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ncavallo
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moss_train_gc_test

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Robotics
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LeRobot
moss
tutorial
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action
sequence
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float32
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[ 16.5234375, 104.765625, 64.423828125, 105.205078125, 34.62890625, 1.0156971216201782 ]
2.466667
74
0
74
0
[ 17.578125, 108.984375, 65.56640625, 103.798828125, 34.27734375, -0.07352941483259201 ]
[ 16.5234375, 105.029296875, 64.775390625, 105.029296875, 34.365234375, 1.0156971216201782 ]
2.5
75
0
75
0
[ 17.9296875, 109.248046875, 66.26953125, 103.18359375, 34.013671875, 0 ]
[ 16.5234375, 105.205078125, 65.390625, 104.58984375, 34.27734375, 1.0156971216201782 ]
2.533333
76
0
76
0
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[ 16.5234375, 105.556640625, 65.830078125, 104.23828125, 34.1015625, 1.0156971216201782 ]
2.566667
77
0
77
0
[ 18.45703125, 109.599609375, 67.32421875, 102.216796875, 33.662109375, 0 ]
[ 16.69921875, 105.99609375, 66.26953125, 103.798828125, 34.1015625, 1.0156971216201782 ]
2.6
78
0
78
0
[ 18.6328125, 109.599609375, 67.587890625, 102.041015625, 33.662109375, 0 ]
[ 17.138671875, 106.171875, 66.884765625, 103.359375, 33.75, 1.0156971216201782 ]
2.633333
79
0
79
0
[ 18.6328125, 109.423828125, 67.763671875, 101.865234375, 33.662109375, 0 ]
[ 17.40234375, 106.259765625, 67.412109375, 103.095703125, 33.3984375, 1.0156971216201782 ]
2.666667
80
0
80
0
[ 18.6328125, 109.16015625, 67.8515625, 101.77734375, 33.75, 0 ]
[ 17.841796875, 106.435546875, 67.587890625, 102.744140625, 33.22265625, 1.0156971216201782 ]
2.7
81
0
81
0
[ 18.6328125, 108.896484375, 67.8515625, 101.6015625, 33.92578125, 0 ]
[ 18.017578125, 106.5234375, 67.587890625, 102.3046875, 33.22265625, 1.0156971216201782 ]
2.733333
82
0
82
0
[ 18.6328125, 108.6328125, 67.8515625, 101.42578125, 34.189453125, 0 ]
[ 18.10546875, 106.5234375, 67.587890625, 102.12890625, 33.22265625, 1.0156971216201782 ]
2.766667
83
0
83
0
[ 18.45703125, 108.45703125, 67.939453125, 101.337890625, 34.453125, 0 ]
[ 18.193359375, 106.5234375, 67.587890625, 101.953125, 33.22265625, 1.0156971216201782 ]
2.8
84
0
84
0
[ 18.369140625, 108.28125, 68.02734375, 101.162109375, 34.716796875, 0 ]
[ 18.193359375, 106.5234375, 67.587890625, 101.953125, 33.22265625, 1.0156971216201782 ]
2.833333
85
0
85
0
[ 18.28125, 108.28125, 68.203125, 100.986328125, 34.892578125, 0 ]
[ 18.10546875, 106.5234375, 67.8515625, 101.77734375, 33.310546875, 1.0156971216201782 ]
2.866667
86
0
86
0
[ 18.193359375, 108.193359375, 68.37890625, 100.8984375, 35.15625, 0 ]
[ 18.10546875, 106.5234375, 68.291015625, 101.6015625, 33.57421875, 1.0156971216201782 ]
2.9
87
0
87
0
[ 18.017578125, 108.193359375, 68.466796875, 100.810546875, 35.33203125, 0 ]
[ 18.10546875, 106.5234375, 68.466796875, 101.25, 33.75, 1.0156971216201782 ]
2.933333
88
0
88
0
[ 17.841796875, 108.193359375, 68.642578125, 100.634765625, 35.419921875, 0 ]
[ 18.10546875, 106.5234375, 68.5546875, 100.986328125, 34.27734375, 1.0156971216201782 ]
2.966667
89
0
89
0
[ 17.666015625, 108.28125, 68.73046875, 100.546875, 35.5078125, 0 ]
[ 18.193359375, 106.5234375, 68.642578125, 100.8984375, 34.541015625, 1.0156971216201782 ]
3
90
0
90
0
[ 17.578125, 108.28125, 68.73046875, 100.458984375, 35.5078125, 0 ]
[ 17.841796875, 106.5234375, 68.642578125, 100.72265625, 34.62890625, 1.0156971216201782 ]
3.033333
91
0
91
0
[ 17.578125, 108.28125, 68.73046875, 100.283203125, 35.5078125, 0 ]
[ 17.578125, 106.5234375, 68.642578125, 100.72265625, 34.716796875, 1.0156971216201782 ]
3.066667
92
0
92
0
[ 17.578125, 108.28125, 68.73046875, 100.01953125, 35.419921875, 0 ]
[ 17.314453125, 106.5234375, 68.642578125, 100.72265625, 34.716796875, 1.0156971216201782 ]
3.1
93
0
93
0
[ 17.578125, 108.10546875, 68.5546875, 99.84375, 35.33203125, 0 ]
[ 16.787109375, 106.5234375, 68.642578125, 100.72265625, 34.716796875, 1.0156971216201782 ]
3.133333
94
0
94
0
[ 17.666015625, 107.9296875, 68.37890625, 99.755859375, 35.244140625, 0 ]
[ 16.787109375, 106.5234375, 68.642578125, 100.72265625, 34.716796875, 1.0156971216201782 ]
3.166667
95
0
95
0
[ 17.841796875, 107.841796875, 68.291015625, 99.4921875, 35.15625, 0 ]
[ 16.875, 106.34765625, 68.642578125, 100.283203125, 34.716796875, 1.0156971216201782 ]
3.2
96
0
96
0
[ 18.10546875, 107.666015625, 68.291015625, 99.140625, 35.15625, 0 ]
[ 16.962890625, 106.171875, 68.642578125, 100.107421875, 34.716796875, 1.0156971216201782 ]
3.233333
97
0
97
0
[ 18.369140625, 107.490234375, 68.291015625, 98.701171875, 35.15625, 0 ]
[ 17.314453125, 106.171875, 68.642578125, 99.931640625, 34.716796875, 1.0156971216201782 ]
3.266667
98
0
98
0
[ 18.80859375, 107.40234375, 68.37890625, 98.173828125, 35.244140625, 0 ]
[ 17.490234375, 106.171875, 68.642578125, 99.66796875, 34.716796875, 1.0156971216201782 ]
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": 2,
    "total_frames": 489,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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",
                "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
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
            }
        },
        "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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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