Hugging Face's logo

Datasets:
MauoSama
/
MeshCut_dVRK

Tasks:
Robotics
Modalities:
Image
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer (First 5GB)
Auto-converted to Parquet Duplicate
Search is not available for this dataset
observation.images.cam0_img
imagewidth (px)
960
960
observation.images.cam1_img
imagewidth (px)
960
960
observation.images.cam2_img
imagewidth (px)
640
640
observation.state
listlengths
4
4
action
listlengths
4
4
timestamp
float32
0
53.7
frame_index
int64
0
537
episode_index
int64
0
11
index
int64
0
4.03k
task_index
int64
0
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
0
0
0
0
0
[ 0, 0, 0, 0 ]
[ -0.000019999999999992246, -0.0008200000000000013, -0.0005700000000000011, 0.0019599999999999618 ]
0.1
1
0
1
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0005599999999999911, -0.00038000000000000533, -0.0008199999999999319 ]
0.2
2
0
2
0
[ 0, 0, 0, 0 ]
[ 0, -0.0006400000000000017, -0.00036999999999999533, -0.0004899999999999904 ]
0.3
3
0
3
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0003599999999999992, -0.00017000000000000348, -0.0008100000000000884 ]
0.4
4
0
4
0
[ 0, 0, 0, 0 ]
[ -0.000009999999999982245, -0.0015399999999999997, -0.000899999999999998, 0 ]
0.5
5
0
5
0
[ 0, 0, 0, 0 ]
[ 0, -0.00016000000000000736, -0.00010000000000000286, 0 ]
0.6
6
0
6
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0023099999999999926, -0.0013200000000000017, 0.000160000000000049 ]
0.7
7
0
7
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0021100000000000008, -0.0012699999999999934, -0.08657000000000004 ]
0.8
8
0
8
0
[ 0, 0, 0, 0 ]
[ 0, 0.00004999999999999449, 0.00004999999999999449, -0.049819999999999975 ]
0.9
9
0
9
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0.000010000000000010001, -0.24633 ]
1
10
0
10
0
[ 0, 0, 0, 0 ]
[ 0.000010000000000010001, 0, 0, -0.05374000000000001 ]
1.1
11
0
11
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.14667999999999998 ]
1.2
12
0
12
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.07318000000000001 ]
1.3
13
0
13
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0, -0.28895 ]
1.4
14
0
14
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.10520000000000002 ]
1.5
15
0
15
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0.000009999999999996123, -0.05258999999999997 ]
1.6
16
0
16
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
1.7
17
0
17
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.03708 ]
1.8
18
0
18
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.13507999999999998 ]
1.9
19
0
19
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.04622999999999999 ]
2
20
0
20
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0, 0.14521 ]
2.1
21
0
21
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.04851 ]
2.2
22
0
22
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.09899 ]
2.3
23
0
23
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.13313000000000003 ]
2.4
24
0
24
0
[ 0, 0, 0, 0 ]
[ 0, 0.000009999999999996123, 0, 0.11694999999999997 ]
2.5
25
0
25
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.06191000000000002 ]
2.6
26
0
26
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.08853000000000005 ]
2.7
27
0
27
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.13491999999999993 ]
2.8
28
0
28
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.05308999999999997 ]
2.9
29
0
29
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
3
30
0
30
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
3.1
31
0
31
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
3.2
32
0
32
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
3.3
33
0
33
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
3.4
34
0
34
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.00010999999999999899, -0.00005000000000000837, 0.0003300000000000525 ]
3.5
35
0
35
0
[ 0, 0, 0, 0 ]
[ 0, -0.00032999999999999696, -0.00015999999999999348, 0.0016300000000000203 ]
3.6
36
0
36
0
[ 0, 0, 0, 0 ]
[ 0, -0.0009800000000000086, -0.0006000000000000033, 0.0006499999999999284 ]
3.7
37
0
37
0
[ 0, 0, 0, 0 ]
[ 0, -0.0004499999999999921, -0.00025999999999999635, 0 ]
3.8
38
0
38
0
[ 0, 0, 0, 0 ]
[ 0, -0.00040000000000001146, -0.00021999999999999797, -0.00031999999999998696 ]
3.9
39
0
39
0
[ 0, 0, 0, 0 ]
[ 0, 0.00007000000000000062, 0.000030000000000002247, -0.00017000000000000348 ]
4
40
0
40
0
[ 0, 0, 0, 0 ]
[ 0.000010000000000010001, -0.0013299999999999979, -0.0007400000000000045, 0.0006599999999999939 ]
4.1
41
0
41
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0004099999999999937, -0.00021999999999999797, 0.000160000000000049 ]
4.2
42
0
42
0
[ 0, 0, 0, 0 ]
[ 0, -0.0006400000000000017, -0.0003999999999999976, 0.00015999999999993797 ]
4.3
43
0
43
0
[ 0, 0, 0, 0 ]
[ 0.000010000000000010001, -0.000910000000000008, -0.0005399999999999988, 0 ]
4.4
44
0
44
0
[ 0, 0, 0, 0 ]
[ 0, -0.0004099999999999937, -0.00023000000000000798, 0 ]
4.5
45
0
45
0
[ 0, 0, 0, 0 ]
[ 0, -0.0006700000000000039, -0.0003599999999999992, 0.00017000000000000348 ]
4.6
46
0
46
0
[ 0, 0, 0, 0 ]
[ 0, -0.0007100000000000023, -0.0004699999999999982, -0.00017000000000000348 ]
4.7
47
0
47
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0, 0 ]
4.8
48
0
48
0
[ 0, 0, 0, 0 ]
[ 0, 0.000009999999999996123, 0, 0 ]
4.9
49
0
49
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0, 0 ]
5
50
0
50
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
5.1
51
0
51
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.0305399999999999 ]
5.2
52
0
52
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.02939999999999998 ]
5.3
53
0
53
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.13443000000000005 ]
5.4
54
0
54
