Hugging Face's logo

Datasets:
Alkatt
/
eval_act_so101_CubeToBowl_ASN_FORMAL_SEEN_POSITIONS_20251120

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
24.2
frame_index
int64
0
727
episode_index
int64
0
129
index
int64
0
86.1k
task_index
int64
0
0
[ -2.2829456329345703, -102.67964172363281, 102.46489715576172, 76.62358093261719, -54.622215270996094, 0.5627813339233398 ]
[ -2.660172462463379, -99.23306274414062, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.9271948337554932 ]
0
0
0
0
0
[ -2.2420578002929688, -102.63203430175781, 102.50932312011719, 76.62033081054688, -54.65752410888672, 0.5851964950561523 ]
[ -2.660172462463379, -99.23306274414062, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.9271948337554932 ]
0.033333
1
0
1
0
[ -2.085171699523926, -102.63077545166016, 102.32795715332031, 76.7184829711914, -54.54691696166992, 0.5194010734558105 ]
[ -2.660172462463379, -99.23306274414062, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.9271948337554932 ]
0.066667
2
0
2
0
[ -2.129818916320801, -102.80093383789062, 102.7768325805664, 76.61650848388672, -54.672664642333984, 0.5514039993286133 ]
[ -2.660172462463379, -99.23306274414062, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.6416845321655273 ]
0.1
3
0
3
0
[ -2.211854934692383, -102.93011474609375, 102.86628723144531, 76.50810241699219, -54.730167388916016, 0.5336837768554688 ]
[ -2.660172462463379, -99.31827545166016, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.356174111366272 ]
0.133333
4
0
4
0
[ -2.2213315963745117, -103.2001724243164, 102.98051452636719, 76.52970886230469, -54.76136779785156, 0.5125102996826172 ]
[ -2.660172462463379, -99.31827545166016, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.2847965955734253 ]
0.166667
5
0
5
0
[ -2.1395797729492188, -103.14370727539062, 103.22293090820312, 76.46170806884766, -54.84016799926758, 0.5197172164916992 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.213418960571289 ]
0.2
6
0
6
0
[ -2.087972640991211, -103.14555358886719, 103.19234466552734, 76.4796142578125, -54.7396354675293, 0.4775962829589844 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 1.1420414447784424 ]
0.233333
7
0
7
0
[ -2.069072723388672, -103.15122985839844, 103.250732421875, 76.47256469726562, -54.74319076538086, 0.5417680740356445 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.266667
8
0
8
0
[ -2.129364013671875, -103.19477844238281, 103.19740295410156, 76.54364776611328, -54.84297180175781, 0.536247730255127 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.3
9
0
9
0
[ -2.068364143371582, -102.81623840332031, 103.38285827636719, 76.34374237060547, -54.93475341796875, 0.5320968627929688 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.333333
10
0
10
0
[ -1.9840259552001953, -103.08296203613281, 103.50381469726562, 76.31721496582031, -54.879547119140625, 0.503171443939209 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.366667
11
0
11
0
[ -1.9844274520874023, -103.35712432861328, 103.48214721679688, 76.4262466430664, -54.922119140625, 0.5138168334960938 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.4
12
0
12
0
[ -2.0952558517456055, -102.89370727539062, 103.35263061523438, 76.28968048095703, -55.013450622558594, 0.4950084686279297 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.433333
13
0
13
0
[ -1.9867897033691406, -102.99546813964844, 103.4389877319336, 76.28770446777344, -55.01388931274414, 0.5076026916503906 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.466667
14
0
14
0
[ -2.0969552993774414, -102.34849548339844, 103.33053588867188, 76.1100082397461, -55.06330108642578, 0.46533870697021484 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.5
15
0
