Hugging Face's logo

Datasets:
lerobot
/
cmu_stretch

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
Dataset Viewer
Auto-converted to Parquet
Full Screen
Search is not available for this dataset
observation.state
sequence
action
sequence
timestamp
float32
0
41.8
episode_index
int64
0
134
frame_index
int64
0
209
next.reward
float32
0
1
next.done
bool
2 classes
index
int64
0
25k
task_index
int64
0
4
[ 0.030000384896993637, 0, 0.46060246229171753, 3.1093790531158447 ]
[ -0.0000027571636564971413, 0, -0.000021638039470417425, 0, 0, 0, 1, 0 ]
0
0
0
0
false
0
0
[ 0.029997628182172775, 0, 0.46058082580566406, 3.1093790531158447 ]
[ 0, 0, -0.00001453464210499078, 0, 0, 0, 1, 0 ]
0.2
0
1
0
false
1
0
[ 0.029997628182172775, 0, 0.46056628227233887, 3.1093790531158447 ]
[ 0.000005507786227099132, 0, 0.0006073222029954195, 0, 0, 0, 1, 0 ]
0.4
0
2
0
false
2
0
[ 0.03000313602387905, 0, 0.4611735939979553, 3.1093790531158447 ]
[ 0.000002632878704389441, 0, 0.002770506776869297, 0, 0, 0, 1, 0 ]
0.6
0
3
0
false
3
0
[ 0.030005767941474915, 0, 0.46394410729408264, 3.1093790531158447 ]
[ 0.000005390042588260258, 0, 0.0046717035584151745, 0, 0, 0, 1, 0 ]
0.8
0
4
0
false
4
0
[ 0.03001115843653679, 0, 0.4686158299446106, 3.1093790531158447 ]
[ 0, 0, 0.0033256281167268753, 0, 0, 0, 1, 0 ]
1
0
5
0
false
5
0
[ 0.03001115843653679, 0, 0.47194144129753113, 3.1093790531158447 ]
[ -0.000010773544090625364, 0, 0.004738147836178541, 0, 0, 0, 1, 0 ]
1.2
0
6
0
false
6
0
[ 0.030000384896993637, 0, 0.47667959332466125, 3.1093790531158447 ]
[ 0.000008016379979380872, 0, 0.004955365788191557, 0, 0, 0, 1, 0 ]
1.4
0
7
0
false
7
0
[ 0.030008401721715927, 0, 0.4816349744796753, 3.1093790531158447 ]
[ -0.000010773544090625364, 0, 0.007623510900884867, 0, 0, 0, 1, 0 ]
1.6
0
8
0
false
8
0
[ 0.029997628182172775, 0, 0.48925846815109253, 3.1093790531158447 ]
[ 0.000005507786227099132, 0, 0.0054893228225409985, 0, 0, 0, 1, 0 ]
1.8
0
9
0
false
9
0
[ 0.03000313602387905, 0, 0.4947477877140045, 3.110913038253784 ]
[ 0, 0, 0.00788615457713604, 0, 0, 0, 1, 0 ]
2
0
10
0
false
10
0
[ 0.03000313602387905, 0, 0.5026339292526245, 3.1093790531158447 ]
[ -0.000002750622343228315, 0, 0.006958851590752602, 0, 0, 0, 1, 0 ]
2.2
0
11
0
false
11
0
[ 0.030000384896993637, 0, 0.5095927715301514, 3.1093790531158447 ]
[ 0, 0, 0.01040381658822298, 0, 0, 0, 1, 0 ]
2.4
0
12
0
false
12
0
[ 0.030000384896993637, 0, 0.5199966430664062, 3.1093790531158447 ]
[ 0.000010773544090625364, 0, 0.005615690257400274, 0, 0, 0, 1, 0 ]
2.6
0
13
0
false
13
0
[ 0.03001115843653679, 0, 0.5256122946739197, 3.1093790531158447 ]
[ -0.000013530707292375155, 0, 0.00671748211607337, 0, 0, 0, 1, 0 ]
2.8
0
14
0
false
14
0
[ 0.029997628182172775, 0, 0.532329797744751, 3.110913038253784 ]
[ 0.000008140665158862248, 0, 0.0047220103442668915, 0, 0, 0, 1, 0 ]
