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Datasets:
davidhightown
/
mimic_v4-1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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action
list
observation.state
list
timestamp
float32
0
12.4
frame_index
int64
0
124
episode_index
int64
0
0
index
int64
0
124
task_index
int64
0
0
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0
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0.1
1
0
1
0
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0.2
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0
2
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0.3
3
0
3
0
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0.4
4
0
4
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0.5
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0
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0.6
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0
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0.7
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0
7
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0.8
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0
8
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0.9
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1
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0
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1.1
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1.2
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12
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1.3
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13
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1.4
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14
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1.5
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15
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1.6
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0
16
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1.7
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17
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1.8
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18
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1.9
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2
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2.1
21
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21
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2.2
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2.3
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2.4
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24
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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48
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4.9
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5
50
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5.1
51
0
51
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5.2
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
[ -43.736263275146484, 13.802197456359863, 11.912087440490723, 65.5824203491211, -40.131866455078125, 0 ]
[ -45.53845977783203, 20.395605087280273, 8.835165023803711, 65.5824203491211, -42.41758346557617, 0.697836697101593 ]
6
60
0
60
0
[ -42.593406677246094, 12.395604133605957, 13.406593322753906, 65.5824203491211, -37.93406677246094, 0 ]
[ -44.659339904785156, 17.846153259277344, 11.472527503967285, 65.5824203491211, -41.010990142822266, 0.697836697101593 ]
6.1
61
0
61
0
[ -41.626373291015625, 11.340659141540527, 14.637362480163574, 65.5824203491211, -37.406593322753906, 0 ]
[ -43.516483306884766, 16.175825119018555, 13.230769157409668, 65.5824203491211, -38.989009857177734, 0.697836697101593 ]
6.2
62
0
62
0
[ -40.92307662963867, 10.373626708984375, 16.395605087280273, 65.5824203491211, -37.31867980957031, 0 ]
[ -42.46154022216797, 14.94505500793457, 14.637362480163574, 65.5824203491211, -37.93406677246094, 0.697836697101593 ]
6.3
63
0
63
0
[ -39.69230651855469, 9.318681716918945, 18.329669952392578, 65.31867980957031, -35.120880126953125, 0 ]
[ -41.758243560791016, 13.802197456359863, 16.21977996826172, 65.5824203491211, -37.67033004760742, 0.697836697101593 ]