15
0
[ -2.0331954956054688, -102.70509338378906, 103.37353515625, 76.14756774902344, -55.04948806762695, 0.48903703689575195 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.533333
16
0
16
0
[ -2.052034378051758, -102.39165496826172, 103.23368835449219, 76.05376434326172, -55.02504348754883, 0.5132589340209961 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.67155075073242, 0.9992862343788147 ]
0.566667
17
0
17
0
[ -1.850327491760254, -101.90501403808594, 103.08196258544922, 75.9224853515625, -55.060890197753906, 0.49727964401245117 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.72389602661133, 0.9279086589813232 ]
0.6
18
0
18
0
[ -1.9967212677001953, -101.54420471191406, 102.97735595703125, 75.81526947021484, -55.05731201171875, 0.48960351943969727 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.72389602661133, 0.856531023979187 ]
0.633333
19
0
19
0
[ -1.6763916015625, -101.06761169433594, 102.79219055175781, 75.6191635131836, -55.0738410949707, 0.4835987091064453 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.72389602661133, 0.856531023979187 ]
0.666667
20
0
20
0
[ -2.0095529556274414, -100.28507995605469, 102.51366424560547, 75.39413452148438, -55.183326721191406, 0.5056099891662598 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.72389602661133, 0.856531023979187 ]
0.7
21
0
21
0
[ -1.8402175903320312, -99.12290954589844, 101.88700866699219, 75.17444610595703, -55.21491622924805, 0.48326730728149414 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.72389602661133, 0.856531023979187 ]
0.733333
22
0
22
0
[ -1.7151508331298828, -99.31025695800781, 102.07178497314453, 75.14671325683594, -55.150901794433594, 0.4923849105834961 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.33187866210938, -54.77623748779297, 0.856531023979187 ]
0.766667
23
0
23
0
[ -1.516561508178711, -97.83256530761719, 101.4185562133789, 74.6921157836914, -55.149654388427734, 0.4624147415161133 ]
[ -2.660172462463379, -99.40349578857422, 99.81793212890625, 76.24454498291016, -54.88092041015625, 0.856531023979187 ]
0.8
24
0
24
0
[ -1.5532770156860352, -96.68524932861328, 100.94090270996094, 74.25894165039062, -55.19013595581055, 0.4843482971191406 ]
[ -2.660172462463379, -99.31827545166016, 99.81793212890625, 76.06986999511719, -54.93326187133789, 0.856531023979187 ]
0.833333
25
0
25
0
[ -1.303605079650879, -94.74797058105469, 99.85920715332031, 73.83953857421875, -55.159942626953125, 0.48353099822998047 ]
[ -2.660172462463379, -99.31827545166016, 99.81793212890625, 75.89519500732422, -54.9856071472168, 0.856531023979187 ]
0.866667
26
0
26
0
[ -1.0744743347167969, -93.20443725585938, 99.07637023925781, 73.3658676147461, -55.11200714111328, 0.49061059951782227 ]
[ -2.660172462463379, -98.8069839477539, 99.81793212890625, 75.54585266113281, -55.09029006958008, 0.856531023979187 ]
0.9
27
0
27
0
[ -1.4272279739379883, -92.06934356689453, 98.32108306884766, 73.17514038085938, -55.231040954589844, 0.5124921798706055 ]
[ -2.660172462463379, -97.86962127685547, 99.81793212890625, 75.02183532714844, -55.09029006958008, 0.856531023979187 ]
0.933333
28
0
28
0
[ -1.4359617233276367, -88.32927703857422, 96.26081848144531, 72.26921844482422, -55.22437286376953, 0.488309383392334 ]
[ -2.660172462463379, -97.18789672851562, 99.81793212890625, 74.6724853515625, -55.09029006958008, 0.856531023979187 ]
0.966667
29
0
29
0
[ -1.3390445709228516, -87.54522705078125, 95.916015625, 72.01365661621094, -55.08473205566406, 0.500185489654541 ]
[ -2.510303497314453, -95.39838409423828, 99.81793212890625, 73.97380065917969, -54.9856071472168, 0.856531023979187 ]
1
30
0
30
0
[ -1.365077018737793, -80.18917846679688, 90.47012329101562, 70.86787414550781, -54.57984161376953, 0.47713613510131836 ]