3
0
15
0
false
15
0
[ 0.030005767941474915, 0, 0.537051796913147, 3.1093790531158447 ]
[ 0.000008022921065276023, 0, 0.006549331825226545, 0, 0, 0, 1, 0 ]
3.2
0
16
0
false
16
0
[ 0.0300137922167778, 0, 0.5436011552810669, 3.1093790531158447 ]
[ -0.00001065579999703914, 0, 0.0031323430594056845, 0, 0, 0, 1, 0 ]
3.4
0
17
0
false
17
0
[ 0.03000313602387905, 0, 0.5467334985733032, 3.110913038253784 ]
[ 0.000005265757408778882, 0, 0.00354812853038311, 0, 0, 0, 1, 0 ]
3.6
0
18
0
false
18
0
[ 0.030008401721715927, 0, 0.5502815842628479, 3.1093790531158447 ]
[ -0.000005265757408778882, 0, 0.0030171950347721577, 0, 0, 0, 1, 0 ]
3.8
0
19
0
false
19
0
[ 0.03000313602387905, 0, 0.5532987713813782, 3.1093790531158447 ]
[ -0.000002750622343228315, 0, 0.0015559716848656535, 0, 0, 0, 1, 0 ]
4
0
20
0
false
20
0
[ 0.030000384896993637, 0, 0.5548547506332397, 3.1093790531158447 ]
[ 0.000008016379979380872, 0, 0.0007965275435708463, 0, 0, 0, 1, 0 ]
4.2
0
21
0
false
21
0
[ 0.030008401721715927, 0, 0.5556513071060181, 3.1093790531158447 ]
[ -0.000010773544090625364, 0, 0.00033316752524115145, 0, 0, 0, 1, 0 ]
4.4
0
22
0
false
22
0
[ 0.029997628182172775, 0, 0.5559844374656677, 3.1093790531158447 ]
[ 0.000010773544090625364, 0, 0.000021674466552212834, 0, 0, 0, 1, 0 ]
4.6
0
23
0
false
23
0
[ 0.030008401721715927, 0, 0.556006133556366, 3.1093790531158447 ]
[ -0.000005265757408778882, 0, -0.0000037156228245294187, 0, 0, 0, 1, 0 ]
4.8
0
24
0
false
24
0
[ 0.03000313602387905, 0, 0.5560024380683899, 3.1093790531158447 ]
[ 0.000008022921065276023, 0, -0.000007139824447222054, 0, 0, 0, 1, 0 ]
5
0
25
0
false
25
0
[ 0.03001115843653679, 0, 0.5559952855110168, 3.1093790531158447 ]
[ 0.0009858381235972047, 0, -0.000010819019735208713, 0, 0, 0, 1, 0 ]
5.2
0
26
0
false
26
0
[ 0.03099699690937996, 0, 0.5559844374656677, 3.110913038253784 ]
[ 0.001653837040066719, 0, -0.0000036791952879866585, 0, 0, 0, 1, 0 ]
5.4
0
27
0
false
27
0
[ 0.03265083208680153, 0, 0.5559808015823364, 3.1093790531158447 ]
[ 0.004319255705922842, 0, 0, 0, 0, 0, 1, 0 ]
5.6
0
28
0
false
28
0
[ 0.03697009012103081, 0, 0.5559808015823364, 3.1093790531158447 ]
[ 0.0032310623209923506, 0, -0.000025353661840199493, 0, 0, 0, 1, 0 ]
5.8
0
29
0
false
29
0
[ 0.04020114988088608, 0, 0.5559554100036621, 3.1093790531158447 ]
[ 0.005332384258508682, 0, 0.0000037156228245294187, 0, 0, 0, 1, 0 ]
6
0
30
0
false
30
0
[ 0.04553353413939476, 0, 0.555959165096283, 3.1093790531158447 ]
[ 0.004876284394413233, 0, -0.0000037156228245294187, 0, 0, 0, 1, 0 ]
6.2
0
31
0
false
31
0
[ 0.050409819930791855, 0, 0.5559554100036621, 3.1093790531158447 ]
[ 0.009510615840554237, 0, -0.000010819019735208713, 0, 0, 0, 1, 0 ]
6.4
0
32
0
false
32
0
[ 0.05992043763399124, 0, 0.5559446215629578, 3.1093790531158447 ]
[ 0.006560767535120249, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