6.4
64
0
64
0
[ -38.19780349731445, 8.087912559509277, 20.08791160583496, 65.23076629638672, -33.36263656616211, 0 ]
[ -40.70329666137695, 12.747252464294434, 18.065933227539062, 65.5824203491211, -36, 0.697836697101593 ]
6.5
65
0
65
0
[ -36.70329666137695, 6.857142925262451, 21.670330047607422, 65.23076629638672, -31.868131637573242, 0 ]
[ -39.38461685180664, 11.340659141540527, 19.736263275146484, 65.4945068359375, -34.241756439208984, 0.697836697101593 ]
6.6
66
0
66
0
[ -35.20878982543945, 5.714285850524902, 23.076923370361328, 65.23076629638672, -30.285715103149414, 0 ]
[ -37.978023529052734, 9.934065818786621, 21.406593322753906, 65.5824203491211, -32.74725341796875, 0.697836697101593 ]
6.7
67
0
67
0
[ -33.53845977783203, 4.483516693115234, 24.571428298950195, 65.23076629638672, -28.703296661376953, 0 ]
[ -36.30769348144531, 8.879120826721191, 22.901098251342773, 65.5824203491211, -31.16483497619629, 0.697836697101593 ]
6.8
68
0
68
0
[ -31.69230842590332, 3.2527472972869873, 25.9780216217041, 65.23076629638672, -26.681318283081055, 0 ]
[ -34.72527313232422, 7.648351669311523, 24.395605087280273, 65.5824203491211, -29.494504928588867, 0.697836697101593 ]
6.9
69
0
69
0
[ -29.758241653442383, 2.1978023052215576, 27.384614944458008, 65.23076629638672, -24.83516502380371, 0 ]
[ -32.96703338623047, 6.505494594573975, 25.80219841003418, 65.5824203491211, -27.560440063476562, 0.697836697101593 ]
7
70
0
70
0
[ -27.736263275146484, 1.2307692766189575, 28.879121780395508, 65.14286041259766, -22.63736343383789, 0 ]
[ -31.120878219604492, 5.362637519836426, 27.208791732788086, 65.5824203491211, -25.714284896850586, 0.697836697101593 ]
7.1
71
0
71
0
[ -25.186813354492188, 0.08791209012269974, 30.461538314819336, 65.14286041259766, -19.91208839416504, 0 ]
[ -29.098901748657227, 4.395604610443115, 28.703296661376953, 65.5824203491211, -23.78022003173828, 0.697836697101593 ]
7.2
72
0
72
0
[ -22.373626708984375, -0.9670329689979553, 31.868131637573242, 65.14286041259766, -16.659339904785156, 0.08424599468708038 ]
[ -26.72527503967285, 3.076923131942749, 30.285715103149414, 65.5824203491211, -21.318681716918945, 0.697836697101593 ]
7.3
73
0
73
0
[ -19.736263275146484, -1.8461538553237915, 32.92307662963867, 65.14286041259766, -14.197802543640137, 0.16849198937416077 ]
[ -24.08791160583496, 2.0219781398773193, 31.69230842590332, 65.5824203491211, -18.329669952392578, 0.697836697101593 ]
7.4
74
0
74
0
[ -17.098901748657227, -2.461538553237915, 33.71428680419922, 65.14286041259766, -12.087912559509277, 0.16849198937416077 ]
[ -21.450550079345703, 0.9670329689979553, 32.74725341796875, 65.5824203491211, -15.604395866394043, 0.697836697101593 ]
7.5
75
0
75
0
[ -14.373626708984375, -2.6373627185821533, 33.89011001586914, 65.14286041259766, -10.065934181213379, 0.16849198937416077 ]
[ -19.16483497619629, 0.17582418024539948, 33.626373291015625, 65.4945068359375, -13.318681716918945, 0.697836697101593 ]
7.6
76
0
76
0
[ -11.912087440490723, -2.6373627185821533, 33.89011001586914, 65.14286041259766, -8.131868362426758, 0.16849198937416077 ]
[ -16.52747344970703, 0, 33.80219650268555, 65.23076629638672, -11.032966613769531, 0.697836697101593 ]
7.7
77
0
77
0
[ -9.802197456359863, -2.6373627185821533, 33.89011001586914, 65.14286041259766, -6.8131866455078125, 0.16849198937416077 ]
[ -13.450549125671387, 0, 34.06593322753906, 65.4945068359375, -9.09890079498291, 0.697836697101593 ]
7.8
78
0
78
0
[ -7.780219554901123, -2.6373627185821533, 33.978023529052734, 65.14286041259766, -5.494505405426025, 0.16849198937416077 ]
[ -11.428571701049805, 0, 34.06593322753906, 65.4945068359375, -7.604395389556885, 0.697836697101593 ]
7.9
79
0
79
0
[ -5.934065818786621, -2.6373627185821533, 34.5054931640625, 65.05494689941406, -4.087912082672119, 0.16849198937416077 ]
[ -9.142857551574707, 0, 34.241756439208984, 65.4945068359375, -6.1978020668029785, 0.697836697101593 ]
8
80
0
80
0
[ -4.087912082672119, -2.6373627185821533, 34.94505310058594, 65.05494689941406, -2.681318759918213, 0.16849198937416077 ]
[ -7.208791255950928, 0, 34.593406677246094, 65.4945068359375, -4.791208744049072, 0.697836697101593 ]
8.1
81
0
81
0