[ -2.3604345321655273, -94.12015533447266, 99.81793212890625, 73.27510833740234, -54.9856071472168, 0.856531023979187 ]
1.033333
31
0
31
0
[ -1.3153200149536133, -77.18476867675781, 87.78996276855469, 70.55723571777344, -54.49628829956055, 0.48331403732299805 ]
[ -2.2855002880096436, -91.98977661132812, 99.18070220947266, 72.576416015625, -54.9856071472168, 0.856531023979187 ]
1.066667
32
0
32
0
[ -1.1591129302978516, -80.61664581298828, 90.52517700195312, 71.10311126708984, -54.74058532714844, 0.4850625991821289 ]
[ -1.8358936309814453, -89.60375213623047, 98.6344985961914, 71.87773132324219, -54.9856071472168, 0.856531023979187 ]
1.1
33
0
33
0
[ -1.6598052978515625, -73.65496826171875, 85.05458068847656, 70.26264190673828, -54.4048957824707, 0.5120329856872559 ]
[ -1.8358936309814453, -86.45079040527344, 96.81383514404297, 71.44104766845703, -54.93326187133789, 0.856531023979187 ]
1.133333
34
0
34
0
[ -3.506108283996582, -62.72001266479492, 74.68046569824219, 69.73472595214844, -52.976505279541016, 0.5184555053710938 ]
[ -1.7609591484069824, -82.4456787109375, 93.80973815917969, 71.61572265625, -55.03794860839844, 0.7851534485816956 ]
1.166667
35
0
35
0
[ -2.710679054260254, -67.44404602050781, 79.66802978515625, 69.73786163330078, -53.58940124511719, 0.4443964958190918 ]
[ -1.8358936309814453, -78.69620513916016, 92.08010864257812, 71.52838134765625, -55.03794860839844, 0.7851534485816956 ]
1.2
36
0
36
0
[ -3.5858278274536133, -60.527618408203125, 72.88027954101562, 69.76782989501953, -52.78296661376953, 0.5607647895812988 ]
[ -1.8358936309814453, -76.3101806640625, 90.35047912597656, 71.17903900146484, -54.82857894897461, 0.7851534485816956 ]
1.233333
37
0
37
0
[ -5.836773872375488, -53.331298828125, 64.70867919921875, 69.65995788574219, -51.389156341552734, 0.46307849884033203 ]
[ -2.1356313228607178, -72.47550201416016, 86.61811828613281, 70.91703033447266, -54.25281524658203, 0.7851534485816956 ]
1.266667
38
0
38
0
[ -6.165275573730469, -50.87511444091797, 63.433231353759766, 69.40509033203125, -50.93894577026367, 0.5028457641601562 ]
[ -2.8849756717681885, -67.27737426757812, 81.52025604248047, 70.82969665527344, -53.886417388916016, 0.7851534485816956 ]
1.3
39
0
39
0
[ -6.949281692504883, -47.96552658081055, 59.73069763183594, 69.51144409179688, -50.48423385620117, 0.5615024566650391 ]
[ -2.8849756717681885, -64.20963287353516, 78.78926086425781, 70.56768798828125, -53.52001953125, 0.7851534485816956 ]
1.333333
40
0
40
0
[ -8.382716178894043, -43.95167541503906, 56.487640380859375, 69.71075439453125, -49.45263671875, 0.6250424385070801 ]
[ -3.4095165729522705, -60.37494659423828, 75.5120620727539, 70.56768798828125, -52.839569091796875, 0.856531023979187 ]
1.366667
41
0
41
0
[ -11.762083053588867, -37.50115966796875, 49.362274169921875, 69.55584716796875, -48.230682373046875, 0.5174646377563477 ]
[ -5.058073997497559, -55.09160614013672, 70.32316589355469, 70.4803466796875, -51.89740753173828, 0.6423982977867126 ]
1.4
42
0
42
0
[ -12.647329330444336, -35.94630432128906, 47.41850280761719, 69.78594970703125, -47.82672119140625, 0.5874075889587402 ]
[ -6.032221794128418, -51.17170715332031, 66.40873718261719, 70.39301300048828, -51.47867202758789, 0.6423982977867126 ]
1.433333
43
0
43
0
[ -14.76017951965332, -31.16081428527832, 42.69009780883789, 69.80517578125, -47.00956344604492, 0.5127463340759277 ]
[ -6.481828212738037, -47.3370246887207, 62.85844421386719, 70.30567932128906, -50.64119338989258, 0.6423982977867126 ]
1.466667
44
0
44
0
[ -14.515390396118164, -32.55061340332031, 42.97731018066406, 69.62165832519531, -47.241050720214844, 0.5274839401245117 ]
