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Datasets:
Beegbrain
/
put_green_into_blue_bin

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
moss
put
bin
cubes
lerobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
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action
sequence
observation.state
sequence
timestamp
float32
0
14.2
frame_index
int64
0
284
episode_index
int64
0
29
index
int64
0
7.34k
task_index
int64
0
0
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0.7
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14
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0.75
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15
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0.85
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17
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0.9
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19
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1
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20
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1.05
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21
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22
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1.15
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24
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1.25
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1.3
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1.35
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1.4
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1.45
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1.5
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1.55
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1.6
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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45
0
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2.3
46
0
46
0
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2.35
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47
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2.4
48
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2.45
49
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49
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2.5
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2.55
51
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51
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2.6
52
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2.65
53
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53
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2.7
54
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2.75
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55
0
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2.8
56
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56
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2.85
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57
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[ 4.921875, 84.19921875, 86.30859375, 75.9375, 14.150390625, 0.3484320640563965 ]
2.9
58
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0
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2.95
59
0
59
0
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[ 2.8125, 81.9140625, 86.396484375, 75.05859375, 14.677734375, 0.3484320640563965 ]
3
60
0
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[ 1.58203125, 80.947265625, 86.8359375, 73.828125, 14.765625, 0.3484320640563965 ]
3.05
61
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61
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3.1
62
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62
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3.15
63
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63
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[ 1.494140625, 76.2890625, 86.923828125, 70.751953125, 15.8203125, 0.3484320640563965 ]
3.2
64
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64
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[ 1.0546875, 74.970703125, 87.099609375, 70.13671875, 16.5234375, 0.8362369537353516 ]
3.25
65
0
65
0
[ 0, 76.201171875, 87.626953125, 67.060546875, 19.072265625, 16.7760066986084 ]
[ 0.087890625, 74.53125, 87.71484375, 69.345703125, 17.138671875, 1.881533145904541 ]
3.3
66
0
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3.35
67
0
67
0
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[ 0.087890625, 74.35546875, 87.802734375, 68.203125, 18.28125, 9.89547061920166 ]
3.4
68
0
68
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3.45
69
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3.5
70
0
70
0
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[ 0.3515625, 72.7734375, 87.802734375, 67.763671875, 18.80859375, 27.38675880432129 ]
3.55
71
0
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0
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[ 0.087890625, 72.421875, 87.802734375, 67.8515625, 19.248046875, 34.425086975097656 ]
3.6
72
0
72
0
[ 0, 73.037109375, 88.06640625, 68.37890625, 20.478515625, 53.327083587646484 ]
[ 0, 72.421875, 87.802734375, 67.939453125, 19.51171875, 41.32404327392578 ]
3.65
73
0
73
0
