hungho77/so101-multitask-act
Robotics • 51.7M • Updated
Datasets:
Search is not available for this dataset
action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 27.9 | frame_index int64 0 838 | episode_index int64 0 142 | index int64 0 67.5k | task_index int64 0 2 |
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] | 3.266667 | 98 | 0 | 98 | 0 |
[
18.989011764526367,
17.36263656616211,
-7.472527503967285,
88.79120635986328,
-0.3956044018268585,
49.56035232543945
] | [
19.25274658203125,
14.725275039672852,
-2.2857143878936768,
91.20879364013672,
-0.04395604506134987,
49.28385543823242
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 143,
"total_frames": 67496,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:143"
},
"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": {
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"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"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": {}
}
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.codec": "av1",
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"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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],
"names": null
},
"index": {
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],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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