[ -8.80479621887207, -42.13890075683594, 57.66954803466797, 70.39301300048828, -49.437320709228516, 0.6423982977867126 ]
1.5
45
0
45
0
[ -17.054523468017578, -27.784812927246094, 38.03502655029297, 69.8816146850586, -46.01677322387695, 0.6356325149536133 ]
[ -10.97789478302002, -38.55986404418945, 54.028221130371094, 70.30567932128906, -48.91389846801758, 0.6423982977867126 ]
1.533333
46
0
46
0
[ -20.917461395263672, -21.172752380371094, 30.58016014099121, 69.840087890625, -44.50243377685547, 0.643867015838623 ]
[ -12.40164852142334, -35.0660400390625, 50.29585647583008, 70.30567932128906, -48.285789489746094, 0.6423982977867126 ]
1.566667
47
0
47
0
[ -20.80108070373535, -21.064762115478516, 30.375478744506836, 70.00331115722656, -44.36776351928711, 0.7648544311523438 ]
[ -13.001124382019043, -32.16872787475586, 47.74692916870117, 70.30567932128906, -47.91939163208008, 0.6423982977867126 ]
1.6
48
0
48
0
[ -21.79876708984375, -19.217750549316406, 27.89509391784668, 69.99686431884766, -44.230506896972656, 0.7114858627319336 ]
[ -14.574747085571289, -28.845335006713867, 44.28766632080078, 70.39301300048828, -46.924888610839844, 0.6423982977867126 ]
1.633333
49
0
49
0
[ -27.14798927307129, -12.070381164550781, 19.45547103881836, 70.12805938720703, -43.11220932006836, 0.6761140823364258 ]
[ -16.747844696044922, -25.351512908935547, 40.00910186767578, 70.39301300048828, -46.03506851196289, 0.6423982977867126 ]
1.666667
50
0
50
0
[ -26.59760284423828, -13.069425582885742, 20.255094528198242, 70.22562408447266, -42.984710693359375, 0.6867942810058594 ]
[ -19.37055015563965, -22.028121948242188, 36.09467315673828, 70.39301300048828, -45.51164627075195, 0.6423982977867126 ]
1.7
51
0
51
0
[ -28.236787796020508, -10.28780746459961, 17.099058151245117, 70.23624420166016, -42.493072509765625, 0.761054515838623 ]
[ -20.64443588256836, -19.897741317749023, 33.4547119140625, 70.39301300048828, -45.14524841308594, 0.6423982977867126 ]
1.733333
52
0
52
0
[ -30.584495544433594, -6.686084747314453, 13.708839416503906, 70.22399139404297, -41.835693359375, 0.6720857620239258 ]
[ -21.393779754638672, -17.59693145751953, 30.177515029907227, 70.39301300048828, -44.46479797363281, 0.6423982977867126 ]
1.766667
53
0
53
0
[ -31.066669464111328, -6.359931945800781, 13.137588500976562, 70.29167938232422, -41.774871826171875, 0.6511073112487793 ]
[ -23.641813278198242, -14.188325881958008, 25.89895248413086, 70.4803466796875, -43.889034271240234, 0.7137758731842041 ]
1.8
54
0
54
0
[ -33.32233428955078, -3.029510498046875, 9.621440887451172, 70.36226654052734, -40.93182373046875, 0.7490167617797852 ]
[ -25.964780807495117, -11.120579719543457, 22.71278953552246, 70.39301300048828, -43.41795349121094, 0.7137758731842041 ]
1.833333
55
0
55
0
[ -34.569583892822266, -0.02545928955078125, 5.242267608642578, 70.39201354980469, -40.6554069519043, 0.8018083572387695 ]
[ -28.13787841796875, -8.052833557128906, 19.708694458007812, 70.39301300048828, -42.89453125, 0.6423982977867126 ]
1.866667
56
0
56
0
[ -34.866397857666016, -0.5649337768554688, 6.725109100341797, 70.4473876953125, -40.67448043823242, 0.7980461120605469 ]
[ -30.08617401123047, -5.922454357147217, 17.432863235473633, 70.39301300048828, -42.4234504699707, 0.6423982977867126 ]
1.9
57
0
57
0
[ -37.82184982299805, 3.0998268127441406, 1.3965835571289062, 70.49312591552734, -40.117515563964844, 0.8117866516113281 ]
[ -30.91045379638672, -3.7920749187469482, 14.974966049194336, 70.39301300048828, -41.952369689941406, 0.6423982977867126 ]
1.933333
58
0
58
0
[ -38.98265838623047, 3.883556365966797, 0.7730484008789062, 70.46568298339844, -40.01630401611328, 0.7255959510803223 ]