[ -2.4175825119018555, -2.6373627185821533, 35.47252655029297, 64.70330047607422, -1.274725317955017, 0.16849198937416077 ]
[ -5.362637519836426, 0, 35.03296661376953, 65.4945068359375, -3.384615421295166, 0.697836697101593 ]
8.2
82
0
82
0
[ -0.8351648449897766, -2.6373627185821533, 35.64834976196289, 64.70330047607422, 0.3956044018268585, 0.16849198937416077 ]
[ -3.604395627975464, 0, 35.47252655029297, 65.14286041259766, -1.9780219793319702, 0.697836697101593 ]
8.3
83
0
83
0
[ 1.186813235282898, -2.6373627185821533, 35.64834976196289, 64.70330047607422, 2.4175825119018555, 0.16849198937416077 ]
[ -1.9340659379959106, 0, 35.64834976196289, 65.14286041259766, -0.3956044018268585, 0.697836697101593 ]
8.4
84
0
84
0
[ 3.472527503967285, -2.6373627185821533, 35.64834976196289, 64.70330047607422, 4.615384578704834, 0 ]
[ -0.2637362778186798, 0, 35.64834976196289, 65.05494689941406, 1.4505494832992554, 0.697836697101593 ]
8.5
85
0
85
0
[ 5.318681240081787, -2.6373627185821533, 35.56044006347656, 64.70330047607422, 6.285714149475098, 0 ]
[ 1.7582417726516724, 0, 35.64834976196289, 65.14286041259766, 3.472527503967285, 0.697836697101593 ]
8.6
86
0
86
0
[ 6.8131866455078125, -2.6373627185821533, 35.56044006347656, 64.70330047607422, 6.461538314819336, 0 ]
[ 3.780219793319702, 0, 35.64834976196289, 65.14286041259766, 5.494505405426025, 0.697836697101593 ]
8.7
87
0
87
0
[ 8.571428298950195, -2.6373627185821533, 35.56044006347656, 64.70330047607422, 6.461538314819336, 0.16849198937416077 ]
[ 5.890110015869141, 0, 35.64834976196289, 65.14286041259766, 6.02197790145874, 0.697836697101593 ]
8.8
88
0
88
0
[ 10.505494117736816, -2.6373627185821533, 35.47252655029297, 64.43955993652344, 6.461538314819336, 0.16849198937416077 ]
[ 7.296703338623047, 0, 35.64834976196289, 65.14286041259766, 6.02197790145874, 0.697836697101593 ]
8.9
89
0
89
0
[ 11.824175834655762, -2.6373627185821533, 35.38461685180664, 62.153846740722656, 6.637362480163574, 0 ]
[ 9.318681716918945, 0, 35.64834976196289, 64.96703338623047, 6.02197790145874, 0.697836697101593 ]
9
90
0
90
0
[ 13.230769157409668, -2.6373627185821533, 35.38461685180664, 60.57143020629883, 9.978021621704102, 0 ]
[ 10.813186645507812, 0, 35.64834976196289, 63.03296661376953, 6.285714149475098, 0.697836697101593 ]
9.1
91
0
91
0
[ 14.725275039672852, -2.6373627185821533, 35.29670333862305, 60.74725341796875, 12.175824165344238, 0 ]
[ 12.219779968261719, 0, 35.64834976196289, 61.36263656616211, 8.571428298950195, 0.697836697101593 ]
9.2
92
0
92
0
[ 16.30769157409668, -2.6373627185821533, 35.29670333862305, 60.74725341796875, 14.197802543640137, 0 ]
[ 13.538461685180664, 0, 35.64834976196289, 61.27472686767578, 10.94505500793457, 0.697836697101593 ]
9.3
93
0
93
0
[ 17.89011001586914, -2.6373627185821533, 35.29670333862305, 60.74725341796875, 16.483516693115234, 0 ]
[ 15.032966613769531, 0, 35.64834976196289, 61.27472686767578, 13.142857551574707, 0.697836697101593 ]
9.4
94
0
94
0
[ 19.384614944458008, -2.7252748012542725, 35.29670333862305, 60.74725341796875, 19.03296661376953, 0 ]
[ 16.52747344970703, 0, 35.64834976196289, 61.27472686767578, 15.428571701049805, 0.697836697101593 ]
9.5
95
0
95
0
[ 20.615385055541992, -2.7252748012542725, 35.29670333862305, 60.74725341796875, 20.96703338623047, 0 ]
[ 18.461538314819336, 0, 35.64834976196289, 61.27472686767578, 17.80219841003418, 0.697836697101593 ]
9.6
96
0
96
0
[ 20.96703338623047, -2.7252748012542725, 35.20878982543945, 60.74725341796875, 21.670330047607422, 0 ]
[ 19.604394912719727, 0, 35.64834976196289, 61.27472686767578, 19.91208839416504, 0.697836697101593 ]
9.7
97
0
97
0
[ 19.560440063476562, -2.7252748012542725, 34.06593322753906, 60.74725341796875, 21.494504928588867, 0 ]
[ 20.395605087280273, 0, 35.64834976196289, 61.27472686767578, 21.05494499206543, 0.697836697101593 ]
9.8
98
0
98
0
[ 16.483516693115234, -2.7252748012542725, 30.63736343383789, 60.74725341796875, 21.318681716918945, 0 ]
[ 20.043956756591797, 0, 35.56044006347656, 61.27472686767578, 21.14285659790039, 0.697836697101593 ]
9.9
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": "so_follower",
    "total_episodes": 1,
    "total_frames": 125,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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