6.6
0
33
0
false
33
0
[ 0.06648120284080505, 0, 0.5559517741203308, 3.1093790531158447 ]
[ 0.012127792462706566, 0, -0.000007176251983764814, 0, 0, 0, 1, 0 ]
6.8
0
34
0
false
34
0
[ 0.07860899716615677, 0, 0.5559446215629578, 3.1093790531158447 ]
[ 0, 0, 0, 0, 0, 0, 1, 0 ]
7
0
35
0
false
35
0
[ 0.07860899716615677, 0, 0.5559446215629578, 3.110913038253784 ]
[ 0.01718280091881752, 0, -0.000017995271264226176, 0, 0, 0, 1, 0 ]
7.2
0
36
0
false
36
0
[ 0.09579179435968399, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.015308806672692299, 0, -0.000003642767524070223, 0, 0, 0, 1, 0 ]
7.4
0
37
0
false
37
0
[ 0.11110060662031174, 0, 0.5559229850769043, 3.110913038253784 ]
[ 0.008419795893132687, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
7.6
0
38
0
false
38
0
[ 0.119520403444767, 0, 0.5559301376342773, 3.1093790531158447 ]
[ 0.0105427922680974, 0, 0, 0, 0, 0, 1, 0 ]
7.8
0
39
0
false
39
0
[ 0.13006319105625153, 0, 0.5559301376342773, 3.1093790531158447 ]
[ 0.007592581212520599, 0, -0.0000035334844596945914, 0, 0, 0, 1, 0 ]
8
0
40
0
false
40
0
[ 0.13765577971935272, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.012656447477638721, 0, 0.000010855447726498824, 0, 0, 0, 1, 0 ]
8.2
0
41
0
false
41
0
[ 0.15031221508979797, 0, 0.5559374690055847, 3.1093790531158447 ]
[ 0.009000036865472794, 0, 0.000010819019735208713, 0, 0, 0, 1, 0 ]
8.4
0
42
0
false
42
0
[ 0.15931226313114166, 0, 0.5559483170509338, 3.110913038253784 ]
[ 0.015887020155787468, 0, -0.000021674466552212834, 0, 0, 0, 1, 0 ]
8.6
0
43
0
false
43
0
[ 0.17519928514957428, 0, 0.5559266209602356, 3.110913038253784 ]
[ 0.0070027513429522514, 0, 0.0000035334844596945914, 0, 0, 0, 1, 0 ]
8.8
0
44
0
false
44
0
[ 0.1822020262479782, 0, 0.5559301376342773, 3.1093790531158447 ]
[ 0.017524100840091705, 0, -0.0000035334844596945914, 0, 0, 0, 1, 0 ]
9
0
45
0
false
45
0
[ 0.1997261345386505, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.00987682119011879, 0, 0, 0, 0, 0, 1, 0 ]
9.2
0
46
0
false
46
0
[ 0.209602952003479, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.014545762911438942, 0, 0.0000035334844596945914, 0, 0, 0, 1, 0 ]
9.4
0
47
0
false
47
0
[ 0.2241487205028534, 0, 0.5559301376342773, 3.1093790531158447 ]
[ 0.005663391202688217, 0, -0.0000035334844596945914, 0, 0, 0, 1, 0 ]
9.6
0
48
0
false
48
0
[ 0.22981210052967072, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.011545863933861256, 0, 0, 0, 0, 0, 1, 0 ]
9.8
0
49
0
false
49
0
[ 0.2413579672574997, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.006294156890362501, 0, -0.000003642767524070223, 0, 0, 0, 1, 0 ]
10
0
50
0
false
50
0
[ 0.24765212833881378, 0, 0.5559229850769043, 3.1093790531158447 ]
[ 0.008484345860779285, 0, 0.000010819019735208713, 0, 0, 0, 1, 0 ]
10.2
0
51
0
false
51