[ -32.1843376159668, -1.1504048109054565, 11.697770118713379, 70.39301300048828, -41.69065856933594, 0.6423982977867126 ]
1.966667
59
0
59
0
[ -40.14488983154297, 5.425113677978516, -0.8641624450683594, 70.39704132080078, -39.85298156738281, 0.7623476982116699 ]
[ -33.982765197753906, 0.38346827030181885, 9.512971878051758, 70.39301300048828, -41.27191925048828, 0.6423982977867126 ]
2
60
0
60
0
[ -40.985233306884766, 6.782905578613281, -3.3957481384277344, 70.49996948242188, -39.976722717285156, 0.8485851287841797 ]
[ -35.0318489074707, 1.8321261405944824, 7.146108150482178, 70.4803466796875, -40.957862854003906, 0.6423982977867126 ]
2.033333
61
0
61
0
[ -40.93954849243164, 7.560394287109375, -4.127910614013672, 70.4638442993164, -39.69654083251953, 0.8521971702575684 ]
[ -36.60546875, 3.706859827041626, 4.961310863494873, 70.39301300048828, -40.748497009277344, 0.7851534485816956 ]
2.066667
62
0
62
0
[ -42.16106414794922, 8.777557373046875, -5.5492401123046875, 70.49517822265625, -39.672096252441406, 0.7406554222106934 ]
[ -38.703636169433594, 6.178099632263184, 2.9585797786712646, 70.39301300048828, -40.591468811035156, 0.7851534485816956 ]
2.1
63
0
63
0
[ -44.11180877685547, 11.714035034179688, -8.309734344482422, 70.52487182617188, -39.21364212036133, 0.7285480499267578 ]
[ -39.97751998901367, 7.711972713470459, 1.2289485931396484, 70.39301300048828, -40.43444061279297, 0.7851534485816956 ]
2.133333
64
0
64
0
[ -45.38129425048828, 12.43179702758789, -9.33563232421875, 70.43392181396484, -39.373390197753906, 0.7360811233520508 ]
[ -40.726863861083984, 8.478909492492676, 0.045516613870859146, 70.39301300048828, -40.27741241455078, 0.7137758731842041 ]
2.166667
65
0
65
0
[ -45.034324645996094, 12.859542846679688, -10.011634826660156, 70.52188873291016, -39.24030685424805, 0.781095027923584 ]
[ -41.0265998840332, 9.757136344909668, -2.1392807960510254, 70.39301300048828, -40.06804656982422, 0.7137758731842041 ]
2.2
66
0
66
0
[ -46.20240783691406, 14.344551086425781, -12.376121520996094, 70.55337524414062, -39.12877655029297, 0.7907924652099609 ]
[ -42.15061950683594, 11.717085838317871, -4.142011642456055, 70.39301300048828, -39.91101837158203, 0.7851534485816956 ]
2.233333
67
0
67
0
[ -46.915367126464844, 15.608078002929688, -14.859676361083984, 70.51199340820312, -39.19479751586914, 0.841010570526123 ]
[ -43.34956741333008, 13.250958442687988, -5.325443744659424, 70.39301300048828, -39.91101837158203, 0.7851534485816956 ]
2.266667
68
0
68
0
[ -47.0677604675293, 16.030597686767578, -14.532890319824219, 70.64918518066406, -39.05579376220703, 0.8644781112670898 ]
[ -44.62345504760742, 14.103110313415527, -6.144742965698242, 70.39301300048828, -39.753990173339844, 0.7851534485816956 ]
2.3
69
0
69
0
[ -47.33063507080078, 17.356197357177734, -16.68255615234375, 70.67940521240234, -39.13789367675781, 0.8556056022644043 ]
[ -45.44773483276367, 15.466552734375, -8.14747428894043, 70.39301300048828, -39.7016487121582, 0.7851534485816956 ]
2.333333
70
0
70
0
[ -48.95454788208008, 19.024063110351562, -18.32085418701172, 70.60722351074219, -38.96281814575195, 0.8432459831237793 ]
[ -45.82240676879883, 16.4891357421875, -9.968138694763184, 70.39301300048828, -39.7016487121582, 0.7851534485816956 ]
2.366667
71
0
71
0
[ -49.1339225769043, 19.337215423583984, -19.362274169921875, 70.63671112060547, -39.290977478027344, 0.8353557586669922 ]
[ -46.12214279174805, 17.34128761291504, -10.787437438964844, 70.4803466796875, -39.64930725097656, 0.7851534485816956 ]
2.4
72
0
72
0
[ -50.0866584777832, 20.811668395996094, -20.993553161621094, 70.62725830078125, -39.0982666015625, 0.8681449890136719 ]
[ -46.42188262939453, 18.78994369506836, -12.699134826660156, 70.4803466796875, -39.64930725097656, 0.7851534485816956 ]
