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Datasets:
Beegbrain
/
moss_stack_cubes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
moss
so100
stack cubes
stack
cube
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
19.4
frame_index
int64
0
387
episode_index
int64
0
29
index
int64
0
7.24k
task_index
int64
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0
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2.85
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2.9
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3.1
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.6
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3.65
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3.7
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3.75
75
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75
0
[ -4.833984375, 82.79296875, 104.853515625, 57.041015625, 35.5078125, 22.351797103881836 ]
[ -4.21875, 80.859375, 107.841796875, 58.271484375, 33.75, 27.087871551513672 ]
3.8
76
0
76
0
[ -4.921875, 82.529296875, 104.765625, 56.42578125, 35.419921875, 18.658891677856445 ]
[ -4.21875, 80.859375, 107.578125, 58.0078125, 33.75, 24.83660125732422 ]
3.85
77
0
77
0
[ -4.921875, 82.265625, 104.765625, 55.986328125, 35.5078125, 12.244897842407227 ]
[ -4.130859375, 80.859375, 107.2265625, 57.744140625, 33.75, 22.585330963134766 ]
3.9
78
0
78
0
[ -4.921875, 81.9140625, 104.677734375, 55.810546875, 35.68359375, 9.135082244873047 ]
[ -4.130859375, 80.859375, 107.05078125, 57.041015625, 33.75, 19.31735610961914 ]
3.95
79
0
79
0
[ -4.921875, 81.5625, 104.501953125, 55.634765625, 35.68359375, 8.26044750213623 ]
[ -4.130859375, 80.5078125, 106.962890625, 56.337890625, 33.75, 15.250544548034668 ]
4
80
0
80
0
[ -4.921875, 81.2109375, 104.326171875, 55.37109375, 35.419921875, 6.511176109313965 ]
[ -4.21875, 80.244140625, 106.875, 55.986328125, 33.75, 13.652868270874023 ]
4.05
81
0
81
0
[ -4.74609375, 81.123046875, 104.150390625, 55.283203125, 34.62890625, 4.17881441116333 ]
[ -4.21875, 80.15625, 106.787109375, 55.810546875, 33.75, 13.435003280639648 ]
4.1
82
0
82
0
[ -4.74609375, 81.298828125, 103.88671875, 55.283203125, 33.75, 2.040816307067871 ]
[ -4.21875, 80.15625, 106.787109375, 55.72265625, 33.75, 13.144516944885254 ]
4.15
83
0
83
0
[ -4.74609375, 81.9140625, 103.359375, 56.25, 32.607421875, 0.4859086573123932 ]
[ -4.21875, 80.15625, 106.5234375, 55.72265625, 33.662109375, 12.78140926361084 ]
4.2
84
0
84
0
[ -4.39453125, 82.96875, 102.65625, 57.744140625, 31.552734375, 0.09718172997236252 ]
[ -4.130859375, 80.15625, 106.259765625, 55.72265625, 33.3984375, 12.636165618896484 ]
4.25
85
0
85
0
[ -4.04296875, 84.462890625, 102.041015625, 59.58984375, 30.322265625, 0.09718172997236252 ]
[ -4.130859375, 80.15625, 105.99609375, 56.162109375, 32.6953125, 12.563544273376465 ]
4.3
86
0
86
0
[ -3.515625, 85.95703125, 101.337890625, 61.435546875, 29.00390625, 0.09718172997236252 ]
[ -4.130859375, 80.33203125, 105.732421875, 56.865234375, 31.81640625, 12.563544273376465 ]
4.35
87
0
87
0
[ -2.8125, 87.275390625, 100.634765625, 63.017578125, 27.158203125, 0.09718172997236252 ]
[ -4.04296875, 80.68359375, 105.380859375, 58.359375, 30.849609375, 12.563544273376465 ]
4.4
88
0
88
0
[ -2.4609375, 88.857421875, 99.755859375, 64.951171875, 25.6640625, 0.19436345994472504 ]
[ -3.33984375, 81.474609375, 104.765625, 59.94140625, 29.619140625, 12.563544273376465 ]
4.45
89
0
89
0
[ -1.93359375, 90.263671875, 98.7890625, 66.884765625, 24.169921875, 0.29154518246650696 ]
[ -2.548828125, 82.529296875, 103.88671875, 61.611328125, 28.125, 12.563544273376465 ]
4.5
90
0
90
0
[ -1.40625, 91.58203125, 97.998046875, 68.115234375, 22.939453125, 0.29154518246650696 ]
[ -1.7578125, 83.84765625, 102.919921875, 63.017578125, 26.455078125, 12.563544273376465 ]
4.55
91
0
91
0
[ -1.0546875, 92.724609375, 97.20703125, 69.08203125, 22.060546875, 0.3887269198894501 ]
[ -1.40625, 85.166015625, 101.953125, 64.6875, 24.873046875, 12.563544273376465 ]
4.6
92
0
92
0
[ -0.703125, 93.779296875, 95.9765625, 70.224609375, 21.09375, 0.3887269198894501 ]
[ -1.318359375, 86.572265625, 101.162109375, 66.4453125, 23.291015625, 12.563544273376465 ]
4.65
93
0
93
0
[ -0.52734375, 94.5703125, 94.21875, 71.54296875, 19.951171875, 0.3887269198894501 ]
[ -1.318359375, 87.71484375, 100.283203125, 67.8515625, 22.412109375, 12.563544273376465 ]
4.7
94
0
94
0
[ -0.439453125, 95.185546875, 91.7578125, 73.828125, 18.80859375, 0.29154518246650696 ]
[ -0.87890625, 88.76953125, 99.228515625, 69.08203125, 21.26953125, 12.563544273376465 ]
4.75
95
0
95
0
[ -0.3515625, 95.361328125, 88.857421875, 76.11328125, 17.75390625, 0.19436345994472504 ]
[ -0.263671875, 89.82421875, 97.734375, 70.3125, 20.0390625, 12.563544273376465 ]
4.8
96
0
96
0
[ -0.3515625, 95.185546875, 86.1328125, 78.134765625, 17.314453125, 0.19436345994472504 ]
[ 0, 90.439453125, 95.625, 71.982421875, 18.896484375, 12.563544273376465 ]
4.85
97
0
97
0
[ -0.17578125, 94.39453125, 83.056640625, 79.892578125, 16.875, 0.09718172997236252 ]
[ 0.087890625, 90.87890625, 93.251953125, 74.091796875, 18.017578125, 12.563544273376465 ]
4.9
98
0
98
0
[ 0, 93.1640625, 79.892578125, 81.650390625, 16.435546875, 0.09718172997236252 ]
[ -0.17578125, 90.966796875, 90.87890625, 76.11328125, 17.314453125, 12.563544273376465 ]
4.95
99
0
99
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": "moss",
    "total_episodes": 30,
    "total_frames": 7244,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.back": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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