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Datasets:
FeiYjf
/
Makalu_push

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
37.2
frame_index
int64
0
1.12k
episode_index
int64
0
29
index
int64
0
23.5k
task_index
int64
0
0
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[ 45.791015625, 93.779296875, 94.921875, 91.494140625, 88.2421875, 0.620475709438324 ]
2.433333
73
0
73
0
[ 46.23046875, 89.736328125, 86.220703125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.52734375, 92.28515625, 93.1640625, 91.494140625, 88.2421875, 0.620475709438324 ]
2.466667
74
0
74
0
[ 46.23046875, 88.76953125, 84.814453125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.52734375, 91.0546875, 91.40625, 91.494140625, 88.2421875, 0.620475709438324 ]
2.5
75
0
75
0
[ 46.23046875, 87.71484375, 83.583984375, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.703125, 89.912109375, 89.912109375, 91.845703125, 88.2421875, 0.620475709438324 ]
2.533333
76
0
76
0
[ 46.23046875, 86.572265625, 82.353515625, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 88.681640625, 88.330078125, 91.845703125, 88.2421875, 0.620475709438324 ]
2.566667
77
0
77
0
[ 46.23046875, 85.341796875, 81.123046875, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 87.5390625, 86.748046875, 91.845703125, 88.2421875, 0.620475709438324 ]
2.6
78
0
78
0
[ 46.23046875, 84.111328125, 79.892578125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 86.484375, 85.341796875, 91.58203125, 88.2421875, 0.620475709438324 ]
2.633333
79
0
79
0
[ 46.23046875, 82.96875, 78.662109375, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 85.517578125, 84.19921875, 91.494140625, 88.2421875, 0.620475709438324 ]
2.666667
80
0
80
0
[ 46.23046875, 81.9140625, 77.51953125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 84.375, 82.79296875, 91.58203125, 88.2421875, 0.620475709438324 ]
2.7
81
0
81
0
[ 46.23046875, 80.68359375, 76.201171875, 92.63671875, 88.857421875, 0.9310986995697021 ]
[ 45.791015625, 82.96875, 81.38671875, 91.93359375, 88.2421875, 0.620475709438324 ]
2.733333
82
0
82
0
[ 46.23046875, 79.716796875, 75.05859375, 92.63671875, 88.9453125, 0.9310986995697021 ]
[ 45.791015625, 81.826171875, 80.244140625, 91.93359375, 88.2421875, 0.620475709438324 ]
2.766667
83
0
83
0
[ 46.23046875, 78.57421875, 73.828125, 92.63671875, 88.9453125, 0.9310986995697021 ]
[ 45.791015625, 80.68359375, 79.1015625, 91.93359375, 88.2421875, 0.620475709438324 ]
2.8
84
0
84
0
[ 46.23046875, 77.431640625, 72.59765625, 92.63671875, 88.9453125, 0.9310986995697021 ]
[ 45.791015625, 79.453125, 78.046875, 91.845703125, 88.2421875, 0.620475709438324 ]
2.833333
85
0
85
0
[ 46.23046875, 76.2890625, 71.455078125, 92.63671875, 88.857421875, 0.9310986995697021 ]
[ 45.791015625, 78.3984375, 76.728515625, 91.93359375, 88.2421875, 0.620475709438324 ]
2.866667
86
0
86
0
[ 46.23046875, 75.234375, 70.3125, 92.63671875, 88.857421875, 0.9310986995697021 ]
[ 45.791015625, 77.34375, 75.41015625, 91.93359375, 88.2421875, 0.620475709438324 ]
2.9
87
0
87
0
[ 46.23046875, 74.35546875, 69.2578125, 92.63671875, 88.857421875, 0.9310986995697021 ]
[ 45.791015625, 76.2890625, 74.267578125, 91.845703125, 88.2421875, 0.620475709438324 ]
2.933333
88
0
88
0
[ 46.23046875, 73.65234375, 68.203125, 92.63671875, 88.857421875, 0.9310986995697021 ]
[ 45.791015625, 75.322265625, 73.125, 91.845703125, 88.2421875, 0.620475709438324 ]
2.966667
89
0
89
0
[ 46.23046875, 73.037109375, 67.1484375, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 74.35546875, 72.0703125, 91.845703125, 88.2421875, 0.620475709438324 ]
3
90
0
90
0
[ 46.23046875, 72.421875, 66.09375, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 73.388671875, 71.015625, 91.845703125, 88.2421875, 0.620475709438324 ]
3.033333
91
0
91
0
[ 46.23046875, 71.806640625, 65.126953125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 72.94921875, 70.13671875, 91.93359375, 88.2421875, 0.620475709438324 ]
3.066667
92
0
92
0
[ 46.23046875, 71.19140625, 64.248046875, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 72.0703125, 68.994140625, 91.93359375, 88.2421875, 0.620475709438324 ]
3.1
93
0
93
0
[ 46.23046875, 70.48828125, 63.45703125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.703125, 71.279296875, 67.939453125, 91.93359375, 88.2421875, 0.620475709438324 ]
3.133333
94
0
94
0
[ 46.23046875, 69.697265625, 62.666015625, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 70.83984375, 66.97265625, 91.93359375, 88.2421875, 0.620475709438324 ]
3.166667
95
0
95
0
[ 46.23046875, 68.994140625, 61.875, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 69.9609375, 66.005859375, 91.93359375, 88.2421875, 0.620475709438324 ]
3.2
96
0
96
0
[ 46.23046875, 68.203125, 61.083984375, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 69.08203125, 65.0390625, 91.93359375, 88.2421875, 0.620475709438324 ]
3.233333
97
0
97
0
[ 46.23046875, 67.5, 60.205078125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 68.291015625, 63.984375, 91.93359375, 88.2421875, 0.620475709438324 ]
3.266667
98
0
98
0
[ 46.318359375, 66.884765625, 59.23828125, 92.63671875, 88.76953125, 0.9310986995697021 ]
[ 45.791015625, 67.939453125, 63.544921875, 91.845703125, 88.2421875, 0.620475709438324 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 23529,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": {
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            "shape": [
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            "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.left": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.pix_fmt": "yuv420p",
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            }
        },
        "observation.images.right": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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