2.433333
73
0
73
0
[ -50.85438919067383, 21.96450424194336, -23.165878295898438, 70.66327667236328, -39.22712326049805, 0.885209321975708 ]
[ -47.171226501464844, 19.98295783996582, -13.973600387573242, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.466667
74
0
74
0
[ -50.754661560058594, 21.560672760009766, -22.22875213623047, 70.60274505615234, -39.30143737792969, 0.8543591499328613 ]
[ -48.1453742980957, 20.920324325561523, -15.157032012939453, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.5
75
0
75
0
[ -51.1392822265625, 22.184463500976562, -22.894561767578125, 70.52835083007812, -39.484092712402344, 0.8287553787231445 ]
[ -48.96965026855469, 21.94290542602539, -16.43149757385254, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.533333
76
0
76
0
[ -51.367340087890625, 22.51571273803711, -23.15338134765625, 70.60103607177734, -39.2474365234375, 0.8627333641052246 ]
[ -49.94379806518555, 22.96548843383789, -18.25216293334961, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.566667
77
0
77
0
[ -51.58169174194336, 23.582439422607422, -25.637603759765625, 70.56249237060547, -39.512596130371094, 0.986290454864502 ]
[ -50.54327392578125, 23.050703048706055, -18.434228897094727, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.6
78
0
78
0
[ -52.15397262573242, 23.833316802978516, -25.13641357421875, 70.59410095214844, -39.44610595703125, 0.9122202396392822 ]
[ -50.7680778503418, 23.391563415527344, -18.98042869567871, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.633333
79
0
79
0
[ -52.422706604003906, 24.405460357666016, -25.986656188964844, 70.60337829589844, -39.63796615600586, 0.9017870426177979 ]
[ -50.843013763427734, 23.81764030456543, -19.526626586914062, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.666667
80
0
80
0
[ -52.433738708496094, 24.298656463623047, -26.023056030273438, 70.51252746582031, -39.78689193725586, 0.883474588394165 ]
[ -50.7680778503418, 25.010652542114258, -20.983158111572266, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.7
81
0
81
0
[ -52.69923782348633, 24.708110809326172, -26.88642120361328, 70.49971008300781, -39.52541732788086, 0.8922405242919922 ]
[ -50.992881774902344, 25.43672752380371, -21.256258010864258, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.733333
82
0
82
0
[ -52.85087203979492, 25.285808563232422, -27.828231811523438, 70.4690933227539, -39.83523178100586, 0.9749763011932373 ]
[ -51.29261779785156, 25.692373275756836, -21.802457809448242, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.766667
83
0
83
0
[ -52.98948669433594, 25.41293716430664, -26.836151123046875, 70.51008605957031, -39.71110916137695, 0.8677916526794434 ]
[ -51.817161560058594, 25.777587890625, -22.16659164428711, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.8
84
0
84
0
[ -53.60801696777344, 25.540576934814453, -27.152328491210938, 70.44755554199219, -39.66440200805664, 0.8506355285644531 ]
[ -52.19183349609375, 26.11844825744629, -22.89485740661621, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.833333
85
0
85
0
[ -53.28544235229492, 26.381916046142578, -28.642127990722656, 70.35794830322266, -40.017940521240234, 0.9058277606964111 ]
[ -52.34170150756836, 26.544525146484375, -23.532089233398438, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.866667
86
0
86
0
[ -53.38330841064453, 26.105854034423828, -27.741012573242188, 70.40682983398438, -40.175724029541016, 0.916118860244751 ]
[ -52.49156951904297, 26.8001708984375, -23.532089233398438, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.9
87
0
87
0
[ -53.432064056396484, 26.523258209228516, -28.70751953125, 70.28913116455078, -40.263484954833984, 0.8816380500793457 ]
