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Datasets:
Phy-lab
/
jjhyeongg

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
list
action
list
timestamp
float32
0
18.2
frame_index
int64
0
364
episode_index
int64
0
42
index
int64
0
13.2k
task_index
int64
0
10
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2.1
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2.15
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2.3
46
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46
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2.35
47
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2.4
48
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2.45
49
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2.5
50
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2.55
51
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2.6
52
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2.65
53
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2.7
54
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2.75
55
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2.8
56
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2.85
57
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2.9
58
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2.95
59
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3
60
0
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3.05
61
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3.1
62
0
62
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3.15
63
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3.2
64
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64
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3.25
65
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3.3
66
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3.35
67
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3.4
68
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3.45
69
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3.5
70
0
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3.55
71
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3.6
72
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3.65
73
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3.7
74
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3.75
75
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3.8
76
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3.85
77
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3.9
78
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3.95
79
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4
80
0
80
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4.05
81
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4.1
82
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4.15
83
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4.2
84
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4.25
85
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4.3
86
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4.35
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4.4
88
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4.45
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4.5
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4.55
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4.6
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4.65
93
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93
0
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[ -0.533378541469574, -1.7857900857925415, -1.288838267326355, -1.8199141025543213, 1.769518256187439, 1.0339480638504028, 0.007081000134348869 ]
4.7
94
0
94
0
[ -0.5418345928192139, -1.7954838275909424, -1.279376745223999, -1.8240015506744385, 1.7745414972305298, 1.0244237184524536, 0.007081000134348869 ]
[ -0.5418345928192139, -1.7954838275909424, -1.279376745223999, -1.8240015506744385, 1.7745414972305298, 1.0244237184524536, 0.007081000134348869 ]
4.75
95
0
95
0
[ -0.5491904020309448, -1.8037140369415283, -1.2719956636428833, -1.8267937898635864, 1.7783846855163574, 1.0169373750686646, 0.007081000134348869 ]
[ -0.5491904020309448, -1.8037140369415283, -1.2719956636428833, -1.8267937898635864, 1.7783846855163574, 1.0169373750686646, 0.007081000134348869 ]
4.8
96
0
96
0
[ -0.5558035373687744, -1.8113527297973633, -1.2644554376602173, -1.8301342725753784, 1.782402753829956, 1.0093196630477905, 0.007081000134348869 ]
[ -0.5558035373687744, -1.8113527297973633, -1.2644554376602173, -1.8301342725753784, 1.782402753829956, 1.0093196630477905, 0.007081000134348869 ]
4.85
97
0
97
0
[ -0.5634591579437256, -1.8198388814926147, -1.2568033933639526, -1.833019733428955, 1.7863266468048096, 1.001552939414978, 0.007081000134348869 ]
[ -0.5634591579437256, -1.8198388814926147, -1.2568033933639526, -1.833019733428955, 1.7863266468048096, 1.001552939414978, 0.007081000134348869 ]
4.9
98
0
98
0
[ -0.5691644549369812, -1.8264061212539673, -1.2503279447555542, -1.8359508514404297, 1.7898085117340088, 0.994949221611023, 0.007081000134348869 ]
[ -0.5691644549369812, -1.8264061212539673, -1.2503279447555542, -1.8359508514404297, 1.7898085117340088, 0.994949221611023, 0.007081000134348869 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ur5e",
    "total_episodes": 43,
    "total_frames": 13213,
    "total_tasks": 11,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:43"
    },
    "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": [
                7
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper/left_finger_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper/left_finger_joint"
            ]
        },
        "observation.images.cam_center": {
            "dtype": "video",
            "shape": [
                1024,
                1152,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1024,
                "video.width": 1152,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_left": {
            "dtype": "video",
            "shape": [
                1024,
                1152,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1024,
                "video.width": 1152,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right": {
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            "shape": [
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                1152,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1024,
                "video.width": 1152,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

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