action list | observation.state list | intervention bool | next.success bool | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | is_terminal bool | mc_return float32 | language_persistent list | language_events list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-3.637552261352539,
-102.36531829833984,
96.73198699951172,
72.88716125488281,
0.9615268707275391,
1.7031666040420532
] | [
-3.4285714626312256,
-102.76923370361328,
100.87911987304688,
72.21977996826172,
0.7472527623176575,
1.5224913358688354
] | false | false | 0 | 0 | 0 | 0 | 0 | false | -0.362114 | [
{
"role": "user",
"content": "negative",
"style": "advantage",
"timestamp": 0,
"camera": null,
"tool_calls": null
},
{
"role": "user",
"content": "negative",
"style": "advantage",
"timestamp": 0.03333333507180214,
"camera": null,
"tool_calls": null
},
{
"r... | [] |
[
-3.6490478515625,
-102.5421142578125,
96.68167114257812,
72.87815856933594,
0.9480686187744141,
1.726558804512024
] | [
-3.3406593799591064,
-102.5934066772461,
99.12088012695312,
72.3956069946289,
0.7472527623176575,
1.5224913358688354
] | false | false | 0.033333 | 1 | 0 | 1 | 0 | false | -0.361591 | [
{
"role": "user",
"content": "negative",
"style": "advantage",
"timestamp": 0,
"camera": null,
"tool_calls": null
},
{
"role": "user",
"content": "negative",
"style": "advantage",
"timestamp": 0.03333333507180214,
"camera": null,
"tool_calls": null
},
{
"r... | [] |
[-3.648763656616211,-102.49661254882812,96.69426727294922,72.89720153808594,0.9601650238037109,1.681(...TRUNCATED) | [-3.2527472972869873,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.066667 | 2 | 0 | 2 | 0 | false | -0.361068 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.631319046020508,-102.44405364990234,96.81189727783203,72.88282775878906,0.9629898071289062,1.802(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.1 | 3 | 0 | 3 | 0 | false | -0.360544 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.62713623046875,-102.57310485839844,96.56214141845703,72.87455749511719,0.9227828979492188,1.6702(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.133333 | 4 | 0 | 4 | 0 | false | -0.360021 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.649709701538086,-102.33850860595703,96.4791488647461,72.90803527832031,0.9115695953369141,1.6993(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.166667 | 5 | 0 | 5 | 0 | false | -0.359498 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.6708240509033203,-102.65023040771484,96.57501220703125,72.8725357055664,0.9189205169677734,1.731(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.2 | 6 | 0 | 6 | 0 | false | -0.358974 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.6311302185058594,-102.41519165039062,96.72821044921875,72.88875579833984,0.8557357788085938,1.65(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.233333 | 7 | 0 | 7 | 0 | false | -0.358451 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.681436538696289,-102.5672378540039,96.80078887939453,72.90887451171875,0.9719753265380859,1.7387(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.266667 | 8 | 0 | 8 | 0 | false | -0.357928 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
[-3.654094696044922,-102.56890869140625,96.67725372314453,72.86580657958984,0.8993606567382812,1.690(...TRUNCATED) | [-3.4285714626312256,-102.5934066772461,99.12088012695312,72.3956069946289,0.7472527623176575,1.5224(...TRUNCATED) | false | false | 0.3 | 9 | 0 | 9 | 0 | false | -0.357405 | [{"role":"user","content":"negative","style":"advantage","timestamp":0.0,"camera":null,"tool_calls":(...TRUNCATED) | [] |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"intervention": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"next.success": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"mc_return": {
"dtype": "float32",
"shape": [
1
],
"names": null
}
},
"total_episodes": 167,
"total_frames": 137148,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "so_follower",
"splits": {
"train": "0:167"
}
}
Citation
BibTeX:
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