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Datasets:
ncavallo
/
moss_bye

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
moss
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
58.3
frame_index
int64
0
1.75k
episode_index
int64
0
2
index
int64
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3.43k
task_index
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74
0
[ 37.44140625, 109.86328125, 60.908203125, 38.759765625, 51.591796875, 3.4558823108673096 ]
[ 40.4296875, 109.951171875, 64.6875, 40.95703125, 66.796875, 1.108033299446106 ]
2.5
75
0
75
0
[ 36.73828125, 109.599609375, 60.556640625, 38.408203125, 48.955078125, 3.8235294818878174 ]
[ 38.935546875, 109.86328125, 64.248046875, 40.166015625, 63.017578125, 1.108033299446106 ]
2.533333
76
0
76
0
[ 35.947265625, 109.599609375, 60.46875, 38.3203125, 46.142578125, 4.264705657958984 ]
[ 37.6171875, 109.3359375, 63.6328125, 39.55078125, 59.23828125, 1.5697137117385864 ]
2.566667
77
0
77
0
[ 35.15625, 109.599609375, 60.46875, 38.3203125, 43.59375, 4.705882549285889 ]
[ 36.826171875, 109.072265625, 63.10546875, 39.111328125, 55.458984375, 2.123730421066284 ]
2.6
78
0
78
0
[ 34.716796875, 109.599609375, 60.64453125, 38.3203125, 42.1875, 4.852941036224365 ]
[ 36.123046875, 108.984375, 62.841796875, 38.935546875, 52.294921875, 2.6777470111846924 ]
2.633333
79
0
79
0
[ 34.62890625, 109.599609375, 61.171875, 38.3203125, 41.8359375, 4.852941036224365 ]
[ 35.771484375, 108.984375, 62.666015625, 38.759765625, 49.306640625, 3.047091484069824 ]
2.666667
80
0
80
0
[ 34.8046875, 109.599609375, 61.875, 38.232421875, 41.748046875, 5 ]
[ 35.419921875, 108.80859375, 62.666015625, 38.583984375, 46.318359375, 3.3240997791290283 ]
2.7
81
0
81
0
[ 34.892578125, 109.6875, 62.40234375, 38.232421875, 41.044921875, 5.441176414489746 ]
[ 34.892578125, 108.720703125, 62.666015625, 38.583984375, 44.560546875, 3.5087718963623047 ]
2.733333
82
0
82
0
[ 34.892578125, 109.6875, 62.75390625, 38.408203125, 40.25390625, 6.029411792755127 ]
[ 34.541015625, 108.720703125, 62.666015625, 38.583984375, 43.2421875, 4.062788486480713 ]
2.766667
83
0
83
0
[ 34.892578125, 109.6875, 63.017578125, 38.759765625, 39.375, 6.470588207244873 ]
[ 34.365234375, 108.720703125, 62.9296875, 38.583984375, 42.5390625, 4.339797019958496 ]
2.8
84
0
84
0
[ 34.8046875, 109.6875, 63.28125, 39.0234375, 38.49609375, 6.911764621734619 ]
[ 33.92578125, 108.6328125, 62.9296875, 38.583984375, 41.66015625, 4.801477432250977 ]
2.833333
85
0
85
0
[ 34.62890625, 109.6875, 63.369140625, 39.19921875, 37.79296875, 7.352941036224365 ]
[ 33.662109375, 108.6328125, 63.28125, 38.671875, 40.60546875, 5.170821666717529 ]
2.866667
86
0
86
0
[ 34.27734375, 109.6875, 63.45703125, 39.287109375, 36.9140625, 7.573529243469238 ]
[ 33.662109375, 108.6328125, 63.45703125, 38.84765625, 39.638671875, 5.355494022369385 ]
2.9
87
0
87
0
[ 33.92578125, 109.6875, 63.45703125, 39.375, 36.03515625, 7.647058963775635 ]
[ 33.662109375, 108.6328125, 63.45703125, 38.84765625, 38.583984375, 5.909510612487793 ]
2.933333
88
0
88
0
[ 33.662109375, 109.6875, 63.369140625, 39.55078125, 35.33203125, 7.867647171020508 ]
[ 33.662109375, 108.6328125, 63.45703125, 38.84765625, 37.79296875, 6.186519145965576 ]
2.966667
89
0
89
0
[ 33.57421875, 109.6875, 63.193359375, 40.078125, 35.244140625, 8.161765098571777 ]
[ 33.75, 108.6328125, 63.45703125, 38.84765625, 37.177734375, 6.371191024780273 ]
3
90
0
90
0
[ 33.662109375, 109.599609375, 63.10546875, 40.4296875, 36.298828125, 7.941176414489746 ]
[ 33.662109375, 108.6328125, 63.45703125, 38.84765625, 36.38671875, 6.463527202606201 ]
3.033333
91
0
91
0
[ 33.662109375, 109.6875, 63.369140625, 40.517578125, 37.880859375, 7.426470756530762 ]
[ 33.3984375, 108.6328125, 63.45703125, 39.287109375, 36.03515625, 6.832871437072754 ]
3.066667
92
0
92
0
[ 33.837890625, 109.951171875, 63.80859375, 41.220703125, 41.044921875, 6.029411792755127 ]
[ 33.22265625, 108.6328125, 63.45703125, 39.638671875, 36.03515625, 6.925207614898682 ]
3.1
93
0
93
0
[ 35.15625, 110.478515625, 63.984375, 43.505859375, 45.52734375, 5 ]
[ 33.046875, 108.6328125, 63.45703125, 39.90234375, 36.298828125, 6.925207614898682 ]
3.133333
94
0
94
0
[ 36.9140625, 111.005859375, 64.423828125, 45.791015625, 49.74609375, 4.191176414489746 ]
[ 32.958984375, 108.6328125, 63.45703125, 40.517578125, 37.265625, 6.925207614898682 ]
3.166667
95
0
95
0
[ 39.19921875, 111.708984375, 65.0390625, 47.900390625, 53.96484375, 3.2352941036224365 ]
[ 33.134765625, 108.6328125, 63.544921875, 41.572265625, 39.375, 6.371191024780273 ]
3.2
96
0
96
0
[ 41.396484375, 112.412109375, 65.390625, 50.9765625, 58.359375, 2.132352828979492 ]
[ 34.189453125, 108.896484375, 64.072265625, 42.890625, 42.099609375, 5.4478302001953125 ]
3.233333
97
0
97
0
[ 43.154296875, 113.02734375, 65.830078125, 53.96484375, 62.666015625, 1.25 ]
[ 35.33203125, 109.16015625, 64.86328125, 44.560546875, 45.3515625, 4.524468898773193 ]
3.266667
98
0
98
0
[ 44.560546875, 113.73046875, 66.62109375, 56.162109375, 66.26953125, 0.8823529481887817 ]
[ 37.265625, 109.6875, 65.21484375, 46.494140625, 48.955078125, 3.6011080741882324 ]
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": 3,
    "total_frames": 3428,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
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            ],
            "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": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "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": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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