observation.state list | action list | observation.tcp list | ref_dice list | ref_block list | ref_block_resid_mm float32 0.06 0.06 | dist_to_target_mm float32 -1 -1 | success float32 -1 -1 | outcome stringclasses 1
value | run_episode stringclasses 1
value | timestamp float32 0 8 | frame_index int64 0 8 | episode_index int64 0 0 | index int64 0 8 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
67.45099639892578,
3.7790000438690186,
17.48200035095215,
1.7280000448226929,
-84.24500274658203,
-59.17300033569336,
1
] | [
67.50360107421875,
3.7847208976745605,
17.54174041748047,
1.7961310148239136,
-84.30818176269531,
-59.016082763671875,
1.002619981765747
] | [
335.1499938964844,
447.3599853515625,
295.8800048828125
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 0 | 0 | 0 | 0 | 0 |
[
70.75602722167969,
1.3065400123596191,
8.35591983795166,
3.137350082397461,
-75.23934936523438,
-62.63251876831055,
1
] | [
70.99030303955078,
1.1362420320510864,
8.712675094604492,
3.551516056060791,
-75.69327545166016,
-62.95662307739258,
1.0056029558181763
] | [
313.55999755859375,
461.3399963378906,
233.32000732421875
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 1 | 1 | 0 | 1 | 0 |
[
80.95556640625,
2.0183699131011963,
-17.485960006713867,
9.366209983825684,
-50.603050231933594,
-77.18277740478516,
1
] | [
81.122802734375,
2.2940480709075928,
-18.416486740112305,
9.555928230285645,
-49.6890869140625,
-77.62329864501953,
0.9940680265426636
] | [
243.5500030517578,
499.69000244140625,
54.709999084472656
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 2 | 2 | 0 | 2 | 0 |
[
85.39955139160156,
7.3874101638793945,
-30.81340980529785,
14.47014045715332,
-38.374900817871094,
-86.89836883544922,
1
] | [
85.60191345214844,
7.88394021987915,
-31.907390594482422,
14.80296516418457,
-37.26262664794922,
-87.43900299072266,
0.9916020035743713
] | [
209.9499969482422,
521.4199829101562,
-31.75
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 3 | 3 | 0 | 3 | 0 |
[
87.61416625976562,
12.59949016571045,
-40.73310089111328,
20.648670196533203,
-29.677230834960938,
-95.8923568725586,
1
] | [
87.42009735107422,
12.464417457580566,
-40.6316032409668,
20.718032836914062,
-29.787940979003906,
-95.74681854248047,
0.9915090203285217
] | [
190.8000030517578,
533.1199951171875,
-91.75
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 4 | 4 | 0 | 4 | 0 |
[
86.72318267822266,
12.725709915161133,
-40.42375946044922,
19.827529907226562,
-29.645320892333984,
-94.22081756591797,
1
] | [
86.55355072021484,
12.654152870178223,
-40.38337707519531,
20.054933547973633,
-29.788732528686523,
-94.29751586914062,
0.9904829859733582
] | [
198,
532.260009765625,
-91.30000305175781
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 5 | 5 | 0 | 5 | 0 |
[
83.72582244873047,
13.776060104370117,
-39.62049865722656,
17.80462074279785,
-29.77058982849121,
-89.45108795166016,
1
] | [
83.72346496582031,
13.81640625,
-39.682395935058594,
18.001953125,
-29.792980194091797,
-89.57646942138672,
0.9942470192909241
] | [
223.8699951171875,
531.3200073242188,
-91.33000183105469
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 6 | 6 | 0 | 6 | 0 |
[
83.95992279052734,
13.804510116577148,
-39.6292610168457,
17.972679138183594,
-29.79589080810547,
-89.86138916015625,
1
] | [
83.89912414550781,
13.804479598999023,
-39.68367004394531,
18.011512756347656,
-29.809661865234375,
-89.80796813964844,
0.9945330023765564
] | [
222.00999450683594,
532.52001953125,
-91.11000061035156
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 7 | 7 | 0 | 7 | 0 |
[
83.5501480102539,
16.234249114990234,
-43.79655075073242,
20.518680572509766,
-25.542299270629883,
-92.3830795288086,
0
] | [
83.2311019897461,
15.79743766784668,
-43.008026123046875,
20.256864547729492,
-26.77198600769043,
-92.273681640625,
0.0036830001045018435
] | [
223.7100067138672,
534.4199829101562,
-116.52999877929688
] | [
213.91000366210938,
539.469970703125
] | [
392.0400085449219,
335.54998779296875
] | 0.061382 | -1 | -1 | guard_abort | 20260911_174649/000 | 8 | 8 | 0 | 8 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 1,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"J1",
"J2",
"J3",
"J4",
"J5",
"J6",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"dx",
"dy",
"dz",
"dRx",
"dRy",
"dRz",
"gripper"
]
},
"observation.tcp": {
"dtype": "float32",
"shape": [
3
],
"names": [
"X",
"Y",
"Z"
]
},
"ref_dice": {
"dtype": "float32",
"shape": [
2
],
"names": [
"x",
"y"
]
},
"ref_block": {
"dtype": "float32",
"shape": [
2
],
"names": [
"x",
"y"
]
},
"ref_block_resid_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"dist_to_target_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"success": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"outcome": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"run_episode": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.images.cam0": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.cam1": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.cam2": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.gripper": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 1,
"total_frames": 9,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "fanuc_crx5ia",
"splits": {
"train": "0:1"
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 72