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Datasets:
shirasu206
/
fr5_dataset_20251106_v38

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
fr5
pi0
robot-dataset
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Datasets
Dask
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observation.state
list
action
list
timestamp
float32
0
3.6
frame_index
int64
0
72
episode_index
int64
0
2
index
int64
0
83
task_index
int64
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2
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
56
0
56
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301637411117554, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
2.85
57
0
57
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
2.9
58
0
58
0
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301637411117554, -1.5676637887954712, -0.6783345937728882 ]
2.95
59
0
59
0
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301637411117554, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
3
60
0
60
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
3.05
61
0
61
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
3.1
62
0
62
0
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676676034927368, -0.6783384084701538 ]
3.15
63
0
63
0
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676676034927368, -0.6783384084701538 ]
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301637411117554, -1.5676637887954712, -0.6783345937728882 ]
3.2
64
0
64
0
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301637411117554, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503270030021667, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
3.25
65
0
65
0
[ -0.5503270030021667, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
3.3
66
0
66
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503270030021667, -0.09912021458148956, 0, -1.430171251296997, -1.5676637887954712, -0.6783384084701538 ]
3.35
67
0
67
0
[ -0.5503270030021667, -0.09912021458148956, 0, -1.430171251296997, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, -0.0000037969819004501915, -1.4301637411117554, -1.5676676034927368, -0.6783384084701538 ]
3.4
68
0
68
0
[ -0.5503231883049011, -0.09912021458148956, -0.0000037969819004501915, -1.4301637411117554, -1.5676676034927368, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
3.45
69
0
69
0
[ -0.5503231883049011, -0.09912021458148956, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301637411117554, -1.5676600933074951, -0.6783384084701538 ]
3.5
70
0
70
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301637411117554, -1.5676600933074951, -0.6783384084701538 ]
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676600933074951, -0.6783384084701538 ]
3.55
71
0
71
0
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676600933074951, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
3.6
72
0
72
0
[ -0.5503270030021667, -0.09911642223596573, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0
0
1
73
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676676034927368, -0.6783384084701538 ]
0.05
1
1
74
0
[ -0.5503270030021667, -0.09911642223596573, 0, -1.4301674365997314, -1.5676676034927368, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0.1
2
1
75
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0.15
3
1
76
0
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09911642223596573, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
0.2
4
1
77
0
[ -0.5503231883049011, -0.09911642223596573, 0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503231883049011, -0.09912021458148956, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
0.25
5
1
78
0
[ -0.5503231883049011, -0.09912021458148956, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783345937728882 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0.3
6
1
79
0
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503231883049011, -0.09912021458148956, 0, -1.4301674365997314, -1.5676676034927368, -0.6783345937728882 ]
0.35
7
1
80
0
[ -0.5503231883049011, -0.09911642223596573, -0.0000037969819004501915, -1.4301674365997314, -1.5676676034927368, -0.6783345937728882 ]
[ -0.5503270030021667, -0.09912021458148956, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0
0
2
81
0
[ -0.5503270030021667, -0.09912021458148956, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
[ -0.5503270030021667, -0.09912021458148956, -0.000007593963800900383, -1.4301674365997314, -1.5676676034927368, -0.6783422827720642 ]
0.05
1
2
82
0
[ -0.5503270030021667, -0.09912021458148956, -0.000007593963800900383, -1.4301674365997314, -1.5676676034927368, -0.6783422827720642 ]
[ -0.5503231883049011, -0.09912021458148956, -0.0000037969819004501915, -1.4301674365997314, -1.5676637887954712, -0.6783384084701538 ]
0.1
2
2
83
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "fr5",
    "total_episodes": 3,
    "total_frames": 84,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
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            "shape": [
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            "names": [
                "H",
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                "C"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.wrist_image": {
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            "shape": [
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            ],
            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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                "video.channels": 3,
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            }
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "state"
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        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "actions"
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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