0
[ 0.2561364769935608, 0, 0.5559337735176086, 3.1093790531158447 ]
[ 0.005077289417386055, 0, -0.000007176251983764814, 0, 0, 0, 1, 0 ]
10.4
0
52
0
false
52
0
[ 0.2612137496471405, 0, 0.5559266209602356, 3.1093790531158447 ]
[ 0.002368164947256446, 0, 0.0000035334844596945914, 0, 0, 0, 1, 0 ]
10.6
0
53
0
false
53
0
[ 0.26358193159103394, 0, 0.5559301376342773, 3.110913038253784 ]
[ -0.000901576189789921, 0, 0.000003642767524070223, 0, 0, 0, 1, 0 ]
10.8
0
54
0
false
54
0
[ 0.2626803517341614, 0, 0.5559337735176086, 3.110913038253784 ]
[ -0.00002370572110521607, 0, -0.000007176251983764814, 0, 0, 0, 1, 0 ]
11
0
55
0
false
55
0
[ 0.26265662908554077, 0, 0.5559266209602356, 3.110913038253784 ]
[ -0.000005285381575959036, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
11.2
0
56
0
false
56
0
[ 0.26265135407447815, 0, 0.5559337735176086, 3.110913038253784 ]
[ 0, 0, -0.000003642767524070223, 0, 0, 0, 1, 0 ]
11.4
0
57
0
false
57
0
[ 0.26265135407447815, 0, 0.5559301376342773, 3.110913038253784 ]
[ 0.000002642690787979518, 0, 0.000010819019735208713, 0, 0, 0, 1, 0 ]
11.6
0
58
0
false
58
0
[ 0.26265400648117065, 0, 0.5559409856796265, 3.110913038253784 ]
[ -0.000007901907338236924, 0, -0.0000288507199002197, 0, 0, 0, 1, 0 ]
11.8
0
59
0
false
59
0
[ 0.2626461088657379, 0, 0.5559121370315552, 3.110913038253784 ]
[ 0, 0, 0.000010855447726498824, 0, 0, 0, 1, 0 ]
12
0
60
0
false
60
0
[ 0.2626461088657379, 0, 0.5559229850769043, 3.110913038253784 ]
[ 0, 0, 0.000003642767524070223, 0, 0, 0, 1, 0 ]
12.2
0
61
0
false
61
0
[ 0.2626461088657379, 0, 0.5559266209602356, 3.110913038253784 ]
[ 0.000002642690787979518, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
12.4
0
62
0
false
62
0
[ 0.26264873147010803, 0, 0.5559337735176086, 3.072563409805298 ]
[ -0.00001041377163346624, 0, 0, 0, 0, 0, 1, 0 ]
12.6
0
63
0
false
63
0
[ 0.2626383304595947, 0, 0.5559337735176086, 3.0204081535339355 ]
[ 0, 0, -0.000003642767524070223, 0, 0, 0, 1, 0 ]
12.8
0
64
0
false
64
0
[ 0.2626383304595947, 0, 0.5559301376342773, 2.8700780868530273 ]
[ 0.000005259216322883731, 0, -0.0000035334844596945914, 0, 0, 0, 1, 0 ]
13
0
65
0
false
65
0
[ 0.26264357566833496, 0, 0.5559266209602356, 2.770369291305542 ]
[ 0, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
13.2
0
66
0
false
66
0
[ 0.26264357566833496, 0, 0.5559337735176086, 2.521864414215088 ]
[ 0.000002511864522602991, 0, 0, 0, 0, 0, 1, 0 ]
13.4
0
67
0
false
67
0
[ 0.2626461088657379, 0, 0.5559337735176086, 2.3838062286376953 ]
[ -0.000013030296940996777, 0, -0.000010819019735208713, 0, 0, 0, 1, 0 ]
13.6
0
68
0
false
68
0
[ 0.2626330554485321, 0, 0.5559229850769043, 2.1168935298919678 ]
[ 0.000002642690787979518, 0, 0.000014498215023195371, 0, 0, 0, 1, 0 ]
13.8
0
69
0
false
69
0
[ 0.2626357078552246, 0, 0.5559374690055847, 1.9849711656570435 ]
