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sequence | observation.state
sequence | timestamp
float32 0
0
| frame_index
int64 0
0
| episode_index
int64 0
9
| index
int64 0
9
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
11.251258850097656,
138.69140625,
121.87467956542969,
79.95917510986328,
0.2978363037109375,
12.783122062683105
] |
[
4.306640625,
187.91015625,
180.791015625,
68.466796875,
-7.20703125,
-1.4613778591156006
] | 0 | 0 | 0 | 0 | 0 |
[
6.4181671142578125,
65.96466064453125,
37.71900177001953,
106.3814926147461,
-7.773841857910156,
0.5497379302978516
] |
[
5.9765625,
66.884765625,
35.771484375,
105.8203125,
-8.61328125,
-3.061934471130371
] | 0 | 0 | 1 | 1 | 0 |
[
2.188699722290039,
37.04375076293945,
-4.178581237792969,
106.75346374511719,
-4.734893798828125,
7.687314033508301
] |
[
3.251953125,
40.869140625,
-6.416015625,
107.666015625,
-5.2734375,
10.090466499328613
] | 0 | 0 | 2 | 2 | 0 |
[
2.528352737426758,
41.79549789428711,
-11.414215087890625,
105.86809539794922,
-6.2983856201171875,
-2.411698341369629
] |
[
3.251953125,
40.25390625,
-8.525390625,
107.2265625,
-7.998046875,
-3.131524085998535
] | 0 | 0 | 3 | 3 | 0 |
[
33.42059326171875,
25.54581069946289,
-15.56937313079834,
80.8482437133789,
-69.08470153808594,
20.296295166015625
] |
[
33.3984375,
23.994140625,
-16.962890625,
80.947265625,
-69.609375,
18.510786056518555
] | 0 | 0 | 4 | 4 | 0 |
[
2.485198974609375,
34.785221099853516,
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104.77227020263672,
-1.4775238037109375,
26.815052032470703
] |
[
1.23046875,
31.728515625,
-16.962890625,
103.271484375,
-2.28515625,
24.008350372314453
] | 0 | 0 | 5 | 5 | 0 |
[
9.481372833251953,
35.928916931152344,
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72.32260131835938,
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[
9.931640625,
30.849609375,
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71.455078125,
-6.50390625,
-3.131524085998535
] | 0 | 0 | 6 | 6 | 0 |
[
3.8404903411865234,
33.82683181762695,
11.76363754272461,
98.83967590332031,
-6.0251007080078125,
-2.6933789253234863
] |
[
5.361328125,
34.716796875,
15.732421875,
98.4375,
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5.3583855628967285
] | 0 | 0 | 7 | 7 | 0 |
[
2.065277099609375,
35.259033203125,
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100.58887481689453,
-4.849784851074219,
15.200406074523926
] |
[
2.63671875,
37.880859375,
-15.908203125,
100.458984375,
-5.009765625,
14.26583194732666
] | 0 | 0 | 8 | 8 | 0 |
[
2.9266414642333984,
39.4376335144043,
-7.987570762634277,
104.76690673828125,
0.47576904296875,
19.712074279785156
] |
[
3.427734375,
35.859375,
-15.908203125,
105.556640625,
-0.087890625,
20.737648010253906
] | 0 | 0 | 9 | 9 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 10,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.black": {
"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.white": {
"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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