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action list | observation.state list | observation.images.front.depth array 2D | timestamp float32 0 25.6 | frame_index int64 0 769 | episode_index int64 0 14 | index int64 0 8.33k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[-3.4426522254943848,-98.78347778320312,98.93213653564453,75.5454330444336,-54.631378173828125,5.734(...TRUNCATED) | [-4.5248870849609375,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,7.15223(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,593,0,0,0,(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[-3.373551368713379,-98.64478302001953,98.8056869506836,75.53263092041016,-54.49539566040039,5.78943(...TRUNCATED) | [-4.5248870849609375,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,7.15223(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,588,590,591,59(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[-3.2136809825897217,-98.57427215576172,98.57247161865234,75.47129821777344,-54.58778381347656,5.593(...TRUNCATED) | [-4.5248870849609375,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,7.15223(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,591,593,(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[-3.185767650604248,-98.67066192626953,98.43434143066406,75.54978942871094,-54.40666198730469,5.5853(...TRUNCATED) | [-4.2232279777526855,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,6.62729(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,592,593,594,(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[-3.1267659664154053,-98.89384460449219,98.27936553955078,75.38276672363281,-54.39144515991211,5.298(...TRUNCATED) | [-3.846153736114502,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,6.299212(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,588,589,591,59(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[-2.983102560043335,-98.6259765625,98.3614730834961,75.39604949951172,-54.5020751953125,5.1977658271(...TRUNCATED) | [-3.6199095249176025,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,6.10236(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,593,0,0,0,(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[-2.908356189727783,-98.5585708618164,98.24049377441406,75.39466094970703,-54.53215026855469,4.87835(...TRUNCATED) | [-3.54449462890625,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,5.8398952(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,589,590,591,59(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[-2.735598564147949,-98.6838607788086,98.02609252929688,75.29261779785156,-54.457481384277344,4.6036(...TRUNCATED) | [-3.6199095249176025,-98.5538101196289,99.10233306884766,75.5615463256836,-54.31812286376953,5.77427(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,587,589,590,592,(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[-2.452145576477051,-98.55248260498047,97.59680938720703,75.28789520263672,-54.33427047729492,4.4043(...TRUNCATED) | [-3.7707390785217285,-98.5538101196289,99.01256561279297,75.5615463256836,-54.31812286376953,5.57742(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,591,593,594,(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[-2.451786994934082,-98.56623840332031,96.93667602539062,75.21261596679688,-54.26249694824219,4.1575(...TRUNCATED) | [-3.393665075302124,-98.5538101196289,98.92279815673828,75.5615463256836,-54.31812286376953,5.249343(...TRUNCATED) | [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,590,591,593,59(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 15,
"total_frames": 8332,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:15"
},
"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.front.depth": {
"dtype": "uint16",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.images.top": {
"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:
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