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observation.state listlengths 19 19 | action listlengths 40 40 | episode_index int64 0 37 | frame_index int64 0 499 | timestamp float32 0 9.98 | next.done bool 2
classes | index int64 0 19k | task_index int64 0 0 | language_persistent listlengths 11 24 | language_events listlengths 0 6 |
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0.16350403428077698,
0.08845161646604538,
-0.2500309646129608,
-0.15355762839317322,
-0.25293099880218506,
0.3840734362602234,
0.1420914083... | 0 | 50 | 1 | false | 50 | 0 | [
{
"role": "assistant",
"content": "1. fold the bottom of the sweatshirt up\n2. pick up the sweatshirt\n3. place the sweatshirt on the table",
"style": "plan",
"timestamp": 0,
"camera": null,
"tool_calls": null
},
{
"role": "assistant",
"content": "fold the bottom of the sweatshir... | [
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"sweatshirt\", \"value\": \"blue\"}",
"style": "vqa",
"camera": "observation.images.cam_left",
"tool_calls": null
},
{
"role": "assistant",
"content": "{\"attribute\": \"color\", \"label\": \"sweatshirt\", \"va... |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.cam_left": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18"
]
},
"fps": 50.0
},
"action": {
"dtype": "float32",
"shape": [
40
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23",
"motor_24",
"motor_25",
"motor_26",
"motor_27",
"motor_28",
"motor_29",
"motor_30",
"motor_31",
"motor_32",
"motor_33",
"motor_34",
"motor_35",
"motor_36",
"motor_37",
"motor_38",
"motor_39"
]
},
"fps": 50.0
},
"episode_index": {
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"shape": [
1
],
"names": null,
"fps": 50.0
},
"frame_index": {
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1
],
"names": null,
"fps": 50.0
},
"timestamp": {
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1
],
"names": null,
"fps": 50.0
},
"next.done": {
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1
],
"names": null,
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},
"index": {
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],
"names": null,
"fps": 50.0
},
"task_index": {
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"shape": [
1
],
"names": null,
"fps": 50.0
},
"language_persistent": {
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"shape": [
1
],
"names": null
},
"language_events": {
"dtype": "language",
"shape": [
1
],
"names": null
}
},
"total_episodes": 38,
"total_frames": 19000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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",
"robot_type": "unknown",
"splits": {
"train": "0:38"
},
"tools": [
{
"type": "function",
"function": {
"name": "say",
"description": "Speak a short utterance to the user via the TTS executor.",
"parameters": {
"type": "object",
"properties": {
"text": {
"type": "string",
"description": "The verbatim text to speak."
}
},
"required": [
"text"
]
}
}
}
]
}
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