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.10013 ]
5.5
55
0
55
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.04916999999999999 ]
5.6
56
0
56
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.04948999999999998 ]
5.7
57
0
57
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.053580000000000017 ]
5.8
58
0
58
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.05177999999999999 ]
5.9
59
0
59
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.11924000000000001 ]
6
60
0
60
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.06811999999999999 ]
6.1
61
0
61
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0.000009999999999996123, -0.049 ]
6.2
62
0
62
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.05701 ]
6.3
63
0
63
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.008659999999999998 ]
6.4
64
0
64
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0, -0.1555 ]
6.5
65
0
65
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.09654000000000001 ]
6.6
66
0
66
0
[ 0, 0, 0, 0 ]
[ 0, -0.000009999999999996123, 0.000010000000000010001, -0.12625999999999998 ]
6.7
67
0
67
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, -0.05471999999999999 ]
6.8
68
0
68
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.09015999999999996 ]
6.9
69
0
69
0
[ 0, 0, 0, 0 ]
[ 0, -0.000010000000000010001, 0, 0.15126 ]
7
70
0
70
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.021070000000000005 ]
7.1
71
0
71
0
[ 0, 0, 0, 0 ]
[ 0, 0.00010000000000000286, 0.00007999999999999674, 0.1047 ]
7.2
72
0
72
0
[ 0, 0, 0, 0 ]
[ 0.000010000000000010001, 0.0005900000000000072, 0.0004899999999999904, 0.0011499999999999982 ]
7.3
73
0
73
0
[ 0, 0, 0, 0 ]
[ 0, 0.000009999999999996123, 0.000010000000000010001, 0.09866 ]
7.4
74
0
74
0
[ 0, 0, 0, 0 ]
[ 0, 0, -0.000010000000000010001, 0.04916 ]
7.5
75
0
75
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.12807 ]
7.6
76
0
76
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.05161000000000002 ]
7.7
77
0
77
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.06615999999999997 ]
7.8
78
0
78
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.14897000000000005 ]
7.9
79
0
79
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.24353999999999998 ]
8
80
0
80
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
8.1
81
0
81
0
[ 0, 0, 0, 0 ]
[ 0.000009999999999982245, 0.00010000000000000286, 0.00004000000000001225, 0 ]
8.2
82
0
82
0
[ 0, 0, 0, 0 ]
[ 0.000010000000000010001, 0.0011599999999999944, 0.0007299999999999945, 0.0011499999999999844 ]
8.3
83
0
83
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
8.4
84
0
84
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
8.5
85
0
85
0
[ 0, 0, 0, 0 ]
[ 0, 0, -0.000009999999999996123, 0 ]
8.6
86
0
86
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0.000009999999999996123, 0 ]
8.7
87
0
87
0
[ 0, 0, 0, 0 ]
[ 0, 0, -0.000009999999999996123, 0 ]
8.8
88
0
88
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0.000009999999999996123, 0 ]
8.9
89
0
89
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0 ]
9
90
0
90
0
[ 0, 0, 0, 0 ]
[ 0, 0, 0, 0.00031999999999998696 ]
9.1
91
0
91
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.00010999999999999899, -0.00009000000000000674, 0.0004899999999999904 ]
9.2
92
0
92
0
[ 0, 0, 0, 0 ]
[ -0.000009999999999982245, -0.00038000000000000533, -0.0002899999999999986, 0.0003300000000000525 ]
9.3
93
0
93
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0003599999999999992, -0.0002500000000000002, 0 ]
9.4
94
0
94
0
[ 0, 0, 0, 0 ]
[ 0, -0.0002999999999999947, -0.00020999999999998797, 0 ]
9.5
95
0
95
0
[ 0, 0, 0, 0 ]
[ -0.000010000000000010001, -0.0015099999999999975, -0.0008800000000000058, 0.0004899999999999904 ]
9.6
96
0
96
0
[ 0, 0, 0, 0 ]
[ 0, -0.0014900000000000052, -0.0008699999999999958, 0 ]
9.7
97
0
97
0
[ 0, 0, 0, 0 ]
[ 0, -0.0012599999999999972, -0.0008100000000000052, 0.00032999999999994145 ]
9.8
98
0
98
0
[ 0, 0, 0, 0 ]
[ 0, 0.000009999999999996123, 0.00004999999999999449, 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": "dvrk",
    "total_episodes": 54,
    "total_frames": 18113,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:54"
    },
    "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.images.cam0_img": {
            "dtype": "image",
            "shape": [
                3,
                540,
                960
            ],
            "names": [
                "C",
                "H",
                "W"
            ],
            "fps": 10
        },
        "observation.images.cam1_img": {
            "dtype": "image",
            "shape": [
                3,
                540,
                960
            ],
            "names": [
                "C",
                "H",
                "W"
            ],
            "fps": 10
        },
        "observation.images.cam2_img": {
            "dtype": "image",
            "shape": [
                3,
                360,
                640
            ],
            "names": [
                "C",
                "H",
                "W"
            ],
            "fps": 10
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                4
            ],
            "names": [
                "D"
            ],
            "fps": 10
        },
        "action": {
            "dtype": "float64",
            "shape": [
                4
            ],
            "names": [
                "D_act"
            ],
            "fps": 10
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
4
License:
apache-2.0
Size of the auto-converted Parquet files (First 5GB):
5.03 GB
Number of rows (First 5GB):
4,027
Estimated number of rows:
17,301