Hugging Face's logo

Datasets:
5hadytru
/
so101_grasp_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
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
action
listlengths
6
6
observation.state
listlengths
6
6
timestamp
float32
0
43.3
frame_index
int64
0
1.3k
episode_index
int64
0
209
index
int64
0
122k
task_index
int64
0
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.3540961742401123 ]
0
0
0
0
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.3540961742401123 ]
0.033333
1
0
1
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.3540961742401123 ]
0.066667
2
0
2
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.1
3
0
3
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.133333
4
0
4
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.166667
5
0
5
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.2
6
0
6
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.233333
7
0
7
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.266667
8
0
8
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.3
9
0
9
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.333333
10
0
10
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.366667
11
0
11
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.4
12
0
12
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.433333
13
0
13
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.466667
14
0
14
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.5
15
0
15
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.533333
16
0
16
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.566667
17
0
17
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.6
18
0
18
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.633333
19
0
19
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.666667
20
0
20
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.7
21
0
21
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.733333
22
0
22
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.766667
23
0
23
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.8
24
0
24
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.833333
25
0
25
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.866667
26
0
26
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.9
27
0
27
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.933333
28
0
28
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
0.966667
29
0
29
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1
30
0
30
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.033333
31
0
31
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.066667
32
0
32
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.1
33
0
33
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.133333
34
0
34
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.166667
35
0
35
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.2
36
0
36
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.233333
37
0
37
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.266667
38
0
38
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.3
39
0
39
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.333333
40
0
40
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.366667
41
0
41
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.4
42
0
42
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.433333
43
0
43
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.466667
44
0
44
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.5
45
0
45
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.533333
46
0
46
0
[ 12.246696472167969, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.566667
47
0
47
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.6
48
0
48
0
[ 11.541850090026855, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.633333
49
0
49
0
[ 11.718061447143555, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.420226097106934, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.666667
50
0
50
0
[ 11.718061447143555, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.7
51
0
51
