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Datasets:
rishabhrj11
/
xarm_lift

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
xarm
manipulation
multi-camera
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet
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observation.state
list
action
list
observation.images.camera0
imagewidth (px)
224
224
observation.images.camera_top
imagewidth (px)
224
224
observation.images.camera_ef
imagewidth (px)
224
224
timestamp
float32
0
124
frame_index
int64
0
1.24k
episode_index
int64
0
8
index
int64
0
9.11k
task_index
int64
0
0
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0.1
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1.5
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1.6
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1.8
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1.9
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2.5
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2.9
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3
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3.1
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3.8
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4
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4.1
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4.2
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4.3
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4.4
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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5.7
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5.8
58
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5.9
59
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6
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0
60
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6.1
61
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6.2
62
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6.3
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6.4
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
[ -0.2713009418716977, 0.3057341755688047, -0.10363590861396055, 0.1614608408902162, -0.21099636785656448, -0.1466020632863931, -0.16144481475622527, 0.0006697530187730698 ]
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6.8
68
0
68
0
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6.9
69
0
69
0
[ -0.2727673445754662, 0.3075220326157698, -0.09575940726701578, 0.17517845578972524, -0.21272970058616686, -0.13466815459171025, -0.15324053390091777, 0.0006995817552281647 ]
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7
70
0
70
0
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7.1
71
0
71
0
[ -0.2744922487532782, 0.3096376587792339, -0.08787021361063037, 0.1890158822102669, -0.21453505364128034, -0.12292402767686803, -0.14524290350281105, 0.0007303075253713644 ]
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7.2
72
0
72
0
[ -0.2754440021329099, 0.3108133456770318, -0.08392225805510133, 0.1959778672017922, -0.21545575095296984, -0.11711942552204273, -0.14132457250621, 0.0007459659097805428 ]
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7.3
73
0
73
0
[ -0.2764689096996413, 0.311618754823373, -0.0808654531857538, 0.20116160971159197, -0.2166232112118666, -0.11263924338453984, -0.13811647133696534, 0.0007617722273292336 ]
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7.4
74
0
74
0
[ -0.2774736628365186, 0.3120697717330278, -0.0787344043656298, 0.20462275094119106, -0.21800310526695568, -0.10948621361875296, -0.1355980838476249, 0.0007777559722819229 ]
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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[ 0, 0, 0, 0 ]
7.9
79
0
79
0
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[ 0, 0.5, 0, 0 ]
8
80
0
80
0
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[ 0, 0.5, 0, 0 ]
8.1
81
0
81
0
[ -0.27584353426698555, 0.3116984794537071, -0.07334769433418736, 0.20986887309437188, -0.2256891065510481, -0.10310933661839566, -0.12097792913451612, 0.0008883256323583869 ]
[ 0, 0.5, 0, 0 ]
8.2
82
0
82
0
[ -0.27045868505218756, 0.311115742717882, -0.07247650206066311, 0.208537900874942, -0.2244697138108374, -0.10374589652850977, -0.11602680222683662, 0.0009019806463438765 ]
[ 0, 0.5, 0, 0 ]
8.3
83
0
83
0
[ -0.26389277771714775, 0.3104817628607691, -0.07167793755642234, 0.20693750131710373, -0.22274337543071573, -0.10461162344811506, -0.11047275570605151, 0.0009166098787104148 ]
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8.4
84
0
84
0
[ -0.2564484583026051, 0.3098344803321473, -0.07099157371545474, 0.20517661258318934, -0.22064992228669955, -0.10563973116611253, -0.10451332076475132, 0.0009326165034488261 ]
[ 0, 0.5, 0, 0 ]
8.5
85
0
85
0
[ -0.24834707788426688, 0.3091967636094091, -0.07042321445434763, 0.20332828656181437, -0.2182867837871116, -0.10678089946296691, -0.09827668075084232, 0.0009500973618967874 ]
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8.6
86
0
86
0
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8.7
87
0
87
0
[ -0.23657003001811894, 0.3086079804523355, -0.07130022492438226, 0.20106674116036882, -0.21586474329238362, -0.10849348155452683, -0.08976142869543237, 0.000994544815691859 ]
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8.8
88
0
88
0
[ -0.2326425909943175, 0.3085585957506485, -0.07230856402792166, 0.20048018835915993, -0.2156019567686567, -0.10909990068801584, -0.08704492765845975, 0.0010187941616337348 ]
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8.9
89
0
89
0
[ -0.229544955064799, 0.30859534870733063, -0.0734438717304457, 0.20009473938565805, -0.21570583483016925, -0.10960220323128704, -0.0849122697692644, 0.0010427302637936548 ]
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9
90
0
90
0
[ -0.22706370051805888, 0.30868551732958954, -0.07460809002189205, 0.19984251315385118, -0.21606042833350483, -0.11002724954592756, -0.08317570533289238, 0.001065675509246175 ]
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9.1
91
0
91
0
[ -0.22505475166453184, 0.3088074866485722, -0.07574291246279159, 0.19967984661944194, -0.2165889206356414, -0.11039234031026562, -0.08171388796781116, 0.001087303867971037 ]
[ 0, 0, 0, 0 ]
9.2
92
0
92
0
[ -0.22341606648640733, 0.3089462960403364, -0.07681580358304163, 0.19957751868133744, -0.2172383705339306, -0.11070923556393625, -0.08044698308866664, 0.001107559334886584 ]
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9.3
93
0
93
0
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9.4
94
0
94
0
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9.5
95
0
95
0
[ -0.22005849991898987, 0.3093762524622671, -0.0795473599665687, 0.19946481354642573, -0.21958506327246485, -0.11144314495982224, -0.07736448390383495, 0.0011620382551409862 ]
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9.6
96
0
96
0
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[ 0, 0, 0, 0 ]
9.7
97
0
97
0
[ -0.21869462353334287, 0.30963760452578326, -0.08096266812771594, 0.19947214313778175, -0.22128859811057122, -0.11179504959716727, -0.07566921071512427, 0.0011962571392220881 ]
[ 0, 0, 0, 0 ]
9.8
98
0
98
0
[ -0.2181902678186556, 0.3097564453219526, -0.08156378055015387, 0.19948821327776448, -0.22214701109018453, -0.11193904327957115, -0.07489234570516086, 0.0012136436632827759 ]
[ 0.5, 0, 0, 0 ]
9.9
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": "xarm",
    "total_episodes": 9,
    "total_frames": 9106,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:9"
    },
    "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": {
        "observation.state": {
            "dtype": "float64",
            "shape": [
                8
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            "names": [
                "state_dim"
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        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "action_dim"
            ]
        },
        "observation.images.camera0": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.camera_top": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.camera_ef": {
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            "shape": [
                224,
                224,
                3
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            "names": [
                "height",
                "width",
                "channel"
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
9,106