[ 0.000005259216322883731, 0, -0.0000036791952879866585, 0, 0, 0, 1, 0 ]
14
0
70
0
false
70
0
[ 0.26264098286628723, 0, 0.5559337735176086, 1.7303303480148315 ]
[ -0.000005259216322883731, 0, -0.000007176251983764814, 0, 0, 0, 1, 0 ]
14.2
0
71
0
false
71
0
[ 0.2626357078552246, 0, 0.5559266209602356, 1.6014759540557861 ]
[ -0.000002642690787979518, 0, 0.000007176251983764814, 0, 0, 0, 1, 0 ]
14.4
0
72
0
false
72
0
[ 0.2626330554485321, 0, 0.5559337735176086, 1.3453011512756348 ]
[ 0, 0, -0.000014498215023195371, 0, 0, 0, 1, 0 ]
14.6
0
73
0
false
73
0
[ 0.2626330554485321, 0, 0.5559192895889282, 1.21491277217865 ]
[ 0.000007901907338236924, 0, 0.0000036791952879866585, 0, 0, 0, 1, 0 ]
14.8
0
74
0
false
74
0
[ 0.26264098286628723, 0, 0.5559229850769043, 0.9495341181755066 ]
[ -0.000005259216322883731, 0, 0.000003642767524070223, 0, 0, 0, 1, 0 ]
15
0
75
0
false
75
0
[ 0.2626357078552246, 0, 0.5559266209602356, 0.8176117539405823 ]
[ 0.0000026165255349042127, 0, -0.000003642767524070223, 0, 0, 0, 1, 0 ]
15.2
0
76
0
false
76
0
[ 0.2626383304595947, 0, 0.5559229850769043, 0.5491651296615601 ]
[ -0.0000026165255349042127, 0, 0, 0, 0, 0, 0, 0 ]
15.4
0
77
0
false
77
0
[ 0.2626357078552246, 0, 0.5559229850769043, 0.41724276542663574 ]
[ -0.000002642690787979518, 0, 0.000010819019735208713, 0, 0, 0, 0, 0 ]
15.6
0
78
0
false
78
0
[ 0.2626330554485321, 0, 0.5559337735176086, 0.15186409652233124 ]
[ -0.000002642690787979518, 0, 0, 0, 0, 0, 0, 0 ]
15.8
0
79
0
false
79
0
[ 0.262630432844162, 0, 0.5559337735176086, 0.016873788088560104 ]
[ 0.000005285381575959036, 0, -0.000007176251983764814, 0, 0, 0, 0, 0 ]
16
0
80
0
false
80
0
[ 0.2626357078552246, 0, 0.5559266209602356, -0.251572847366333 ]
[ 0.000005259216322883731, 0, -0.000003642767524070223, 0, 0, 0, 0, 0 ]
16.200001
0
81
0
false
81
0
[ 0.26264098286628723, 0, 0.5559229850769043, -0.3880971372127533 ]
[ -0.000007901907338236924, 0, 0.000003642767524070223, 0, 0, 0, 0, 0 ]
16.4
0
82
0
false
82
0
[ 0.2626330554485321, 0, 0.5559266209602356, -0.6550098061561584 ]
[ 0.000007901907338236924, 0, 0, 0, 0, 0, 0, 0 ]
16.6
0
83
0
false
83
0
[ 0.26264098286628723, 0, 0.5559266209602356, -0.7915340662002563 ]
[ 0.0000026165255349042127, 0, 0.000017995271264226176, 0, 0, 0, 0, 0 ]
16.799999
0
84
0
false
84
0
[ 0.26264357566833496, 0, 0.5559446215629578, -1.0569127798080444 ]
[ -0.0000026165255349042127, 0, -0.000010819019735208713, 0, 0, 0, 0, 0 ]
17
0
85
0
false
85
0
[ 0.26264098286628723, 0, 0.5559337735176086, -1.1888351440429688 ]
[ 0.0000026165255349042127, 0, -0.000003642767524070223, 0, 0, 0, 0, 0 ]
17.200001
0
86
0
false
86
0
[ 0.26264357566833496, 0, 0.5559301376342773, -1.4465439319610596 ]
[ 0, 0, 0.000003642767524070223, 0, 0, 0, 0, 0 ]
17.4
0
87
0
false
87
0
[ 0.26264357566833496, 0, 0.5559337735176086, -1.5707963705062866 ]
