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sequence | observation.state
sequence | timestamp
float32 0
0.3
| frame_index
int64 0
9
| episode_index
int64 0
2
| index
int64 0
12
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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135.3501434326172,
8.088532447814941,
91.82589721679688,
13.344971656799316
] | [
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151.787109375,
140.44921875,
11.07421875,
91.669921875,
15.460527420043945
] | 0 | 0 | 0 | 0 | 0 |
[
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134.1815643310547,
7.293101787567139,
92.1087875366211,
15.189464569091797
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151.435546875,
140.44921875,
11.07421875,
91.494140625,
15.460527420043945
] | 0.033333 | 1 | 0 | 1 | 0 |
[
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134.0370330810547,
4.203916549682617,
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17.31096076965332
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149.853515625,
140.2734375,
10.810546875,
91.40625,
15.131579399108887
] | 0.066667 | 2 | 0 | 2 | 0 |
[
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91.669921875,
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[
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91.7578125,
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[
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91.40625,
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[
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[
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137.8125,
137.197265625,
5.361328125,
91.142578125,
15.460527420043945
] | 0.233333 | 7 | 0 | 7 | 0 |
[
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135.3515625,
136.0546875,
4.21875,
91.0546875,
15.625
] | 0.266667 | 8 | 0 | 8 | 0 |
[
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135,
3.076171875,
91.0546875,
15.789472579956055
] | 0.3 | 9 | 0 | 9 | 0 |
[
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91.0546875,
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] | 0 | 0 | 1 | 10 | 0 |
[
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126.2817153930664,
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90.9743423461914,
17.894878387451172
] | [
-19.86328125,
124.541015625,
132.275390625,
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91.0546875,
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] | 0 | 0 | 2 | 11 | 0 |
[
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125.14935302734375,
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90.7456283569336,
16.71512222290039
] | [
-19.86328125,
124.365234375,
132.275390625,
-2.548828125,
91.0546875,
16.447368621826172
] | 0.033333 | 1 | 2 | 12 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 3,
"total_frames": 13,
"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": [
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.laptop": {
"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.phone": {
"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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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