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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 8.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-8.414948463439941,-98.11790466308594,94.19686126708984,73.80953979492188,-58.58985137939453,0.6509(...TRUNCATED) | [-7.692307472229004,-98.80902099609375,93.71633911132812,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,788,787,785,784,782,780,778,776,773,771,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-8.307573318481445,-98.19416046142578,94.2562026977539,73.75214385986328,-58.532073974609375,0.6544(...TRUNCATED) | [-7.692307472229004,-98.80902099609375,93.71633911132812,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,791,790,789,788,787,787,786,785,785,784,78(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-8.208131790161133,-97.97205352783203,94.30498504638672,73.72808837890625,-58.548431396484375,0.664(...TRUNCATED) | [-7.692307472229004,-98.80902099609375,93.71633911132812,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,792,791,789,788,787,786,785,784,784,784,78(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-8.19802474975586,-98.0699691772461,94.13158416748047,73.7664566040039,-58.58489990234375,0.6311960(...TRUNCATED) | [-7.918551921844482,-98.80902099609375,94.25493621826172,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,785,784,784,783,782,781,781,780,780,779,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-8.06298828125,-98.01557159423828,94.19725799560547,73.78221130371094,-58.52900695800781,0.61895227(...TRUNCATED) | [-8.220211029052734,-98.46873474121094,94.52423858642578,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,791,789,788,787,786,785,784,784,783,782,(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-8.128580093383789,-97.8304672241211,94.28485870361328,73.74787902832031,-58.49048614501953,0.65757(...TRUNCATED) | [-8.295625686645508,-98.2135238647461,94.52423858642578,73.76460266113281,-58.39133834838867,0.59055(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,790,788,788,787,786,785,785,784,784,783,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-8.208037376403809,-97.87499237060547,93.6103515625,73.62655639648438,-58.5380859375,0.685144424438(...TRUNCATED) | [-8.220211029052734,-98.46873474121094,94.52423858642578,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,789,788,787,785,784,783,783,782,782,781,78(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-8.197311401367188,-97.5919189453125,94.1095962524414,73.8116226196289,-58.54557800292969,0.6612963(...TRUNCATED) | [-7.993966579437256,-98.72394561767578,94.52423858642578,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,788,788,787,786,785,785,785,785,785,78(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-8.036920547485352,-97.77352142333984,93.86861419677734,73.59445190429688,-58.44695281982422,0.6676(...TRUNCATED) | [-7.993966579437256,-98.72394561767578,94.52423858642578,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,793,793,791,789,788,787,786,786,786,786,78(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-8.290426254272461,-97.73391723632812,94.16133117675781,73.76346588134766,-58.45001220703125,0.6591(...TRUNCATED) | [-7.993966579437256,-98.80902099609375,94.61400604248047,73.76460266113281,-58.39133834838867,0.5905(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,791,790,789,788,788,787,787,787,787,786,(...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": 8305,
"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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