[ 0.17578125, 72.158203125, 88.41796875, 67.67578125, 20.478515625, 53.327083587646484 ]
[ 0, 72.421875, 87.978515625, 67.939453125, 19.6875, 46.620208740234375 ]
3.7
74
0
74
0
[ 0.17578125, 71.19140625, 88.59375, 66.708984375, 20.56640625, 53.327083587646484 ]
[ 0.087890625, 71.71875, 88.505859375, 67.939453125, 19.6875, 49.54703903198242 ]
3.75
75
0
75
0
[ 0.3515625, 70.400390625, 88.681640625, 65.390625, 20.7421875, 53.139644622802734 ]
[ 0.087890625, 70.576171875, 88.681640625, 67.67578125, 19.6875, 51.08013916015625 ]
3.8
76
0
76
0
[ 0.439453125, 68.90625, 88.505859375, 64.3359375, 20.830078125, 53.139644622802734 ]
[ 0.087890625, 69.43359375, 88.681640625, 66.97265625, 19.6875, 51.916378021240234 ]
3.85
77
0
77
0
[ 0.52734375, 67.412109375, 88.41796875, 63.369140625, 20.7421875, 53.045921325683594 ]
[ 0.087890625, 68.5546875, 88.681640625, 66.181640625, 19.6875, 52.334495544433594 ]
3.9
78
0
78
0
[ 0.52734375, 66.09375, 88.41796875, 62.2265625, 20.7421875, 53.045921325683594 ]
[ 0, 66.884765625, 88.681640625, 65.21484375, 19.6875, 52.61323928833008 ]
3.95
79
0
79
0
[ 0.52734375, 64.775390625, 88.41796875, 60.99609375, 20.7421875, 53.045921325683594 ]
[ 0, 65.654296875, 88.681640625, 64.423828125, 19.6875, 52.682926177978516 ]
4
80
0
80
0
[ 0.703125, 63.6328125, 88.154296875, 59.853515625, 20.56640625, 52.57732009887695 ]
[ 0, 64.51171875, 88.681640625, 63.45703125, 19.6875, 52.75261306762695 ]
4.05
81
0
81
0
[ 0.791015625, 62.2265625, 87.802734375, 59.0625, 20.56640625, 52.01499557495117 ]
[ 0, 63.017578125, 88.681640625, 61.962890625, 19.6875, 52.682926177978516 ]
4.1
82
0
82
0
[ 0.966796875, 61.259765625, 87.802734375, 58.359375, 20.478515625, 51.827552795410156 ]
[ 0, 61.69921875, 88.681640625, 60.908203125, 19.6875, 52.334495544433594 ]
4.15
83
0
83
0
[ 0.966796875, 60.556640625, 87.802734375, 57.83203125, 20.302734375, 51.73383331298828 ]
[ 0, 60.46875, 88.681640625, 60.29296875, 19.6875, 51.986061096191406 ]
4.2
84
0
84
0
[ 0.966796875, 60.29296875, 87.890625, 57.3046875, 20.21484375, 51.546390533447266 ]
[ 0, 59.501953125, 88.681640625, 59.4140625, 19.6875, 51.49825668334961 ]
4.25
85
0
85
0
[ 1.142578125, 60.029296875, 87.978515625, 56.77734375, 20.21484375, 51.45267105102539 ]
[ 0, 58.7109375, 88.681640625, 58.623046875, 19.6875, 51.219512939453125 ]
4.3
86
0
86
0
[ 1.23046875, 59.94140625, 87.978515625, 56.42578125, 20.126953125, 49.76569747924805 ]
[ 0.087890625, 58.271484375, 88.681640625, 58.0078125, 19.6875, 51.14982604980469 ]
4.35
87
0
87
0
[ 1.40625, 59.94140625, 87.978515625, 56.162109375, 19.599609375, 46.579193115234375 ]
[ 0.3515625, 57.919921875, 88.681640625, 57.392578125, 19.6875, 51.01045227050781 ]
4.4
88
0
88
0
[ 1.58203125, 59.94140625, 88.154296875, 55.986328125, 19.248046875, 43.86129379272461 ]
[ 0.791015625, 57.65625, 88.681640625, 57.041015625, 19.6875, 49.75609588623047 ]
4.45
89
0
89
0
[ 1.669921875, 60.029296875, 88.505859375, 55.458984375, 18.896484375, 40.67478942871094 ]
[ 1.0546875, 57.568359375, 88.681640625, 56.689453125, 19.423828125, 47.735191345214844 ]
4.5
90
0
90
0
[ 1.845703125, 60.1171875, 88.681640625, 55.107421875, 18.544921875, 35.52014923095703 ]
[ 1.0546875, 57.568359375, 88.857421875, 56.162109375, 19.072265625, 45.296165466308594 ]
4.55
91
0
91
0
[ 1.93359375, 60.1171875, 88.76953125, 54.84375, 18.544921875, 29.334583282470703 ]
[ 0.87890625, 57.568359375, 88.857421875, 55.8984375, 18.544921875, 42.6480827331543 ]
4.6
92
0
92
0
[ 2.109375, 60.1171875, 88.857421875, 54.4921875, 18.6328125, 22.68041229248047 ]
[ 0.703125, 57.568359375, 88.857421875, 55.546875, 18.28125, 38.88501739501953 ]
4.65
93
0
93
0
[ 2.28515625, 60.1171875, 89.033203125, 53.7890625, 18.896484375, 15.089035034179688 ]
[ 0.615234375, 57.568359375, 88.857421875, 55.107421875, 18.193359375, 34.63414764404297 ]
4.7
94
0
94
0
[ 2.28515625, 60.205078125, 89.296875, 53.0859375, 18.984375, 5.248359680175781 ]
[ 0.966796875, 57.568359375, 88.9453125, 54.755859375, 18.193359375, 29.616724014282227 ]
4.75
95
0
95
0
[ 2.373046875, 60.205078125, 89.296875, 52.734375, 18.984375, 4.873476982116699 ]
[ 1.669921875, 57.568359375, 89.47265625, 54.228515625, 18.193359375, 23.69338035583496 ]
4.8
96
0
96
0
[ 2.373046875, 60.205078125, 89.296875, 52.294921875, 18.6328125, 3.8425490856170654 ]
[ 2.021484375, 57.568359375, 89.560546875, 53.876953125, 18.193359375, 17.421602249145508 ]
4.85
97
0
97
0
[ 2.548828125, 60.205078125, 89.296875, 52.20703125, 18.10546875, 1.6869728565216064 ]
[ 1.93359375, 57.568359375, 89.560546875, 53.349609375, 18.193359375, 13.93728256225586 ]
4.9
98
0
98
0
[ 2.63671875, 60.205078125, 89.384765625, 51.6796875, 17.666015625, 0 ]
[ 1.58203125, 57.568359375, 89.560546875, 52.998046875, 18.193359375, 13.7979097366333 ]
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": "v2.0",
    "robot_type": "moss",
    "total_episodes": 30,
    "total_frames": 7342,
    "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": [
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            ],
            "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.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.back": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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