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observation.state
sequence | action
sequence | observation.pointcloud.xyz
array 2D | observation.pointcloud.rgb
array 2D | observation.pointcloud.padding_mask
sequence | timestamp
float32 0
21
| frame_index
int64 0
631
| episode_index
int64 0
98
| index
int64 0
48.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|---|
[0.05137808993458748,0.01801927573978901,-0.00831335037946701,-0.23130328953266144,0.044259093701839(...TRUNCATED) | [0.110348179936409,0.0,0.0,-0.23130328953266144,0.04425909370183945,-0.14204226434230804,-0.01352191(...TRUNCATED) | [[0.6209877729415894,-0.026890059933066368,-0.15741999447345734],[1.971710205078125,0.44789153337478(...TRUNCATED) | [[124,124,122],[219,218,223],[63,65,65],[75,75,75],[150,158,166],[94,95,90],[113,113,111],[184,170,1(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0 | 0 | 0 | 0 | 0 |
[0.02776363305747509,-2.2361519374462097e-13,-0.007086720783263445,-0.23110108077526093,0.0444093793(...TRUNCATED) | [0.11217185109853745,0.0,0.0,-0.23130328953266144,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.22509415447711945,-0.18661224842071533,0.12051910907030106],[1.9692684412002563,0.44743403792381(...TRUNCATED) | [[143,143,146],[221,220,223],[56,56,56],[58,58,58],[173,176,180],[220,219,213],[68,68,66],[120,120,1(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.033333 | 1 | 0 | 1 | 0 |
[0.01640005223453045,0.010953359305858612,0.0,-0.23083144426345825,0.04440937936306,-0.1422459930181(...TRUNCATED) | [0.11192764341831207,0.0,0.0,-0.23083144426345825,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.522312581539154,0.43964847922325134,-0.17731519043445587],[1.932209849357605,-0.4345924258232116(...TRUNCATED) | [[128,128,126],[228,227,233],[67,69,68],[69,77,66],[107,107,107],[70,70,70],[53,53,51],[47,45,46],[2(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.066667 | 2 | 0 | 2 | 0 |
[0.04941783845424652,0.013072764500975609,-0.010982238687574863,-0.23083144426345825,0.0444093793630(...TRUNCATED) | [0.11377961933612823,0.0,0.0,-0.23083144426345825,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[1.8524088859558105,-0.45979300141334534,1.1598695516586304],[0.00026958907255902886,0.460919618606(...TRUNCATED) | [[234,234,236],[87,86,82],[137,134,137],[71,71,71],[137,143,145],[135,140,143],[75,69,70],[78,78,76](...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.1 | 3 | 0 | 3 | 0 |
[0.055847104638814926,0.016125906258821487,-0.007862959057092667,-0.23083144426345825,0.044409379363(...TRUNCATED) | [0.11536241322755814,0.0,0.0,-0.23110108077526093,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.07975327223539352,0.45093482732772827,-0.196227565407753],[1.9324785470962524,-0.371010184288024(...TRUNCATED) | [[106,107,99],[198,195,202],[57,59,58],[70,70,70],[193,195,197],[140,148,150],[171,166,172],[70,70,6(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.133333 | 4 | 0 | 4 | 0 |
[0.034062910825014114,-2.7507605026254323e-13,0.0,-0.23056182265281677,0.04440937936306,-0.142245993(...TRUNCATED) | [0.11616618931293488,0.0,0.0,-0.23056182265281677,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.018901150673627853,0.21680349111557007,0.12095826119184494],[1.928773283958435,-0.37006324529647(...TRUNCATED) | [[159,163,166],[198,196,201],[72,74,73],[69,68,66],[193,196,195],[156,160,161],[71,73,72],[95,95,93](...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.166667 | 5 | 0 | 5 | 0 |
[0.04802074655890465,-4.369039852125667e-13,0.0,-0.23056182265281677,0.04440937936306,-0.14224599301(...TRUNCATED) | [0.12102940678596497,0.0,0.0,-0.23056182265281677,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.481981098651886,0.22643350064754486,-0.17892827093601227],[1.9154794216156006,-0.387502074241638(...TRUNCATED) | [[138,138,136],[208,207,212],[67,68,65],[175,180,173],[99,99,97],[69,69,67],[52,52,50],[217,216,221](...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.2 | 6 | 0 | 6 | 0 |
[0.08662397414445877,-7.998168642144032e-13,-0.00915585458278656,-0.23083144426345825,0.044409379363(...TRUNCATED) | [0.12155469506978989,0.0,0.0,-0.23083144426345825,0.04440937936306,-0.14224599301815033,-0.013521919(...TRUNCATED) | [[0.048516932874917984,-0.12133456021547318,0.14943259954452515],[1.9013538360595703,0.4517325460910(...TRUNCATED) | [[26,17,9],[221,220,223],[62,62,62],[57,59,58],[165,169,172],[68,68,66],[65,70,65],[105,105,103],[15(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.233333 | 7 | 0 | 7 | 0 |
[0.06756944209337234,0.01173733826726675,-0.02025158889591694,-0.23083144426345825,0.04440937936306,(...TRUNCATED) | [0.1242305189371109,0.0,0.0,-0.23083144426345825,0.04440937936306,-0.14224599301815033,-0.0135219199(...TRUNCATED) | [[0.08755641430616379,0.16175177693367004,0.09826719760894775],[1.899245262145996,-0.383258372545242(...TRUNCATED) | [[121,123,122],[205,203,207],[69,71,70],[74,70,70],[171,173,173],[129,131,130],[73,73,73],[120,117,1(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.266667 | 8 | 0 | 8 | 0 |
[0.068099245429039,0.014343248680233955,-0.010328459553420544,-0.23056182265281677,0.04440937936306,(...TRUNCATED) | [0.12506434321403503,0.0,0.0,-0.23056182265281677,0.04440937936306,-0.14244970679283142,-0.013521919(...TRUNCATED) | [[0.04740414395928383,-0.3005950450897217,0.1286849081516266],[1.8949909210205078,0.4501830041408539(...TRUNCATED) | [[151,152,154],[219,219,221],[58,58,58],[63,63,61],[162,167,170],[183,194,190],[114,114,104],[70,70,(...TRUNCATED) | [true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED) | 0.3 | 9 | 0 | 9 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 99,
"total_frames": 48085,
"total_tasks": 1,
"total_videos": 297,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:99"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
21
]
},
"action": {
"dtype": "float32",
"shape": [
21
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
3,
94,
168
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 94,
"video.width": 168,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
3,
94,
168
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 94,
"video.width": 168,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
3,
94,
168
],
"names": [
"channels",
"height",
"width"
],
"info": {
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"video.codec": "h264",
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"video.is_depth_map": false,
"has_audio": false
}
},
"observation.pointcloud.xyz": {
"dtype": "float32",
"shape": [
4096,
3
]
},
"observation.pointcloud.rgb": {
"dtype": "uint8",
"shape": [
4096,
3
]
},
"observation.pointcloud.padding_mask": {
"dtype": "bool",
"shape": [
4096
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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},
"index": {
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"task_index": {
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1
],
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}
}
}
Citation
BibTeX:
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