151519775 ]
[ 0.00005695223808288574, -0.00003421306610107422, 0.00003802776336669922, -0.00000762939453125, -0.000011324882507324219, 0.000030338764190673828 ]
4.3
86
0
86
0
[ -0.3977566659450531, -1.1663569211959839, 1.637497901916504, -2.1035773754119873, -1.576077938079834, -0.5955566763877869 ]
[ 0.00001138448715209961, -0.00002276897430419922, 0.000015139579772949219, 0, -0.000011444091796875, 0.000003814697265625 ]
4.35
87
0
87
0
[ -0.397745281457901, -1.166379690170288, 1.6375130414962769, -2.1035773754119873, -1.5760893821716309, -0.5955528616905212 ]
[ 0, -0.00000762939453125, 0.00000762939453125, 0.000003814697265625, 0.000003933906555175781, -0.000003814697265625 ]
4.4
88
0
88
0
[ -0.397745281457901, -1.1663873195648193, 1.637520670890808, -2.1035735607147217, -1.5760854482650757, -0.5955566763877869 ]
[ 0, -0.000003814697265625, 0.000003814697265625, 0, 0, -0.0000037550926208496094 ]
4.45
89
0
89
0
[ -0.397745281457901, -1.166391134262085, 1.6375244855880737, -2.1035735607147217, -1.5760854482650757, -0.5955604314804077 ]
[ -0.0000037848949432373047, -0.000003814697265625, -0.000003814697265625, 0.0000073909759521484375, -0.000003933906555175781, -0.00001519918441772461 ]
4.5
90
0
90
0
[ -0.39774906635284424, -1.1663949489593506, 1.637520670890808, -2.1035661697387695, -1.5760893821716309, -0.5955756306648254 ]
[ -0.0000037848949432373047, -0.000003814697265625, 0, 0, 0, -0.000007569789886474609 ]
4.55
91
0
91
0
[ -0.3977528512477875, -1.1663987636566162, 1.637520670890808, -2.1035661697387695, -1.5760893821716309, -0.5955832004547119 ]
[ 0, 0.000003814697265625, 0.000003814697265625, 0.00000762939453125, 0, -0.00001138448715209961 ]
4.6
92
0
92
0
[ -0.3977528512477875, -1.1663949489593506, 1.6375244855880737, -2.1035585403442383, -1.5760893821716309, -0.595594584941864 ]
[ -0.000007599592208862305, 0.000003814697265625, -0.000003814697265625, 0.00000762939453125, 0, -0.000003814697265625 ]
4.65
93
0
93
0
[ -0.39776045083999634, -1.166391134262085, 1.637520670890808, -2.103550910949707, -1.5760893821716309, -0.5955983996391296 ]
[ -0.000007599592208862305, -0.000003814697265625, 0, 0, 0.000003933906555175781, -0.000007569789886474609 ]
4.7
94
0
94
0
[ -0.3977680504322052, -1.1663949489593506, 1.637520670890808, -2.103550910949707, -1.5760854482650757, -0.5956059694290161 ]
[ -0.000007569789886474609, 0, 0, 0.00000762939453125, -0.000003933906555175781, -0.000003814697265625 ]
4.75
95
0
95
0
[ -0.3977756202220917, -1.1663949489593506, 1.637520670890808, -2.103543281555176, -1.5760893821716309, -0.5956097841262817 ]
[ -0.000026613473892211914, 0.000003814697265625, -0.00000762939453125, 0.000003814697265625, 0.000003933906555175781, -0.000007569789886474609 ]
4.8
96
0
96
0
[ -0.3978022336959839, -1.166391134262085, 1.6375130414962769, -2.10353946685791, -1.5760854482650757, -0.5956173539161682 ]
[ -0.000015169382095336914, 0, 0, 0.00000762939453125, -0.000003933906555175781, -0.000003814697265625 ]
4.85
97
0
97
0
[ -0.3978174030780792, -1.166391134262085, 1.6375130414962769, -2.103531837463379, -1.5760893821716309, -0.5956211686134338 ]
[ -0.00001519918441772461, -0.000003814697265625, 0, 0.000003814697265625, 0.000003933906555175781, -0.000007569789886474609 ]
4.9
98
0
98
0
[ -0.39783260226249695, -1.1663949489593506, 1.6375130414962769, -2.1035280227661133, -1.5760854482650757, -0.5956287384033203 ]
[ -0.00001138448715209961, 0.000003814697265625, -0.0000036954879760742188, 0.0000073909759521484375, -0.000003933906555175781, 0 ]
4.95
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "fr5",
    "total_episodes": 2,
    "total_frames": 154,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20.0,
    "splits": {
        "train": "0:2"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "H",
                "W",
                "C"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "H",
                "W",
                "C"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "actions_delta"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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