Datasets:

DistantSky
/

test_pick_place_arx_lerobot_raw200_h200

observation.state list	observation.velocity list	action list	raw_action list	source.action_time_s float32 0 4.05	source.raw_action_time_s float32 -0 4.05	action_raw_future array 2D	prompt stringclasses 1 value	timestamp float32 0 3.93	frame_index int64 0 236	index int64 0 11.8k
[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034142494201660156, 0.01239776611328125, 0.06275272369384766, -0.0007734989048913121 ]	[ -0.03296661376953125, -0.010990142822265625, -0.03296661376953125, -0.0549468994140625, 1.2417564392089844, 0.5604400634765625 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034347034990787506, 0.01239776611328125, 0.06561629474163055, -0.0015723977703601122 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ]	0	0.002348	[ [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ], [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, ...	insert the object into the fixture	0	0	0
[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034347034990787506, 0.01239776611328125, 0.06561629474163055, -0.0015723977703601122 ]	[ -0.02118300460278988, 0.0007955118198879063, -0.009397350251674652, -0.019591981545090675, 1.2417564392089844, 0.4308101236820221 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ]	0.016667	0.017526	[ [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ], [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.03070831298828125, ...	insert the object into the fixture	0.016667	1	1
[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.01239776611328125, 0.06809329986572266, -0.002263447968289256 ]	[ -0.010990142822265625, 0.010990142822265625, 0.010990142822265625, 0.010990142822265625, 1.2417564392089844, 0.3186798095703125 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.03070831298828125, 0.06885623931884766, -0.002306221053004265 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.03070831298828125, 0.06885623931884766, -0.002306221053004265 ]	0.033333	0.032692	[ [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.03070831298828125, 0.06885623931884766, -0.002306221053004265 ], [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516, ...	insert the object into the fixture	0.033333	2	2
[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.03070831298828125, 0.06885623931884766, -0.002306221053004265 ]	[ 0.010990142822265625, 0.010990142822265625, -0.010990142822265625, -0.03296661376953125, 1.3956031799316406, -0.010990142822265625 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516, 0.06847476959228516, -0.0019640359096229076 ]	[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516, 0.06847476959228516, -0.0019640359096229076 ]	0.05	0.047866	[ [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516, 0.06847476959228516, -0.0019640359096229076 ], [ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516,...	insert the object into the fixture	0.05	3	3
[ -0.00209808349609375, 0.00476837158203125, 0.02307891845703125, 0.034523963928222656, 0.06847476959228516, 0.06847476959228516, -0.0019640359096229076 ]	[ -0.010990142822265625, 0.03296661376953125, 0.010990142822265625, -0.03296661376953125, 1.373626708984375, -0.03296661376953125 ]	[ -0.00209808349609375, 0.00514984130859375, 0.02307891845703125, 0.034905433654785156, 0.06847476959228516, 0.06847476959228516, -0.001857103081420064 ]	[ -0.00209808349609375, 0.00514984130859375, 0.02307891845703125, 0.034905433654785156, 0.06847476959228516, 0.06847476959228516, -0.001857103081420064 ]	0.066667	0.068094	[ [ -0.00209808349609375, 0.00514984130859375, 0.02307891845703125, 0.034905433654785156, 0.06847476959228516, 0.06847476959228516, -0.001857103081420064 ], [ -0.00209808349609375, 0.00514984130859375, 0.02307891845703125, 0.034905433654785156, 0.06847476959228516, ...	insert the object into the fixture	0.066667	4	4
