Datasets:
action list | observation.state list | timestamp float32 0 26 | frame_index int64 0 779 | episode_index int64 0 49 | index int64 0 32.6k | task_index int64 0 0 | language_persistent listlengths 21 58 | language_events listlengths 0 6 |
|---|---|---|---|---|---|---|---|---|
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
-0.41514042019844055,
-49.93894958496094,
54.96947479248047,
32.21001052856445,
-2.222222328186035,
59.511600494384766
] | 0 | 0 | 0 | 0 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [
{
"role": "assistant",
"content": null,
"style": null,
"camera": null,
"tool_calls": [
{
"function": {
"arguments": {
"text": "Got it, I'll grab both cubes and place them in the green box."
},
"name": "say"
},
"type": "funct... |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.21978022158145905,
-52.67399215698242,
55.5067138671875,
34.261295318603516,
-1.78266179561615,
59.53601837158203
] | 0.033333 | 1 | 0 | 1 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"shoe\", \"value\": \"white\"}",
"style": "vqa",
"camera": "observation.images.front",
"tool_calls": null
},
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"cube\", \"value\": \"blue\... |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.46398046612739563,
-55.36019515991211,
55.70207595825195,
36.16605758666992,
-1.7338217496871948,
59.53601837158203
] | 0.066667 | 2 | 0 | 2 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"shoe\", \"value\": \"white\"}",
"style": "vqa",
"camera": "observation.images.front",
"tool_calls": null
},
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"blue cube\", \"value\": \"... |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.5616605877876282,
-60.0488395690918,
55.60439682006836,
39.63370132446289,
-1.831501841545105,
59.56044006347656
] | 0.1 | 3 | 0 | 3 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-64.05372619628906,
55.5067138671875,
41.83150100708008,
-1.6361416578292847,
59.56044006347656
] | 0.133333 | 4 | 0 | 4 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9523809552192688,
-65.0793685913086,
55.4578742980957,
42.661781311035156,
-2.124542236328125,
59.56044006347656
] | 0.166667 | 5 | 0 | 5 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9523809552192688,
-65.12820434570312,
55.4578742980957,
43.39438247680664,
-1.88034188747406,
59.56044006347656
] | 0.2 | 6 | 0 | 6 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.8547008633613586,
-65.0793685913086,
55.4578742980957,
44.27350616455078,
-1.7338217496871948,
59.56044006347656
] | 0.233333 | 7 | 0 | 7 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.78266179561615,
59.56044006347656
] | 0.266667 | 8 | 0 | 8 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.3 | 9 | 0 | 9 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.61538314819336,
-1.88034188747406,
59.56044006347656
] | 0.333333 | 10 | 0 | 10 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.0793685913086,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.366667 | 11 | 0 | 11 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.4 | 12 | 0 | 12 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.433333 | 13 | 0 | 13 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.32600402832031,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.466667 | 14 | 0 | 14 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.5 | 15 | 0 | 15 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
[
1.196581244468689,
-67.27716827392578,
56.28815460205078,
43.736263275146484,
-1.7338217496871948,
59.70695877075195
] | [
0.9035409092903137,
-65.12820434570312,
55.4578742980957,
44.56654357910156,
-1.88034188747406,
59.56044006347656
] | 0.533333 | 16 | 0 | 16 | 0 | [
{
"role": "assistant",
"content": "1. Move the robot arm towards the blue cube.\n2. Position the gripper over the blue cube and grasp it.\n3. Lift and transport the blue cube to the green container.\n4. Release the blue cube into the green container.\n5. Move the robot arm back to the starting position.\n6.... | [] |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 50,
"total_frames": 32650,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"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": 30,
"video.channels": 3,
"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": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 13