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action list | observation.state list | observation.vfm_features.front array 3D | observation.skill_feature list | observation.object_feature list | observation.full_text_features array 2D | observation.vlm_features.front array 3D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|
[
0,
0,
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0,
0,
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2.0328381061553955
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[8.415402589889709e-6,-0.00012802144919987768,-3.397164771712369e-10,0.0017785399686545134,-5.576966(...TRUNCATED) | [2.1680216789245605,0.007036397233605385,2.77071475982666,0.03210338577628136,0.13838163018226624,0.(...TRUNCATED) | [[[0.016842711716890335,-0.007669754792004824,-0.013964241370558739,-0.04019719362258911,-0.00548160(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02161874622106552,0.009010122157633305,-0.023748522624373436,0.0003936498542316258,0.038982715(...TRUNCATED) | 0.2 | 2 | 0 | 2 | 0 |
[0.00019824656192213297,0.00014159736747387797,0.0002915076329372823,-0.001773093594238162,-0.001569(...TRUNCATED) | [2.1680216789245605,-0.0001671829668339342,2.7603602409362793,0.03428664803504944,0.1394624412059784(...TRUNCATED) | [[[0.01265969779342413,-0.013408460654318333,-0.014244823716580868,-0.04095896705985069,-0.005161521(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.014516306109726429,0.005541588179767132,-0.021994635462760925,0.002369420835748315,0.043054427(...TRUNCATED) | 0.3 | 3 | 0 | 3 | 0 |
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[
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[-0.00014446534623857588,-9.490901902609039e-6,0.00008735686424188316,-4.7036073738127016e-6,0.00136(...TRUNCATED) | [2.1680216789245605,-0.001958313398063183,2.755873441696167,0.03499434143304825,0.1400386095046997,0(...TRUNCATED) | [[[0.013832944445312023,-0.012951400130987167,-0.01263593789190054,-0.038104284554719925,-0.00398517(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.025855327025055885,0.007782062515616417,-0.02261916548013687,-0.005167610011994839,0.040538437(...TRUNCATED) | 0.6 | 6 | 0 | 6 | 0 |
[0.0015299026854336262,-0.00016071881691459566,0.0030560558661818504,0.003579044481739402,-0.0102584(...TRUNCATED) | [2.1680216789245605,-0.001958313398063183,2.755873441696167,0.03499434143304825,0.1400386095046997,0(...TRUNCATED) | [[[0.015615149401128292,-0.008795813657343388,-0.014535244554281235,-0.041506994515657425,-0.0023239(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.018278520554304123,0.008776686154305935,-0.025380413979291916,-0.00616507139056921,0.033551584(...TRUNCATED) | 0.7 | 7 | 0 | 7 | 0 |
[0.00399888725951314,-0.0002976702817250043,0.007642350625246763,0.005834901239722967,-0.01284159906(...TRUNCATED) | [2.1680216789245605,-0.001958313398063183,2.755873441696167,0.03499434143304825,0.1400386095046997,0(...TRUNCATED) | [[[0.012001603841781616,-0.009209400042891502,-0.012273366563022137,-0.0420023649930954,-0.005642848(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.02389533631503582,0.00542547507211566,-0.017175637185573578,-0.0023395961616188288,0.041718404(...TRUNCATED) | 0.8 | 8 | 0 | 8 | 0 |
[0.0036340521182864904,0.00007021727651590481,0.009848569519817829,0.0017661246238276362,0.004433754(...TRUNCATED) | [2.1680216789245605,-0.001959130633622408,2.7570242881774902,0.0349019318819046,0.1400281935930252,0(...TRUNCATED) | [[[0.014431077986955643,-0.012284623458981514,-0.012589890509843826,-0.0377727672457695,-0.002938277(...TRUNCATED) | [0.020813602954149246,-0.021302713081240654,-0.012989586219191551,-0.010196906514465809,-0.025449974(...TRUNCATED) | [-0.021718889474868774,0.006379829719662666,-0.0005772648728452623,-0.02107272297143936,-0.002298790(...TRUNCATED) | [[0.009386627934873104,-0.011031333357095718,0.02333437278866768,0.023444153368473053,0.027018660679(...TRUNCATED) | [[[-0.01848139986395836,0.011321859434247017,-0.026429619640111923,-0.005404526833444834,0.036251056(...TRUNCATED) | 0.9 | 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": 32,
"total_frames": 2027,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:32"
},
"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": [
"ee.x",
"ee.y",
"ee.z",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.gripper_pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"ee.gripper_pos",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.x",
"ee.y",
"ee.z"
],
"shape": [
7
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.vfm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
768
],
"names": null
},
"observation.skill_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.object_feature": {
"dtype": "float32",
"shape": [
1024
],
"names": null
},
"observation.full_text_features": {
"dtype": "float32",
"shape": [
77,
1024
],
"names": null
},
"observation.vlm_features.front": {
"dtype": "float32",
"shape": [
16,
16,
1024
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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