Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
vlm_embeddings
array 2D
state
list
base_actions
array 2D
residual_actions
array 2D
timestamp
float32
0
9.98
frame_index
int64
0
499
episode_index
int64
0
49
index
int64
0
25k
task_index
int64
0
0
[ [ -2.859375, 0.28125, -2.78125, 2.53125, -0.67578125, -0.5703125, 2.34375, -1.375, 0.330078125, -0.1318359375, -0.9296875, 1.671875, -2.03125, 3.75, 0.0546875, -0.0068359375, -1.21875, 0.45703125, -1.8984375, -1.828125, -3.59375, ...
[ 0, -0.9599999785423279, 1.159999966621399, 0, -0.30000001192092896, 0, 0, 0, -0.9599999785423279, 1.159999966621399, 0, -0.30000001192092896, 0, 0 ]
[ [ 0.014231779612600803, -0.9408758878707886, 1.1570885181427002, 0.0032855120953172445, -0.31116339564323425, -0.0008176080882549286, 0.16972358524799347, -0.002108500339090824, -0.9651246070861816, 1.1651360988616943, 0.003582087578251958, -0.318326860666275, -0....
[ [ 0.0026420103386044502, -0.0009883642196655273, 0.010270953178405762, -0.004819492809474468, 0.008969157934188843, 0.014623435214161873, 0.005697652697563171, -0.005561403930187225, 0.004852592945098877, 0.0405728816986084, -0.002048106864094734, -0.07130426168441772...
0
0
0
0
0
[[-2.890625,0.33984375,-2.703125,2.578125,-0.65625,-0.49609375,2.265625,-1.3203125,0.33203125,-0.089(...TRUNCATED)
[0.001392660429701209,-0.9576969742774963,1.1632637977600098,-0.0020189390052109957,-0.3000791668891(...TRUNCATED)
[[0.015078906901180744,-0.9357947111129761,1.159765362739563,0.0011432599276304245,-0.30497333407402(...TRUNCATED)
[[0.003328862600028515,0.0031343698501586914,0.009127974510192871,-0.002677240874618292,0.0073810517(...TRUNCATED)
0.02
1
0
1
0
[[-2.765625,0.2109375,-2.5625,2.453125,-0.77734375,-0.51171875,2.234375,-1.265625,0.443359375,-0.082(...TRUNCATED)
[0.0034399880096316338,-0.9534021019935608,1.1677296161651611,-0.001801580423489213,-0.2968749701976(...TRUNCATED)
[[0.01551145687699318,-0.9287217259407043,1.1635255813598633,0.001567926607094705,-0.292721122503280(...TRUNCATED)
[[0.0028963126242160797,0.006799221038818359,0.005367755889892578,-0.0031019074376672506,-0.00026920(...TRUNCATED)
0.04
2
0
2
0
[[-2.625,0.265625,-2.3125,2.59375,-1.0625,-0.216796875,2.125,-1.6953125,0.63671875,0.29296875,-1.085(...TRUNCATED)
[0.0053670452907681465,-0.947750449180603,1.1707205772399902,-0.003274866146966815,-0.29168668389320(...TRUNCATED)
[[0.017154837027192116,-0.9224289059638977,1.1655032634735107,0.0002790733997244388,-0.2833533883094(...TRUNCATED)
[[0.0012529324740171432,0.008176326751708984,0.0018562078475952148,-0.0018130542011931539,-0.0050350(...TRUNCATED)
0.06
3
0
3
0
[[-2.671875,0.23828125,-2.203125,2.65625,-1.015625,-0.0439453125,1.984375,-1.6796875,0.65625,0.41406(...TRUNCATED)
[0.007063474040478468,-0.9414045214653015,1.1716911792755127,-0.005324286874383688,-0.28610965609550(...TRUNCATED)
[[0.018654873594641685,-0.9138391017913818,1.164947748184204,-0.0008281681220978498,-0.2707180082798(...TRUNCATED)
[[-0.00024710409343242645,0.004188477993011475,0.0008777379989624023,-0.0007058127084746957,-0.01460(...TRUNCATED)
0.08
4
0
4
0
[[-3.0,0.279296875,-2.375,2.703125,-1.15625,0.02734375,2.09375,-1.765625,0.67578125,0.5703125,-1.179(...TRUNCATED)
