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Datasets:
ncavallo
/
moss_train_grasp

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
moss
tutorial
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Dask
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sequence
observation.state
sequence
timestamp
float32
0
30.4
frame_index
int64
0
913
episode_index
int64
0
42
index
int64
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23.4k
task_index
int64
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[ 32.958984375, 92.4609375, 75.673828125, 94.5703125, 62.05078125, 42.35293960571289 ]
[ 31.9921875, 92.021484375, 79.8046875, 94.921875, 61.5234375, 41.64358139038086 ]
2.466667
74
0
74
0
[ 33.22265625, 91.93359375, 75.234375, 94.5703125, 62.05078125, 42.35293960571289 ]
[ 32.080078125, 91.40625, 79.541015625, 94.833984375, 61.611328125, 41.64358139038086 ]
2.5
75
0
75
0
[ 33.662109375, 91.318359375, 74.70703125, 94.74609375, 61.875, 42.35293960571289 ]
[ 32.080078125, 90.791015625, 79.1015625, 94.74609375, 61.787109375, 41.64358139038086 ]
2.533333
76
0
76
0
[ 34.013671875, 90.52734375, 74.1796875, 94.921875, 61.787109375, 42.35293960571289 ]
[ 32.16796875, 90.17578125, 78.662109375, 94.74609375, 61.787109375, 41.64358139038086 ]
2.566667
77
0
77
0
[ 34.453125, 89.82421875, 73.916015625, 95.009765625, 61.787109375, 42.35293960571289 ]
[ 32.34375, 89.560546875, 78.22265625, 94.74609375, 61.5234375, 41.64358139038086 ]
2.6
78
0
78
0
[ 34.8046875, 89.12109375, 73.564453125, 95.009765625, 61.787109375, 42.35293960571289 ]
[ 32.783203125, 88.681640625, 77.783203125, 94.833984375, 61.259765625, 41.64358139038086 ]
2.633333
79
0
79
0
[ 35.15625, 88.2421875, 73.30078125, 95.009765625, 61.69921875, 42.35293960571289 ]
[ 33.22265625, 88.330078125, 77.255859375, 95.009765625, 61.259765625, 41.64358139038086 ]
2.666667
80
0
80
0
[ 35.595703125, 87.275390625, 72.861328125, 95.009765625, 61.69921875, 42.35293960571289 ]
[ 33.92578125, 87.626953125, 76.904296875, 95.009765625, 61.259765625, 41.64358139038086 ]
2.7
81
0
81
0
[ 35.947265625, 86.220703125, 72.333984375, 95.09765625, 61.611328125, 42.35293960571289 ]
[ 34.365234375, 86.748046875, 76.552734375, 95.009765625, 61.259765625, 41.64358139038086 ]
2.733333
82
0
82
0
[ 36.38671875, 85.166015625, 71.71875, 95.44921875, 61.5234375, 42.35293960571289 ]
[ 34.62890625, 85.95703125, 76.11328125, 95.009765625, 61.259765625, 41.64358139038086 ]
2.766667
83
0
83
0
[ 36.650390625, 84.0234375, 70.83984375, 95.888671875, 61.435546875, 42.27941131591797 ]
[ 34.8046875, 84.990234375, 75.76171875, 95.009765625, 61.259765625, 41.64358139038086 ]
2.8
84
0
84
0
[ 36.826171875, 82.880859375, 69.9609375, 96.240234375, 61.435546875, 42.27941131591797 ]
[ 34.8046875, 84.0234375, 75.234375, 95.009765625, 61.259765625, 41.64358139038086 ]
2.833333
85
0
85
0
[ 36.9140625, 81.650390625, 68.90625, 96.85546875, 61.5234375, 42.27941131591797 ]
[ 34.98046875, 82.705078125, 74.443359375, 95.09765625, 61.259765625, 41.64358139038086 ]
2.866667
86
0
86
0
[ 36.9140625, 80.5078125, 67.763671875, 97.3828125, 61.787109375, 42.27941131591797 ]
[ 35.244140625, 81.123046875, 73.4765625, 95.537109375, 61.259765625, 41.64358139038086 ]
2.9
87
0
87
0
[ 36.826171875, 79.541015625, 66.708984375, 98.173828125, 62.2265625, 42.27941131591797 ]
[ 35.68359375, 79.892578125, 72.59765625, 95.9765625, 61.259765625, 41.64358139038086 ]
2.933333
88
0
88
0
[ 36.650390625, 78.75, 65.654296875, 99.052734375, 62.666015625, 42.27941131591797 ]
[ 36.03515625, 78.92578125, 71.806640625, 96.50390625, 61.259765625, 41.64358139038086 ]
2.966667
89
0
89
0
[ 36.38671875, 78.134765625, 64.775390625, 99.84375, 63.28125, 42.27941131591797 ]
[ 36.123046875, 77.431640625, 70.6640625, 97.55859375, 61.5234375, 41.64358139038086 ]
3
90
0
90
0
[ 36.2109375, 77.6953125, 64.072265625, 100.37109375, 63.6328125, 42.27941131591797 ]
[ 36.123046875, 76.904296875, 69.78515625, 98.26171875, 61.787109375, 41.64358139038086 ]
3.033333
91
0
91
0
[ 35.859375, 77.16796875, 63.193359375, 101.07421875, 63.896484375, 42.27941131591797 ]
[ 35.947265625, 76.376953125, 69.08203125, 98.701171875, 62.138671875, 41.64358139038086 ]
3.066667
92
0
92
0
[ 35.5078125, 76.376953125, 62.05078125, 102.216796875, 64.3359375, 42.27941131591797 ]
[ 35.771484375, 75.76171875, 68.466796875, 99.31640625, 62.40234375, 41.64358139038086 ]
3.1
93
0
93
0
[ 34.98046875, 75.673828125, 60.99609375, 103.271484375, 64.599609375, 42.27941131591797 ]
[ 35.5078125, 75.234375, 67.587890625, 100.1953125, 62.666015625, 41.64358139038086 ]
3.133333
94
0
94
0
[ 34.365234375, 75.322265625, 60.29296875, 103.798828125, 65.126953125, 42.20588302612305 ]
[ 35.244140625, 74.53125, 66.62109375, 101.162109375, 63.193359375, 41.64358139038086 ]
3.166667
95
0
95
0
[ 33.837890625, 75.234375, 60.1171875, 103.974609375, 65.654296875, 42.20588302612305 ]
[ 35.15625, 73.916015625, 65.654296875, 101.865234375, 63.544921875, 41.64358139038086 ]
3.2
96
0
96
0
[ 33.22265625, 75.146484375, 60.029296875, 104.0625, 66.181640625, 42.20588302612305 ]
[ 34.716796875, 73.564453125, 64.86328125, 102.392578125, 64.072265625, 41.64358139038086 ]
3.233333
97
0
97
0
[ 32.6953125, 75.146484375, 60.1171875, 104.150390625, 66.708984375, 42.27941131591797 ]
[ 34.189453125, 73.388671875, 64.423828125, 102.744140625, 64.423828125, 41.64358139038086 ]
3.266667
98
0
98
0
[ 32.080078125, 75.05859375, 60.1171875, 104.58984375, 67.236328125, 42.27941131591797 ]
[ 33.662109375, 73.388671875, 64.072265625, 103.359375, 64.951171875, 41.64358139038086 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 43,
    "total_frames": 23450,
    "total_tasks": 1,
    "total_videos": 86,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:43"
    },
    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
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            "shape": [
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            "names": [
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        "observation.images.front": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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