[ 0, 0, -0.000003642767524070223, 0, 0, 0, 0, 0 ]
17.6
0
88
0
false
88
0
[ 0.26264357566833496, 0, 0.5559301376342773, -1.8285051584243774 ]
[ -0.0000026165255349042127, 0, 0.000007321962584683206, 0, 0, 0, 0, 0 ]
17.799999
0
89
0
false
89
0
[ 0.26264098286628723, 0, 0.5559374690055847, -1.9604274034500122 ]
[ 0, 0, -0.0000036791952879866585, 0, 0, 0, 0, 0 ]
18
0
90
0
false
90
0
[ 0.26264098286628723, 0, 0.5559337735176086, -2.2273402214050293 ]
[ 0.000007771081072860397, 0, 0, 0, 0, 0, 0, 0 ]
18.200001
0
91
0
false
91
0
[ 0.26264873147010803, 0, 0.5559337735176086, -2.3577284812927246 ]
[ -0.000002642690787979518, 0, 0, 0, 0, 0, 0, 0 ]
18.4
0
92
0
false
92
0
[ 0.2626461088657379, 0, 0.5559337735176086, -2.613903284072876 ]
[ -0.000002511864522602991, 0, 0, 0, 0, 0, 0, 0 ]
18.6
0
93
0
false
93
0
[ 0.26264357566833496, 0, 0.5559337735176086, -2.719748020172119 ]
[ 0.000002511864522602991, 0, -0.000007176251983764814, 0, 0, 0, 0, 0 ]
18.799999
0
94
0
false
94
0
[ 0.2626461088657379, 0, 0.5559266209602356, -2.882349967956543 ]
[ -0.000007771081072860397, 0, -0.000003642767524070223, 0, 0, 0, 0, 0 ]
19
0
95
0
false
95
0
[ 0.2626383304595947, 0, 0.5559229850769043, -2.9360392093658447 ]
[ 0, 0, 0.000010819019735208713, 0, 0, 0, 0, 0 ]
19.200001
0
96
0
false
96
0
[ 0.2626383304595947, 0, 0.5559337735176086, -2.9958643913269043 ]
[ 0.000005259216322883731, 0, 0, 0, 0, 0, 0, 0 ]
19.4
0
97
0
false
97
0
[ 0.26264357566833496, 0, 0.5559337735176086, -3.0004663467407227 ]
[ 0, 0, -0.000007176251983764814, 0, 0, 0, 0, 0 ]
19.6
0
98
0
false
98
0
[ 0.26264357566833496, 0, 0.5559266209602356, -3.0004663467407227 ]
[ -0.0000026165255349042127, 0, 0, 0, 0, 0, 0, 0 ]
19.799999
0
99
0
false
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": "unknown",
    "total_episodes": 135,
    "total_frames": 25016,
    "total_tasks": 5,
    "total_videos": 135,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:135"
    },
    "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": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 5.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

@inproceedings{bahl2023affordances,
    title={Affordances from Human Videos as a Versatile Representation for Robotics},
    author={Bahl, Shikhar and Mendonca, Russell and Chen, Lili and Jain, Unnat and Pathak, Deepak},
    booktitle={CVPR},
    year={2023}
}
    @article{mendonca2023structured,
    title={Structured World Models from Human Videos},
    author={Mendonca, Russell and Bahl, Shikhar and Pathak, Deepak},
    journal={CoRL},
    year={2023}
}
Downloads last month
252
Edit dataset card
Homepage:
robo-affordances.github.io
Paper:
arxiv.org
License:
mit
Size of downloaded dataset files:
1.56 MB
Size of the auto-converted Parquet files:
1.56 MB
Number of rows:
25,016