[ -0.00209808349609375, 0.00514984130859375, 0.02307891845703125, 0.034905433654785156, 0.06847476959228516, 0.06847476959228516, -0.001857103081420064 ]	[ -0.010990142822265625, 0.03296661376953125, 0.03296661376953125, 0.0549468994140625, 1.373626708984375, 0.010990142822265625 ]	[ -0.00209808349609375, 0.00591278076171875, 0.02346038818359375, 0.034905433654785156, 0.08297061920166016, 0.06847476959228516, -0.0018784896237775683 ]	[ -0.00209808349609375, 0.00591278076171875, 0.02346038818359375, 0.034905433654785156, 0.08297061920166016, 0.06847476959228516, -0.0018784896237775683 ]	0.083333	0.083813	[ [ -0.00209808349609375, 0.00591278076171875, 0.02346038818359375, 0.034905433654785156, 0.08297061920166016, 0.06847476959228516, -0.0018784896237775683 ], [ -0.00209808349609375, 0.00591278076171875, 0.02346038818359375, 0.034905433654785156, 0.08297061920166016,...	insert the object into the fixture	0.083333	5	5
[-0.00209808349609375,0.00591278076171875,0.02346038818359375,0.034905433654785156,0.082970619201660(...TRUNCATED)	[-0.03296661376953125,0.16483688354492188,0.0549468994140625,0.010990142822265625,0.8241767883300781(...TRUNCATED)	[-0.00209808349609375,0.00743865966796875,0.02384185791015625,0.035286903381347656,0.111200332641601(...TRUNCATED)	[-0.00209808349609375,0.00743865966796875,0.02384185791015625,0.035286903381347656,0.111200332641601(...TRUNCATED)	0.1	0.099002	[[-0.00209808349609375,0.00743865966796875,0.02384185791015625,0.035286903381347656,0.11120033264160(...TRUNCATED)	insert the object into the fixture	0.1	6	6
[-0.00209808349609375,0.00743865966796875,0.02384185791015625,0.035286903381347656,0.111200332641601(...TRUNCATED)	[-0.010990142822265625,0.40659332275390625,0.120880126953125,-0.010990142822265625,1.131866455078125(...TRUNCATED)	[-0.00209808349609375,0.009124823845922947,0.02440391294658184,0.0354742556810379,0.1198185011744499(...TRUNCATED)	[-0.00209808349609375,0.00743865966796875,0.02384185791015625,0.035286903381347656,0.111200332641601(...TRUNCATED)	0.116667	0.114176	[[-0.00209808349609375,0.01087188720703125,0.02498626708984375,0.035668373107910156,0.12874794006347(...TRUNCATED)	insert the object into the fixture	0.116667	7	7
[-0.00209808349609375,0.009124823845922947,0.02440391294658184,0.0354742556810379,0.1198185011744499(...TRUNCATED)	[-0.021783465519547462,0.6440632939338684,0.1748504787683487,0.04298021271824837,1.1750434637069702,(...TRUNCATED)	[-0.00209808349609375,0.01087188720703125,0.02498626708984375,0.035668373107910156,0.128747940063476(...TRUNCATED)	[-0.00209808349609375,0.01087188720703125,0.02498626708984375,0.035668373107910156,0.128747940063476(...TRUNCATED)	0.133333	0.134421	[[-0.00209808349609375,0.01087188720703125,0.02498626708984375,0.035668373107910156,0.12874794006347(...TRUNCATED)	insert the object into the fixture	0.133333	8	8
[-0.00209808349609375,0.01087188720703125,0.02498626708984375,0.035668373107910156,0.128747940063476(...TRUNCATED)	[-0.03296661376953125,0.8901100158691406,0.23077011108398438,0.09889984130859375,1.2197799682617188,(...TRUNCATED)	[-0.00209808349609375,0.01583099365234375,0.02727508544921875,0.039483070373535156,0.146677017211914(...TRUNCATED)	[-0.00209808349609375,0.01583099365234375,0.02727508544921875,0.039483070373535156,0.146677017211914(...TRUNCATED)	0.15	0.149592	[[-0.00209808349609375,0.01583099365234375,0.02727508544921875,0.039483070373535156,0.14667701721191(...TRUNCATED)	insert the object into the fixture	0.15	9	9

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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "hessian",
    "total_episodes": 50,
    "total_frames": 11779,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:50"
    },
    "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.images.video_left": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.video_overhead": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
            ]
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "velocity"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "action"
            ]
        },
        "raw_action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "raw_action"
            ]
        },
        "source.action_time_s": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "source.raw_action_time_s": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "action_raw_future": {
            "dtype": "float32",
            "shape": [
                200,
                7
            ],
            "names": [
                "horizon",
                "action"
            ]
        },
        "prompt": {
            "dtype": "string",
            "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
        }
    }
}

Citation

BibTeX:

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