[ -52.566505432128906, 26.8001708984375, -23.623123168945312, 70.4803466796875, -39.59696578979492, 0.856531023979187 ]
2.933333
88
0
88
0
[ -53.97784423828125, 26.754413604736328, -28.75360870361328, 70.29486083984375, -40.334754943847656, 0.8842911720275879 ]
[ -52.64143753051758, 27.311460494995117, -24.442420959472656, 70.4803466796875, -39.806331634521484, 0.856531023979187 ]
2.966667
89
0
89
0
[ -53.8690185546875, 25.94943618774414, -27.377777099609375, 70.29568481445312, -40.21051788330078, 0.7874026298522949 ]
[ -52.64143753051758, 27.396677017211914, -24.442420959472656, 70.4803466796875, -39.91101837158203, 0.856531023979187 ]
3
90
0
90
0
[ -53.841766357421875, 26.957805633544922, -28.53888702392578, 70.2774658203125, -40.463680267333984, 0.8225364685058594 ]
[ -52.79130935668945, 27.822751998901367, -24.806554794311523, 70.4803466796875, -39.96335983276367, 0.856531023979187 ]
3.033333
91
0
91
0
[ -54.089111328125, 27.416187286376953, -29.274795532226562, 70.26957702636719, -40.52735900878906, 0.7983264923095703 ]
[ -53.016109466552734, 27.907968521118164, -24.897586822509766, 70.4803466796875, -40.01570129394531, 0.856531023979187 ]
3.066667
92
0
92
0
[ -53.82632064819336, 27.09726333618164, -29.248695373535156, 70.25594329833984, -40.50666046142578, 0.8528852462768555 ]
[ -53.24091339111328, 27.993183135986328, -24.897586822509766, 70.4803466796875, -40.12038803100586, 0.856531023979187 ]
3.1
93
0
93
0
[ -54.46229553222656, 26.716472625732422, -28.319198608398438, 70.2149658203125, -40.117530822753906, 0.7837967872619629 ]
[ -53.39078140258789, 28.334043502807617, -25.079654693603516, 70.4803466796875, -40.22507095336914, 0.856531023979187 ]
3.133333
94
0
94
0
[ -54.36225128173828, 27.01889419555664, -28.680641174316406, 70.19583129882812, -40.204063415527344, 0.7444624900817871 ]
[ -53.39078140258789, 28.589689254760742, -25.352754592895508, 70.4803466796875, -40.22507095336914, 0.856531023979187 ]
3.166667
95
0
95
0
[ -54.683536529541016, 27.05520248413086, -28.310302734375, 70.198974609375, -40.39366149902344, 0.7365727424621582 ]
[ -53.46571731567383, 28.674903869628906, -25.352754592895508, 70.4803466796875, -40.22507095336914, 0.856531023979187 ]
3.2
96
0
96
0
[ -54.32305145263672, 27.03390121459961, -28.899497985839844, 70.08018493652344, -40.594520568847656, 0.7762107849121094 ]
[ -53.61558532714844, 28.674903869628906, -25.352754592895508, 70.4803466796875, -40.22507095336914, 0.856531023979187 ]
3.233333
97
0
97
0
[ -54.25550842285156, 27.18770980834961, -29.024612426757812, 70.06084442138672, -40.72997283935547, 0.7783031463623047 ]
[ -53.76545333862305, 28.589689254760742, -25.44378662109375, 70.4803466796875, -40.22507095336914, 0.856531023979187 ]
3.266667
98
0
98
0
[ -54.725730895996094, 26.55996322631836, -28.356895446777344, 70.08174896240234, -40.519229888916016, 1.0811247825622559 ]
[ -53.990257263183594, 28.589689254760742, -25.44378662109375, 70.4803466796875, -40.32975769042969, 0.856531023979187 ]
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": 130,
    "total_frames": 86104,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:130"
    },
    "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",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.camera1": {
            "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.camera2": {
            "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.camera3": {
            "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
        },
        "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:

[More Information Needed]
Downloads last month
30
License:
apache-2.0
Number of rows:
86,104
Total file size:
1.9 GB