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.733333
52
0
52
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.766667
53
0
53
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.88656997680664, 5.55555534362793, 1.131770372390747 ]
[ 11.92930793762207, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.8
54
0
54
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.799652099609375, 5.55555534362793, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.833333
55
0
55
0
[ 11.629956245422363, -98.55809783935547, 95.7466049194336, 60.799652099609375, 5.55555534362793, 1.131770372390747 ]
[ 11.92930793762207, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.866667
56
0
56
0
[ 11.894272804260254, -98.55809783935547, 95.7466049194336, 60.799652099609375, 5.660377502441406, 1.131770372390747 ]
[ 11.732940673828125, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.9
57
0
57
0
[ 12.33480167388916, -98.55809783935547, 95.7466049194336, 61.06040954589844, 6.446540832519531, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.933333
58
0
58
0
[ 11.718061447143555, -98.47328186035156, 95.7466049194336, 61.755760192871094, 8.909852981567383, 1.131770372390747 ]
[ 12.027491569519043, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.63269567489624, 1.218686580657959 ]
1.966667
59
0
59
0
[ 11.629956245422363, -97.79473876953125, 95.56561279296875, 62.103431701660156, 11.635220527648926, 1.131770372390747 ]
[ 11.53657341003418, -98.80596923828125, 95.8314437866211, 61.25331115722656, 5.685092926025391, 1.218686580657959 ]
2
60
0
60
0
[ 10.92510986328125, -97.4554672241211, 94.66063690185547, 63.14645767211914, 13.46960163116455, 1.131770372390747 ]
[ 11.92930793762207, -98.80596923828125, 95.8314437866211, 61.25331115722656, 6.1042704582214355, 1.218686580657959 ]
2.033333
61
0
61
0
[ 9.33920669555664, -97.4554672241211, 93.48416137695312, 63.8418083190918, 14.360587120056152, 1.131770372390747 ]
[ 12.125675201416016, -98.63539123535156, 95.8314437866211, 61.606353759765625, 7.623788356781006, 1.218686580657959 ]
2.066667
62
0
62
0
[ 8.105727195739746, -97.4554672241211, 91.04072570800781, 64.36331939697266, 14.832284927368164, 1.0509296655654907 ]
[ 11.438389778137207, -98.4648208618164, 95.8314437866211, 61.87113952636719, 9.719675064086914, 1.218686580657959 ]
2.1
63
0
63
0
[ 6.696035385131836, -97.28583526611328, 87.51131439208984, 64.71099853515625, 14.675052642822266, 0.9700888991355896 ]
[ 10.849287986755371, -98.20895385742188, 95.7408218383789, 62.665489196777344, 11.658370018005371, 1.218686580657959 ]
2.133333
64
0
64
0
[ 5.374449253082275, -96.94656372070312, 83.43891143798828, 65.14559173583984, 14.675052642822266, 0.9700888991355896 ]
[ 10.358369827270508, -98.12366485595703, 95.2877197265625, 63.371578216552734, 13.020696640014648, 1.218686580657959 ]
2.166667
65
0
65
0
[ 3.7004406452178955, -95.75911712646484, 78.7330322265625, 65.4932632446289, 14.622641563415527, 0.9700888991355896 ]
[ 9.180167198181152, -97.69722747802734, 93.8377914428711, 63.989410400390625, 13.701860427856445, 1.218686580657959 ]
2.2
66
0
66
0
[ 2.643171787261963, -93.72349548339844, 74.75112915039062, 65.31942749023438, 14.255764961242676, 0.9700888991355896 ]
[ 7.511045455932617, -97.18550109863281, 91.20978546142578, 64.43071746826172, 14.278228759765625, 1.218686580657959 ]
2.233333
67
0
67
0
[ 2.2907488346099854, -90.1611557006836, 69.77375793457031, 65.14559173583984, 12.840670585632324, 0.9700888991355896 ]
[ 6.234658718109131, -97.10021209716797, 88.21929931640625, 64.96028137207031, 14.487817764282227, 1.218686580657959 ]
2.266667
68
0
68
0
[ 2.114537477493286, -85.92027282714844, 64.97737884521484, 65.14559173583984, 11.11111068725586, 0.9700888991355896 ]
[ 5.056455612182617, -96.75906372070312, 84.05075073242188, 65.13680267333984, 14.540214538574219, 1.218686580657959 ]
2.3
69
0
69
0
[ 2.114537477493286, -81.34011840820312, 60, 65.14559173583984, 9.381551742553711, 0.9700888991355896 ]
[ 3.7800686359405518, -95.13859558105469, 79.97281646728516, 65.13680267333984, 14.225831985473633, 1.218686580657959 ]
