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Datasets:
shirasu206
/
ur5e_dataset_20251015_v6

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
ur5e
pi0
robot-dataset
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
image
imagewidth (px)
256
256
wrist_image
imagewidth (px)
256
256
state
list
actions
list
timestamp
float32
0
0.5
frame_index
int64
0
2
episode_index
int64
0
0
index
int64
0
2
task_index
int64
0
0
[ 1.9009822607040405, -1.2436555624008179, -0.6200931668281555, -2.759923219680786, -1.2073129415512085, -0.2954404950141907, 1 ]
[ 1.9009751081466675, -1.2436487674713135, -0.6200893521308899, -2.7598536014556885, -1.207316279411316, -0.2954180836677551, 1 ]
0
0
0
0
0
[ 1.9009751081466675, -1.2436487674713135, -0.6200893521308899, -2.7598536014556885, -1.207316279411316, -0.2954180836677551, 1 ]
[ 1.9009674787521362, -1.2436332702636719, -0.6200931668281555, -2.759941816329956, -1.2073043584823608, -0.29542142152786255, 1 ]
0.25
1
0
1
0
[ 1.9009674787521362, -1.2436332702636719, -0.6200931668281555, -2.759941816329956, -1.2073043584823608, -0.29542142152786255, 1 ]
[ 1.900978922843933, -1.2436331510543823, -0.6200931668281555, -2.759910821914673, -1.2073286771774292, -0.29542142152786255, 1 ]
0.5
2
0
2
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5e",
    "total_episodes": 1,
    "total_frames": 3,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 4.0,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ]
        },
        "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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