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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 57.8 | frame_index int64 0 1.73k | episode_index int64 0 4 | index int64 0 8.31k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-4.9498138427734375,-98.2442626953125,99.72742462158203,72.1661605834961,-58.44176483154297,15.7317(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.28186798095703,73.22551727294922,-58.030418395996094,17.45(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,591,591,591,590,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-5.014481544494629,-98.26931762695312,99.95166778564453,72.1801528930664,-58.492774963378906,15.594(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.28186798095703,73.22551727294922,-58.030418395996094,17.45(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,593,592,592,(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-4.955909729003906,-98.45310974121094,99.90699768066406,72.16310119628906,-58.555702209472656,15.53(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.28186798095703,73.22551727294922,-58.030418395996094,17.45(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,589,589,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-5.01850700378418,-98.7190170288086,99.97679138183594,72.0169906616211,-58.6112060546875,15.4468793(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.4614028930664,73.04582214355469,-58.2882194519043,16.92913(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,594,594,594,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-4.8785295486450195,-98.63629913330078,99.6242446899414,71.93270111083984,-58.52014923095703,15.410(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.95597839355469,-58.39133834838867,16.2729(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,593,591,590,590,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-4.905952453613281,-98.65117645263672,99.93696594238281,71.75508117675781,-58.495079040527344,15.21(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.77628326416016,-58.44289779663086,15.9448(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,591,591,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-4.940166473388672,-98.67771911621094,100.02685546875,71.50747680664062,-58.58189392089844,15.28269(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.59658813476562,-58.44289779663086,15.7480(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,0,(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-4.810849189758301,-98.52901458740234,99.97549438476562,71.34352111816406,-58.628143310546875,15.11(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.4168930053711,-58.44289779663086,15.48556(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,593,593,59(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-4.80647087097168,-98.52037811279297,99.7496109008789,71.24115753173828,-58.393524169921875,15.0210(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.23719787597656,-58.49445724487305,15.4855(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,590,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-4.852219581604004,-98.56240844726562,99.97145080566406,71.3251724243164,-58.646018981933594,15.129(...TRUNCATED) | [-4.977375507354736,-98.12845611572266,99.5511703491211,72.23719787597656,-58.49445724487305,15.4855(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,591,591,(...TRUNCATED) | 0.3 | 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": 5,
"total_frames": 8306,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:5"
},
"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.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front.depth": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
BibTeX:
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