2.333333
70
0
70
0
[ 2.114537477493286, -75.57251739501953, 55.113121032714844, 64.97174835205078, 7.704402446746826, 0.9700888991355896 ]
[ 2.7000491619110107, -92.5799560546875, 75.80426025390625, 65.13680267333984, 13.23028564453125, 1.218686580657959 ]
2.366667
71
0
71
0
[ 2.0264317989349365, -70.31382751464844, 50.316741943359375, 65.05867004394531, 6.4989519119262695, 0.9700888991355896 ]
[ 2.601865530014038, -88.99787139892578, 70.91073608398438, 65.13680267333984, 11.763164520263672, 1.218686580657959 ]
2.4
72
0
72
0
[ 1.9383260011672974, -64.46141052246094, 45.701358795166016, 65.31942749023438, 5.50314474105835, 1.0509296655654907 ]
[ 2.7982327938079834, -85.24520111083984, 66.28907775878906, 65.13680267333984, 10.400837898254395, 1.218686580657959 ]
2.433333
73
0
73
0
[ 1.9383260011672974, -58.77862548828125, 41.44796371459961, 65.31942749023438, 4.612159252166748, 1.0509296655654907 ]
[ 2.896416187286377, -80.81023406982422, 61.57680130004883, 65.13680267333984, 8.77652645111084, 1.218686580657959 ]
2.466667
74
0
74
0
[ 1.9383260011672974, -53.68956756591797, 37.73755645751953, 65.23250579833984, 4.192872047424316, 1.0509296655654907 ]
[ 2.601865530014038, -75.69296264648438, 56.68328094482422, 65.13680267333984, 7.466596603393555, 1.218686580657959 ]
2.5
75
0
75
0
[ 1.7621145248413086, -47.49787902832031, 33.3936653137207, 65.05867004394531, 3.9832284450531006, 1.0509296655654907 ]
[ 1.914580225944519, -70.83155822753906, 52.51472473144531, 65.13680267333984, 6.523447513580322, 1.218686580657959 ]
2.533333
76
0
76
0
[ 0.7048457860946655, -41.8999137878418, 29.41176414489746, 64.79791259765625, 3.9832284450531006, 1.0509296655654907 ]
[ 1.914580225944519, -64.52025604248047, 47.25872039794922, 65.13680267333984, 5.3707098960876465, 1.218686580657959 ]
2.566667
77
0
77
0
[ -0.35242289304733276, -36.980491638183594, 25.791854858398438, 64.97174835205078, 4.192872047424316, 1.0509296655654907 ]
[ 1.816396713256836, -58.891258239746094, 42.90892791748047, 65.13680267333984, 4.794341087341309, 1.218686580657959 ]
2.6
78
0
78
0
[ -1.8502203226089478, -31.38252830505371, 21.44796371459961, 65.31942749023438, 4.350104808807373, 1.0509296655654907 ]
[ 1.816396713256836, -53.94456100463867, 39.284095764160156, 65.13680267333984, 4.4799580574035645, 1.218686580657959 ]
2.633333
79
0
79
0
[ -3.4361233711242676, -26.12383460998535, 17.73755645751953, 65.4932632446289, 4.612159252166748, 1.0509296655654907 ]
[ 1.4236623048782349, -47.5479736328125, 34.75305938720703, 65.13680267333984, 4.375163555145264, 1.218686580657959 ]
2.666667
80
0
80
0
[ -4.933920860290527, -20.186599731445312, 13.936651229858398, 66.2755355834961, 6.394129753112793, 1.0509296655654907 ]
[ 0.4418262243270874, -42.430702209472656, 31.037607192993164, 65.13680267333984, 4.375163555145264, 1.218686580657959 ]
2.7
81
0
81
0
[ -6.607929706573486, -13.655640602111816, 9.683258056640625, 68.27466583251953, 9.329140663146973, 1.0509296655654907 ]
[ -0.9327442049980164, -36.7164192199707, 27.231536865234375, 65.22506713867188, 4.427560806274414, 1.218686580657959 ]
2.733333
82
0
82
0
[ -8.105727195739746, -7.972858428955078, 5.701357364654541, 70.53455352783203, 11.268343925476074, 1.0509296655654907 ]
[ -2.5036818981170654, -30.575693130493164, 22.791118621826172, 65.48985290527344, 4.637149810791016, 1.218686580657959 ]
2.766667
83
0
83
0
[ -9.25110149383545, -2.5445291996002197, 1.62895929813385, 73.05519104003906, 12.631027221679688, 1.0509296655654907 ]
[ -3.8782522678375244, -25.37313461303711, 19.166288375854492, 66.10768127441406, 5.737490177154541, 1.218686580657959 ]
2.8
84
0
84
0
[ -9.867841720581055, 1.6963528394699097, -2.3529412746429443, 75.4020004272461, 12.997903823852539, 1.0509296655654907 ]
[ -5.351006507873535, -19.65884780883789, 15.178976058959961, 67.69638061523438, 7.5713911056518555, 1.218686580657959 ]
2.833333
85
0
85
0
[ -10.66079330444336, 5.343511581420898, -6.153846263885498, 77.05345153808594, 13.259958267211914, 1.0509296655654907 ]
