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Datasets:
oSYPark
/
multitask2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
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observation.state
list
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float32
0
42.2
frame_index
int64
0
1.27k
episode_index
int64
0
49
index
int64
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28.5k
task_index
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[ -2.5853333473205566, -99.96333312988281, 100, -1.125, 17.90615463256836, -13.043478012084961, 5.588235378265381 ]
[ -2.515333414077759, -100, 100, -0.9490000009536743, 25.133846282958984, -13.043478012084961, 5 ]
2.966667
89
0
89
0
[ -2.700666666030884, -99.22888946533203, 100, -1.125, 17.25384521484375, -13.043478012084961, 5.588235378265381 ]
[ -2.515333414077759, -100, 100, -0.9490000009536743, 24.544614791870117, -13.043478012084961, 5 ]
3
90
0
90
0
[ -2.98799991607666, -98.17333221435547, 100, -1.125, 16.666152954101562, -13.043478012084961, 5.588235378265381 ]
[ -2.6033332347869873, -100, 100, -1.128000020980835, 23.676923751831055, -13.043478012084961, 5 ]
3.033333
91
0
91
0
[ -3.4146666526794434, -97.05333709716797, 100, -0.8930000066757202, 16.484615325927734, -12.653913497924805, 5.588235378265381 ]
[ -2.755333423614502, -99.67666625976562, 100, -1.128000020980835, 21.97076988220215, -13.043478012084961, 5 ]
3.066667
92
0
92
0
[ -3.9033334255218506, -95.85221862792969, 100, -0.8930000066757202, 16.81999969482422, -12.533912658691406, 5.588235378265381 ]
[ -3.065333366394043, -98.72666931152344, 100, -1.128000020980835, 19.93692398071289, -13.043478012084961, 5 ]
3.1
93
0
93
0
[ -4.395999908447266, -94.86888885498047, 100, -0.8930000066757202, 16.81999969482422, -12.533912658691406, 5.588235378265381 ]
[ -3.4033334255218506, -97.60555267333984, 100, -0.9480000138282776, 18.28769302368164, -12.651304244995117, 5 ]
3.133333
94
0
94
0
[ -4.7866668701171875, -93.65333557128906, 99.33647155761719, -0.8930000066757202, 16.81999969482422, -12.533912658691406, 5.588235378265381 ]
[ -3.8566665649414062, -96.44999694824219, 100, -0.9480000138282776, 17.193845748901367, -12.566956520080566, 5 ]
3.166667
95
0
95
0
[ -5.0326666831970215, -92.4800033569336, 98.4929428100586, -1.4079999923706055, 16.81999969482422, -12.63304328918457, 5.588235378265381 ]
[ -4.344666481018066, -95.2844467163086, 100, -0.9480000138282776, 16.801538467407227, -12.566956520080566, 5 ]
3.2
96
0
96
0
[ -5.127333164215088, -91.33333587646484, 97.77882385253906, -1.8350000381469727, 16.81999969482422, -12.63304328918457, 5.588235378265381 ]
[ -4.684000015258789, -94.336669921875, 99.54705810546875, -0.9480000138282776, 16.729230880737305, -12.566956520080566, 5 ]
3.233333
97
0
97
0
[ -5.127333164215088, -90.25111389160156, 96.84941101074219, -2.1010000705718994, 16.81999969482422, -12.63304328918457, 5.588235378265381 ]
[ -4.985333442687988, -93.17111206054688, 98.67646789550781, -1.3250000476837158, 16.729230880737305, -12.566956520080566, 5 ]
3.266667
98
0
98
0
[ -5.127333164215088, -89.10555267333984, 95.9929428100586, -2.2209999561309814, 16.81999969482422, -12.63304328918457, 5.588235378265381 ]
[ -5.093999862670898, -91.98555755615234, 97.80823516845703, -1.812000036239624, 16.567691802978516, -12.566956520080566, 5 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "piper_follower",
    "total_episodes": 50,
    "total_frames": 28454,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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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