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observation.state list | action list | observation.depth array 2D | stage int64 0 2 | timestamp float32 0 10.3 | frame_index int64 0 308 | episode_index int64 0 19 | index int64 0 5.11k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[0.3060739040374756,1.0145645141601562,0.35259774327278137,0.19532503187656403,0.3499051332473755,0.(...TRUNCATED) | [0.00017071580805350095,-0.0023655418772250414,0.0009738515364006162,0.009799005463719368,-0.0001163(...TRUNCATED) | [[0.9016667008399963,0.9044444561004639,0.9044444561004639,0.9044444561004639,0.9044444561004639,0.9(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 | 0 |
[0.3062446117401123,1.0121989250183105,0.3535715937614441,0.20548683404922485,0.34872138500213623,0.(...TRUNCATED) | [-0.0004963849205523729,-0.0006932597025297582,0.001238483120687306,0.006899990141391754,-0.00089652(...TRUNCATED) | [[0.9016667008399963,0.9044444561004639,0.9044444561004639,0.9044444561004639,0.9044444561004639,0.9(...TRUNCATED) | 0 | 0.033333 | 1 | 0 | 1 | 0 |
[0.30574822425842285,1.0115057229995728,0.35481008887290955,0.2115933895111084,0.3477134704589844,0.(...TRUNCATED) | [-0.0007252327050082386,0.0006118218298070133,0.0018466629553586245,-0.004447902552783489,-0.0005312(...TRUNCATED) | [[0.9177778363227844,0.9177778363227844,0.920555591583252,0.9238889217376709,0.9238889217376709,0.92(...TRUNCATED) | 0 | 0.066667 | 2 | 0 | 2 | 0 |
[0.3050229847431183,1.0121175050735474,0.3566567301750183,0.20716208219528198,0.34762609004974365,0.(...TRUNCATED) | [-0.00033170919050462544,0.00006284529808908701,0.0009736031643114984,-0.004838953260332346,0.000098(...TRUNCATED) | [[0.9177778363227844,0.9177778363227844,0.920555591583252,0.9238889217376709,0.9238889217376709,0.92(...TRUNCATED) | 0 | 0.1 | 3 | 0 | 3 | 0 |
[0.30469128489494324,1.0121803283691406,0.35763034224510193,0.2035544216632843,0.3474307060241699,0.(...TRUNCATED) | [-0.0004954361938871443,-0.00003107158772763796,0.0008040087996050715,0.0011782413348555565,-0.00190(...TRUNCATED) | [[0.9150000810623169,0.9150000810623169,0.9177778363227844,0.9177778363227844,0.9177778363227844,0.9(...TRUNCATED) | 0 | 0.133333 | 4 | 0 | 4 | 0 |
[0.3041958510875702,1.0121493339538574,0.3584343492984772,0.20481126010417938,0.345498651266098,0.03(...TRUNCATED) | [-0.000684918777551502,0.0001298869028687477,0.00030946169863455,-0.0020647873170673847,-0.000388136(...TRUNCATED) | [[0.9377778768539429,0.9405556321144104,0.9405556321144104,0.9405556321144104,0.9438889026641846,0.9(...TRUNCATED) | 0 | 0.166667 | 5 | 0 | 5 | 0 |
[0.3035109341144562,1.0122791528701782,0.358743816614151,0.20436426997184753,0.344353586435318,0.033(...TRUNCATED) | [-0.0009194678859785199,0.0015087606152519584,-0.000024701295842533,-0.005323041696101427,-0.0007203(...TRUNCATED) | [[0.9377778768539429,0.9405556321144104,0.9405556321144104,0.9405556321144104,0.9438889026641846,0.9(...TRUNCATED) | 0 | 0.2 | 6 | 0 | 6 | 0 |
[0.302591472864151,1.0137879848480225,0.3587191104888916,0.2002466320991516,0.3434024155139923,0.030(...TRUNCATED) | [-6.985495474509662e-6,-0.0006579427281394601,-0.0001420753833372146,0.007196519058197737,0.00165257(...TRUNCATED) | [[0.9072222709655762,0.9100000262260437,0.9100000262260437,0.9100000262260437,0.9100000262260437,0.9(...TRUNCATED) | 0 | 0.233333 | 7 | 0 | 7 | 0 |
[0.3025844693183899,1.0131299495697021,0.35857704281806946,0.205997034907341,0.3452121317386627,0.03(...TRUNCATED) | [0.00020272664551157504,-0.002460592659190297,-0.0008434869814664125,0.021199865266680717,0.00095628(...TRUNCATED) | [[0.9016667008399963,0.9016667008399963,0.9044444561004639,0.9044444561004639,0.9044444561004639,0.9(...TRUNCATED) | 0 | 0.266667 | 8 | 0 | 8 | 0 |
[0.3027872145175934,1.0106693506240845,0.3577335476875305,0.2249707281589508,0.34552159905433655,0.0(...TRUNCATED) | [0.00024994221166707575,-0.0019278723048046231,-0.00036586110945791006,0.012402911670506,0.002337455(...TRUNCATED) | [[0.9044444561004639,0.9072222709655762,0.9072222709655762,0.9072222709655762,0.9100000262260437,0.9(...TRUNCATED) | 0 | 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": null,
"total_episodes": 20,
"total_frames": 5115,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": [
"left_px",
"left_py",
"left_pz",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"right_px",
"right_py",
"right_pz",
"right_qx",
"right_qy",
"right_qz",
"right_qw",
"left_grip",
"right_grip",
"grasp_x0",
"grasp_y0",
"grasp_z0",
"grasp_x1",
"grasp_y1",
"grasp_z1",
"grasp_valid"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"d_left_px",
"d_left_py",
"d_left_pz",
"d_left_qx",
"d_left_qy",
"d_left_qz",
"d_left_qw",
"d_right_px",
"d_right_py",
"d_right_pz",
"d_right_qx",
"d_right_qy",
"d_right_qz",
"d_right_qw",
"d_left_grip",
"d_right_grip"
]
},
"observation.images.rgb": {
"dtype": "video",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth": {
"dtype": "float32",
"shape": [
224,
224
],
"names": [
"height",
"width"
]
},
"stage": {
"dtype": "int64",
"shape": [
1
],
"names": [
"stage"
]
},
"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
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