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list | observation.state
list | timestamp
float32 0
0.93
| frame_index
int64 0
28
| episode_index
int64 0
0
| index
int64 0
28
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int64 0
0
|
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0.5,
0.5,
0.5,
0.2609691023826599,
0.5,
0.5,
0.5,
0.5,
0.5,
0.5,
0.7732107043266296,
0.5,
0.5
] |
[
0.017873616889119148,
-0.008121198043227196,
0.007765630260109901,
-0.0019732872024178505,
0.47870004177093506,
0.00025761325377970934,
-0.018002083525061607,
0.00719113927334547,
0.008122078143060207,
0.005006585270166397,
0.008004452101886272,
-0.3423447906970978,
0.0028234876226633787,
0.00036631562397815287
] | 0.866667
| 26
| 0
| 26
| 0
|
[
0.5,
0.5,
0.5,
0.5,
0.21352016925811768,
0.5,
0.5,
0.5,
0.5,
0.5,
0.5,
0.8022639751434326,
0.5,
0.5
] |
[
-0.0015271076699718833,
-0.03598906472325325,
-0.0027223166543990374,
-0.0457930862903595,
0.7226923704147339,
-0.0561419315636158,
-0.01384875550866127,
0.014342907816171646,
0.009275458753108978,
-0.007645200937986374,
-0.007406303659081459,
-0.5453013777732849,
-0.0018040944123640656,
0.011956160888075829
] | 0.9
| 27
| 0
| 27
| 0
|
[
0.5,
0.5,
0.5,
0.5,
0.17469832301139832,
0.5,
0.5,
0.5,
0.5,
0.5,
0.5,
0.7878940105438232,
0.5,
0.5
] |
[
-0.042413316667079926,
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-0.005892666522413492,
-0.043065931648015976,
0.9639807343482971,
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0.005383816082030535,
0.04118752107024193,
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-0.055669717490673065,
-0.7771767377853394,
-0.1027025505900383,
0.012241635471582413
] | 0.933333
| 28
| 0
| 28
| 0
|
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 1,
"total_frames": 29,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": [
"kLeftShoulderPitch.pos",
"kLeftShoulderRoll.pos",
"kLeftShoulderYaw.pos",
"kLeftElbow.pos",
"kLeftWristRoll.pos",
"kLeftWristPitch.pos",
"kLeftWristyaw.pos",
"kRightShoulderPitch.pos",
"kRightShoulderRoll.pos",
"kRightShoulderYaw.pos",
"kRightElbow.pos",
"kRightWristRoll.pos",
"kRightWristPitch.pos",
"kRightWristYaw.pos"
],
"shape": [
14
]
},
"observation.state": {
"dtype": "float32",
"names": [
"kLeftShoulderPitch.pos",
"kLeftShoulderRoll.pos",
"kLeftShoulderYaw.pos",
"kLeftElbow.pos",
"kLeftWristRoll.pos",
"kLeftWristPitch.pos",
"kLeftWristyaw.pos",
"kRightShoulderPitch.pos",
"kRightShoulderRoll.pos",
"kRightShoulderYaw.pos",
"kRightElbow.pos",
"kRightWristRoll.pos",
"kRightWristPitch.pos",
"kRightWristYaw.pos"
],
"shape": [
14
]
},
"observation.images.remote_head": {
"dtype": "video",
"shape": [
480,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 1920,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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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