[ -6.823760509490967, -13.859274864196777, 11.101041793823242, 69.54986572265625, 9.562483787536621, 1.218686580657959 ]
2.866667
86
0
86
0
[ -11.629956245422363, 7.972858428955078, -9.59276008605957, 78.00955963134766, 13.312369346618652, 1.0509296655654907 ]
[ -8.296514511108398, -8.059701919555664, 7.204349994659424, 71.66813659667969, 11.186796188354492, 1.218686580657959 ]
2.9
87
0
87
0
[ -12.51101303100586, 10.602205276489258, -12.760181427001953, 78.27031707763672, 13.207547187805176, 1.0509296655654907 ]
[ -9.376534461975098, -3.0277185440063477, 3.39827823638916, 73.6981430053711, 11.972753524780273, 1.218686580657959 ]
2.933333
88
0
88
0
[ -13.656387329101562, 12.892281532287598, -15.565610885620117, 78.00955963134766, 13.259958267211914, 1.0509296655654907 ]
[ -10.162002563476562, 2.0042643547058105, -0.4077933728694916, 75.5516357421875, 12.54912281036377, 1.218686580657959 ]
2.966667
89
0
89
0
[ -14.625550270080566, 14.249363899230957, -17.828054428100586, 78.09648132324219, 13.312369346618652, 1.0509296655654907 ]
[ -10.554737091064453, 6.183368682861328, -4.485727310180664, 76.78729248046875, 12.758710861206055, 1.218686580657959 ]
3
90
0
90
0
[ -15.418501853942871, 15.691264152526855, -20.36199188232422, 78.27031707763672, 13.364779472351074, 1.2934519052505493 ]
[ -11.143838882446289, 8.827292442321777, -7.294970512390137, 77.22859954833984, 12.915902137756348, 1.218686580657959 ]
3.033333
91
0
91
0
[ -16.035242080688477, 17.302799224853516, -22.805429458618164, 78.44415283203125, 13.417190551757812, 2.6677446365356445 ]
[ -12.125675201416016, 11.556503295898438, -10.466696739196777, 77.31685638427734, 13.073094367980957, 1.218686580657959 ]
3.066667
92
0
92
0
[ -16.475770950317383, 19.168787002563477, -25.520362854003906, 78.61798858642578, 13.417190551757812, 6.38641881942749 ]
[ -13.402061462402344, 13.859274864196777, -13.457181930541992, 77.75816345214844, 13.12549114227295, 1.218686580657959 ]
3.1
93
0
93
0
[ -16.740087509155273, 20.86513900756836, -27.51131248474121, 78.70491027832031, 13.417190551757812, 9.781729698181152 ]
[ -15.071183204650879, 15.991471290588379, -16.538288116455078, 77.93468475341797, 13.23028564453125, 1.218686580657959 ]
3.133333
94
0
94
0
[ -16.740087509155273, 22.731128692626953, -29.230770111083984, 78.70491027832031, 13.941299438476562, 11.883589744567871 ]
[ -15.758468627929688, 17.526653289794922, -18.985048294067383, 78.19947052001953, 13.23028564453125, 2.031144142150879 ]
3.166667
95
0
95
0
[ -16.82819366455078, 24.088211059570312, -30.04524803161621, 78.70491027832031, 14.570230484008789, 11.883589744567871 ]
[ -16.05301856994629, 19.744136810302734, -22.156774520874023, 78.37599182128906, 13.23028564453125, 4.536221981048584 ]
3.2
96
0
96
0
[ -16.82819366455078, 25.530109405517578, -30.58823585510254, 78.00955963134766, 14.884696006774902, 12.368634223937988 ]
[ -16.05301856994629, 21.023454666137695, -23.878568649291992, 78.4642562866211, 13.282682418823242, 7.1767096519470215 ]
3.233333
97
0
97
0
[ -16.82819366455078, 27.056827545166016, -31.22171974182129, 77.57496643066406, 15.46121597290039, 12.611156463623047 ]
[ -16.05301856994629, 22.643922805786133, -25.509740829467773, 78.4642562866211, 13.701860427856445, 9.207853317260742 ]
3.266667
98
0
98
0
[ -16.82819366455078, 28.922815322875977, -32.48868942260742, 77.48805236816406, 16.404611587524414, 12.691996574401855 ]
[ -16.05301856994629, 24.09381675720215, -26.86905288696289, 78.4642562866211, 14.173434257507324, 10.291131019592285 ]
3.3
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": "so101_follower",
    "total_episodes": 210,
    "total_frames": 121831,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:210"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 30
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 30
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
451
License:
apache-2.0
Size of downloaded dataset files:
3.5 MB
Size of the auto-converted Parquet files:
3.5 MB
Number of rows:
121,831

Models trained or fine-tuned on 5hadytru/so101_grasp_1