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sequence | observation.state
sequence | timestamp
float32 0
0.2
| frame_index
int64 0
6
| episode_index
int64 0
1
| index
int64 0
12
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0 | 0 | 0 | 0 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.033333 | 1 | 0 | 1 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.066667 | 2 | 0 | 2 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.1 | 3 | 0 | 3 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.133333 | 4 | 0 | 4 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.166667 | 5 | 0 | 5 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.2 | 6 | 0 | 6 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0 | 0 | 1 | 7 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.033333 | 1 | 1 | 8 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.066667 | 2 | 1 | 9 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.1 | 3 | 1 | 10 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.133333 | 4 | 1 | 11 | 0 |
[
-12.12890625,
195.64453125,
188.173828125,
70.751953125,
2.4609375,
3.101503849029541
] | [
-11.513671875,
195.46875,
187.3828125,
69.78515625,
1.7578125,
3.1037826538085938
] | 0.166667 | 5 | 1 | 12 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 13,
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.first": {
"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": "av1",
"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": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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