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Datasets:
ncavallo
/
moss_train_gc_block

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
moss
tutorial
Libraries:
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Dask
License:
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sequence
observation.state
sequence
timestamp
float32
0
13.7
frame_index
int64
0
411
episode_index
int64
0
35
index
int64
0
10.9k
task_index
int64
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[ 23.37890625, 69.08203125, 68.5546875, 67.1484375, 70.13671875, 38.235294342041016 ]
[ 25.751953125, 68.90625, 68.642578125, 69.2578125, 67.412109375, 37.950138092041016 ]
2.5
75
0
75
0
[ 22.8515625, 68.203125, 68.466796875, 66.533203125, 70.224609375, 38.161766052246094 ]
[ 24.9609375, 67.939453125, 68.642578125, 68.642578125, 68.37890625, 37.950138092041016 ]
2.533333
76
0
76
0
[ 22.32421875, 67.412109375, 68.37890625, 66.09375, 70.224609375, 37.72058868408203 ]
[ 24.345703125, 67.32421875, 68.642578125, 68.291015625, 68.818359375, 37.950138092041016 ]
2.566667
77
0
77
0
[ 21.796875, 66.796875, 68.291015625, 65.830078125, 70.048828125, 37.27941131591797 ]
[ 23.5546875, 66.533203125, 68.642578125, 67.763671875, 69.169921875, 37.950138092041016 ]
2.6
78
0
78
0
[ 21.357421875, 66.26953125, 68.291015625, 65.126953125, 69.697265625, 36.911766052246094 ]
[ 22.8515625, 65.56640625, 68.642578125, 67.236328125, 69.43359375, 37.950138092041016 ]
2.633333
79
0
79
0
[ 20.91796875, 65.91796875, 68.466796875, 64.599609375, 69.697265625, 36.47058868408203 ]
[ 22.236328125, 64.86328125, 68.642578125, 66.62109375, 69.521484375, 37.765464782714844 ]
2.666667
80
0
80
0
[ 20.56640625, 65.654296875, 68.5546875, 64.16015625, 69.873046875, 36.25 ]
[ 21.708984375, 64.3359375, 68.642578125, 66.181640625, 69.345703125, 37.11911392211914 ]
2.7
81
0
81
0
[ 20.126953125, 65.478515625, 68.642578125, 63.6328125, 70.048828125, 36.25 ]
[ 21.181640625, 63.720703125, 68.642578125, 65.7421875, 69.2578125, 36.842105865478516 ]
2.733333
82
0
82
0
[ 19.775390625, 65.390625, 68.642578125, 63.28125, 70.400390625, 36.764705657958984 ]
[ 20.654296875, 63.10546875, 68.642578125, 65.21484375, 69.2578125, 36.657432556152344 ]
2.766667
83
0
83
0
[ 19.423828125, 65.302734375, 68.73046875, 62.75390625, 70.83984375, 37.42647171020508 ]
[ 20.302734375, 63.017578125, 68.642578125, 64.6875, 69.345703125, 36.56509780883789 ]
2.8
84
0
84
0
[ 19.072265625, 65.126953125, 68.73046875, 62.05078125, 71.015625, 38.52941131591797 ]
[ 19.951171875, 62.9296875, 68.642578125, 64.16015625, 69.609375, 36.56509780883789 ]
2.833333
85
0
85
0
[ 18.6328125, 64.951171875, 68.73046875, 61.171875, 71.19140625, 39.632354736328125 ]
[ 19.599609375, 62.9296875, 68.642578125, 63.6328125, 69.78515625, 36.56509780883789 ]
2.866667
86
0
86
0
[ 18.369140625, 64.6875, 68.90625, 60.1171875, 71.54296875, 41.17647171020508 ]
[ 19.423828125, 62.9296875, 68.642578125, 63.28125, 70.13671875, 36.657432556152344 ]
2.9
87
0
87
0
[ 17.9296875, 64.423828125, 68.90625, 58.798828125, 71.806640625, 42.5 ]
[ 18.984375, 62.75390625, 68.642578125, 62.578125, 70.48828125, 37.58079528808594 ]
2.933333
88
0
88
0
[ 17.578125, 64.248046875, 68.994140625, 57.12890625, 72.24609375, 43.30882263183594 ]
[ 18.720703125, 62.578125, 68.642578125, 61.962890625, 70.576171875, 38.504154205322266 ]
2.966667
89
0
89
0
[ 17.40234375, 64.16015625, 69.43359375, 54.4921875, 72.861328125, 43.382354736328125 ]
[ 18.10546875, 62.314453125, 68.642578125, 60.732421875, 70.83984375, 39.79685974121094 ]
3
90
0
90
0
[ 17.138671875, 64.16015625, 69.9609375, 51.6796875, 73.828125, 43.014705657958984 ]
[ 17.75390625, 62.138671875, 68.73046875, 59.58984375, 71.279296875, 40.812557220458984 ]
3.033333
91
0
91
0
[ 16.962890625, 64.248046875, 69.9609375, 50.361328125, 74.70703125, 42.5 ]
[ 17.40234375, 62.138671875, 69.345703125, 58.359375, 71.630859375, 41.366573333740234 ]
3.066667
92
0
92
0
[ 16.69921875, 64.248046875, 69.609375, 50.44921875, 75.05859375, 41.838233947753906 ]
[ 17.2265625, 62.138671875, 69.697265625, 56.6015625, 72.158203125, 41.64358139038086 ]
3.1
93
0
93
0
[ 16.5234375, 64.248046875, 69.2578125, 51.416015625, 74.8828125, 41.25 ]
[ 16.875, 62.05078125, 69.873046875, 54.4921875, 72.94921875, 41.551246643066406 ]
3.133333
94
0
94
0
[ 16.435546875, 64.248046875, 68.994140625, 52.470703125, 75.05859375, 40.588233947753906 ]
[ 16.69921875, 62.05078125, 69.873046875, 53.173828125, 73.564453125, 41.551246643066406 ]
3.166667
95
0
95
0
[ 16.34765625, 64.248046875, 68.994140625, 53.4375, 75.322265625, 40.29411697387695 ]
[ 16.435546875, 62.05078125, 69.873046875, 52.822265625, 73.65234375, 41.45891189575195 ]
3.2
96
0
96
0
[ 16.34765625, 64.3359375, 69.08203125, 54.4921875, 76.2890625, 40.22058868408203 ]
[ 16.171875, 62.05078125, 69.873046875, 52.822265625, 73.916015625, 40.90489196777344 ]
3.233333
97
0
97
0
[ 16.5234375, 64.3359375, 69.345703125, 55.546875, 77.34375, 40.14706039428711 ]
[ 16.171875, 62.05078125, 69.873046875, 53.173828125, 74.443359375, 40.62788391113281 ]
3.266667
98
0
98
0
[ 16.69921875, 64.248046875, 69.521484375, 56.162109375, 78.310546875, 40.07352828979492 ]
[ 16.171875, 62.05078125, 69.873046875, 53.701171875, 74.970703125, 40.53554916381836 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 36,
    "total_frames": 10909,
    "total_tasks": 1,
    "total_videos": 72,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:36"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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