[0.00854289997369051,-0.9351409077644348,1.1712068319320679,-0.005319518502801657,-0.281336694955825(...TRUNCATED)
[[0.019610589370131493,-0.9074686169624329,1.164872407913208,-0.0012866259785369039,-0.2650668919086(...TRUNCATED)
[[-0.0012028198689222336,0.00548785924911499,-0.000580906867980957,-0.00024735485203564167,-0.012583(...TRUNCATED)
0.1
5
0
5
0
[[-3.046875,0.046875,-2.390625,2.65625,-1.234375,0.123046875,1.90625,-1.8671875,0.765625,0.71875,-1.(...TRUNCATED)
[0.00982829462736845,-0.9287937879562378,1.169925570487976,-0.004698292817920446,-0.2764094769954681(...TRUNCATED)
[[0.01757914386689663,-0.9043270945549011,1.1638902425765991,-0.0016304545570164919,-0.2620070874691(...TRUNCATED)
[[0.0008286256343126297,0.008482277393341064,-0.0011327266693115234,0.00009647372644394636,-0.006439(...TRUNCATED)
0.12
6
0
6
0
[[-2.984375,-0.2216796875,-2.5,2.71875,-1.2421875,0.244140625,1.84375,-1.859375,0.8671875,0.734375,-(...TRUNCATED)
[0.010945436544716358,-0.9224001169204712,1.1683498620986938,-0.004418108146637678,-0.27012580633163(...TRUNCATED)
[[0.016885116696357727,-0.8992156386375427,1.1614223718643188,-0.001454638666473329,-0.2526777684688(...TRUNCATED)
[[0.001522652804851532,0.006438791751861572,-0.0017328262329101562,-0.00007934216409921646,-0.003497(...TRUNCATED)
0.14
7
0
7
0
[[-2.953125,-0.388671875,-2.5,2.734375,-1.171875,0.115234375,1.734375,-1.890625,1.0078125,0.77734375(...TRUNCATED)
[0.01191706582903862,-0.9164518117904663,1.166264533996582,-0.00437150988727808,-0.2614485025405884,(...TRUNCATED)
[[0.017333034425973892,-0.8935878872871399,1.1582376956939697,-0.0013665788574144244,-0.238609418272(...TRUNCATED)
[[0.0010747350752353668,0.0054129958152771,-0.00008213520050048828,-0.0001674019731581211,-0.0022255(...TRUNCATED)
0.16
8
0
8
0
[[-2.921875,-0.75,-2.5625,2.609375,-1.125,0.044921875,1.65625,-1.9296875,0.92578125,0.91796875,-1.03(...TRUNCATED)
[0.0127623425796628,-0.9108838438987732,1.164100170135498,-0.004173911176621914,-0.25037774443626404(...TRUNCATED)
[[0.017458206042647362,-0.887485682964325,1.1551581621170044,-0.0010560329537838697,-0.2230035513639(...TRUNCATED)
[[0.0009495634585618973,0.0023787617683410645,-0.0000705718994140625,-0.0004779478767886758,-0.00095(...TRUNCATED)
0.18
9
0
9
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 8,
    "total_frames": 4000,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:8"
    },
    "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": {
        "vlm_embeddings": {
            "dtype": "float32",
            "shape": [
                816,
                2048
            ],
            "names": [
                "vlm_embeddings"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "state"
            ]
        },
        "base_actions": {
            "dtype": "float32",
            "shape": [
                50,
                14
            ],
            "names": [
                "base_actions"
            ]
        },
        "residual_actions": {
            "dtype": "float32",
            "shape": [
                50,
                14
            ],
            "names": [
                "residual_actions"
            ]
        },
        "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
6