xander2077/smolvla_arx5_pull_out_drawer_test2
Robotics
•
Updated
•
19
Datasets:
Search is not available for this dataset
action
list | observation.state
list | observation.robot_status.end_pos
list | observation.robot_status.joint_pos
list | observation.robot_status.joint_vel
list | observation.robot_status.joint_cur
list | observation.gripper
float32 -0.01
4.99
| observation.d405_depth_m
array 2D | observation.d435_depth_m
array 2D | timestamp
float32 0
20.7
| frame_index
int64 0
620
| episode_index
int64 0
45
| index
int64 0
19.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00286102294921875,-0.000953674316406(...TRUNCATED)
| [-0.0043964385986328125,0.0043964385986328125,-0.013187408447265625,-0.010990142822265625,-0.0109901(...TRUNCATED)
| [-0.0073261260986328125,-0.5201473236083984,2.6007308959960938,1.8339433670043945,0.0024423599243164(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.07000000029802322,0.0700000002980232(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0
| 0
| 0
| 0
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [0.0043964385986328125,-0.013187408447265625,-0.0043964385986328125,-0.010990142822265625,-0.0109901(...TRUNCATED)
| [-0.16849899291992188,-0.5054950714111328,2.630035400390625,1.8339433670043945,0.0024423599243164062(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.033333
| 1
| 0
| 1
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [-0.013187408447265625,-0.021978378295898438,-0.013187408447265625,-0.010990142822265625,-0.01099014(...TRUNCATED)
| [-0.09523773193359375,-0.5494499206542969,2.3662986755371094,1.8339433670043945,0.002442359924316406(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.07000000029802322,0.5,0.5,0.5,0.07000000(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.066667
| 2
| 0
| 2
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00286102294921875,-0.000953674316406(...TRUNCATED)
| [-0.0043964385986328125,-0.013187408447265625,-0.0043964385986328125,0.010990142822265625,-0.0109901(...TRUNCATED)
| [-0.08058547973632812,-0.46153831481933594,2.073261260986328,1.8339433670043945,0.002442359924316406(...TRUNCATED)
| 4.879834
| [[0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.0700000002980232(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.1
| 3
| 0
| 3
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [-0.03076934814453125,0.0043964385986328125,-0.0043964385986328125,-0.010990142822265625,-0.01099014(...TRUNCATED)
| [-0.0073261260986328125,-0.4322338104248047,2.1465187072753906,1.8339433670043945,-0.002442359924316(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.133333
| 4
| 0
| 4
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00286102294921875,-0.000953674316406(...TRUNCATED)
| [-0.0043964385986328125,-0.013187408447265625,-0.0043964385986328125,-0.010990142822265625,-0.010990(...TRUNCATED)
| [-0.2417583465576172,-0.8131866455078125,2.6007308959960938,1.8388280868530273,0.0024423599243164062(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.5,0.5,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.166667
| 5
| 0
| 5
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [-0.013187408447265625,-0.0043964385986328125,-0.03076934814453125,-0.010990142822265625,-0.03296661(...TRUNCATED)
| [-0.0073261260986328125,-0.40293121337890625,2.4395599365234375,1.8339433670043945,0.002442359924316(...TRUNCATED)
| 4.879834
| [[0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.0700000002980232(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.2
| 6
| 0
| 6
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00013414447312243283,0.00004532738967100158,0.0010184734128415585,-0.0024893346708267927,0.005149(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00286102294921875,-0.000953674316406(...TRUNCATED)
| [0.013187408447265625,0.013187408447265625,-0.013187408447265625,0.010990142822265625,-0.01099014282(...TRUNCATED)
| [-0.0073261260986328125,-0.3003654479980469,2.073261260986328,1.8388280868530273,0.00244235992431640(...TRUNCATED)
| 4.879834
| [[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.07000000029802322,0.07000000029802322,0.5,0.(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.233333
| 7
| 0
| 7
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [0.013187408447265625,-0.013187408447265625,-0.013187408447265625,-0.010990142822265625,-0.010990142(...TRUNCATED)
| [-0.16849899291992188,-0.5494499206542969,2.6886444091796875,1.8339433670043945,0.002442359924316406(...TRUNCATED)
| 4.879834
| [[0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.0700000002980232(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.266667
| 8
| 0
| 8
| 0
|
[
0,
0,
0,
0,
0,
0,
5
] | [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00013395256246440113,0.0000453270913567394,0.0009825394954532385,-0.0024889707565307617,0.0055313(...TRUNCATED)
| [0.00019073486328125,0.00782012939453125,0.00553131103515625,-0.00324249267578125,-0.000953674316406(...TRUNCATED)
| [-0.013187408447265625,0.0043964385986328125,0.013187408447265625,-0.010990142822265625,-0.010990142(...TRUNCATED)
| [-0.0073261260986328125,-0.6080589294433594,2.6007308959960938,1.8339433670043945,0.0024423599243164(...TRUNCATED)
| 4.879834
| [[0.07000000029802322,0.07000000029802322,0.07000000029802322,0.07000000029802322,0.0700000002980232(...TRUNCATED)
| [[1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.5,1.(...TRUNCATED)
| 0.3
| 9
| 0
| 9
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 20527,
"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",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
28
],
"names": [
"end_x",
"end_y",
"end_z",
"end_roll",
"end_pitch",
"end_yaw",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"joint_vel_6",
"joint_vel_7",
"joint_cur_1",
"joint_cur_2",
"joint_cur_3",
"joint_cur_4",
"joint_cur_5",
"joint_cur_6",
"joint_cur_7",
"gripper"
]
},
"observation.robot_status.end_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.robot_status.joint_pos": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
},
"observation.robot_status.joint_vel": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"joint_vel_6",
"joint_vel_7"
]
},
"observation.robot_status.joint_cur": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_cur_1",
"joint_cur_2",
"joint_cur_3",
"joint_cur_4",
"joint_cur_5",
"joint_cur_6",
"joint_cur_7"
]
},
"observation.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.images.d405_rgb": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"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
}
},
"observation.images.d435_rgb": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"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
}
},
"observation.d405_depth_m": {
"dtype": "float32",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"observation.d435_depth_m": {
"dtype": "float32",
"shape": [
480,
640
],
"names": [
"height",
"width"
]
},
"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:
[More Information Needed]
- Downloads last month
- 78
License:
apache-2.0
Size of downloaded dataset files:
3.47 GB
Size of the auto-converted Parquet files:
3.47 GB
Number of rows:
20,527
Models trained or fine-tuned on xander2077/test2