observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 16
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 1
value | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 104 | frame_index int64 0 3.11k | episode_index int64 0 99 | index int64 0 276k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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] | 0.933333 | 28 | 0 | 28 | 0 | |||
[
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] | 0.966667 | 29 | 0 | 29 | 0 | |||
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] | 1.033333 | 31 | 0 | 31 | 0 | |||
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] | 1.066667 | 32 | 0 | 32 | 0 | |||
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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] | [
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0,
0,
0
] | 1.433333 | 43 | 0 | 43 | 0 | |||
[
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] | pick red block | gripper_open | 0.73585 | [
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] | [
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0,
0,
0
] | 1.466667 | 44 | 0 | 44 | 0 | |||
[
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] | pick red block | gripper_open | 0.752617 | [
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] | [
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] | 1.5 | 45 | 0 | 45 | 0 | |||
[
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] | pick red block | gripper_open | 0.769351 | [
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] | [
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] | 1.533333 | 46 | 0 | 46 | 0 | |||
[
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] | pick red block | gripper_open | 0.786061 | [
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] | [
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] | 1.566667 | 47 | 0 | 47 | 0 | |||
[
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] | pick red block | gripper_open | 0.802806 | [
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] | [
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] | 1.6 | 48 | 0 | 48 | 0 | |||
[
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] | pick red block | gripper_open | 0.819539 | [
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] | [
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] | 1.633333 | 49 | 0 | 49 | 0 | |||
[
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] | pick red block | gripper_open | 0.836244 | [
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] | [
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0
] | 1.666667 | 50 | 0 | 50 | 0 | |||
[
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] | pick red block | gripper_open | 0.852951 | [
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] | [
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] | 1.7 | 51 | 0 | 51 | 0 | |||
[
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] | pick red block | gripper_open | 0.869654 | [
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] | [
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] | 1.733333 | 52 | 0 | 52 | 0 | |||
[
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] | pick red block | gripper_open | 0.886357 | [
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] | [
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] | 30 | [
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] | 1.766667 | 53 | 0 | 53 | 0 | |||
[
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] | pick red block | gripper_open | 0.903063 | [
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] | [
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] | 1.8 | 54 | 0 | 54 | 0 | |||
[
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] | 30 | [
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] | 1.833333 | 55 | 0 | 55 | 0 | |||
[
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] | 1.866667 | 56 | 0 | 56 | 0 | |||
[
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] | 1.9 | 57 | 0 | 57 | 0 | |||
[
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3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | pick red block | gripper_open | 0.969891 | [
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 30 | [
0,
0,
0
] | 1.933333 | 58 | 0 | 58 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
29.603158950805664
] | [
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
29.603158950805664
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | pick red block | gripper_open | 0.986595 | [
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 30 | [
0,
0,
0
] | 1.966667 | 59 | 0 | 59 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.039309024810791,
-97.5565185546875,
98.81114959716797,
58.641441345214844,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.06442730128765106,
-1.7426146268844604,
1.5813699960708618,
0.9710097908973694,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2 | 60 | 0 | 60 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.08651065826416,
-97.50759887695312,
98.76313781738281,
58.61243438720703,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.06509054452180862,
-1.7417242527008057,
1.580557942390442,
0.9704923033714294,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.033333 | 61 | 0 | 61 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.149361610412598,
-97.44245910644531,
98.69920349121094,
58.57381057739258,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.0659736767411232,
-1.7405385971069336,
1.5794767141342163,
0.9698032140731812,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.066667 | 62 | 0 | 62 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.288336277008057,
-97.29842376708984,
98.55784606933594,
58.48841094970703,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.06792645156383514,
-1.7379170656204224,
1.577086091041565,
0.9682796597480774,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.1 | 63 | 0 | 63 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.456981182098389,
-97.1236343383789,
98.38630676269531,
58.38477325439453,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.07029612362384796,
-1.7347358465194702,
1.5741848945617676,
0.9664307832717896,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.133333 | 64 | 0 | 64 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.683763027191162,
-96.88859558105469,
98.15563201904297,
58.24541473388672,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.0734826922416687,
-1.7304579019546509,
1.5702837705612183,
0.9639446139335632,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.166667 | 65 | 0 | 65 | 0 | |||
[
4.03930139541626,
-98.0615234375,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
4.952956676483154,
-96.60960388183594,
97.8818130493164,
58.07999038696289,
-0.3174603283405304,
30
] | [
0.1820032000541687,
-0.009196697734296322,
0.04275765269994736,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7518060207366943,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.07726520299911499,
-1.7253800630569458,
1.565652847290039,
0.9609934091567993,
-0.010737866163253784,
0
] | pick red block | move | 0.000039 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.2 | 66 | 0 | 66 | 0 | |||
[
4.03930139541626,
-97.64012145996094,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
5.263767719268799,
-96.2874755859375,
95.3531723022461,
57.88899230957031,
-0.3174603283405304,
30
] | [
0.18143470585346222,
-0.00916002131998539,
0.041892655193805695,
3.0847606658935547,
0.7622419595718384,
2.994976282119751
] | 1 | [
0.0644271969795227,
-1.7441362142562866,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.08163249492645264,
-1.7195171117782593,
1.52288818359375,
0.9575859308242798,
-0.010737866163253784,
0
] | pick red block | move | 0.001821 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.233333 | 67 | 0 | 67 | 0 | |||
[
3.930130958557129,
-97.55583953857422,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
5.628381252288818,
-97.28958892822266,
94.9822998046875,
57.66493225097656,
-0.3174603283405304,
30
] | [
0.18133407831192017,
-0.008934054523706436,
0.041720181703567505,
3.0849344730377197,
0.7607131600379944,
2.9966301918029785
] | 1 | [
0.06289321184158325,
-1.7426022291183472,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.08675577491521835,
-1.7377562522888184,
1.516615867614746,
0.9535886645317078,
-0.010737866163253784,
0
] | pick red block | move | 0.001729 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.266667 | 68 | 0 | 68 | 0 | |||
[
3.930130958557129,
-97.38727569580078,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
6.019210338592529,
-96.88452911376953,
94.58476257324219,
57.42475891113281,
-0.3174603283405304,
30
] | [
0.18110427260398865,
-0.00891958363354206,
0.04137575626373291,
3.085280656814575,
0.7576554417610168,
2.99686861038208
] | 1 | [
0.06289321184158325,
-1.7395342588424683,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.09224741905927658,
-1.7303838729858398,
1.5098927021026611,
0.949303925037384,
-0.010737866163253784,
0
] | pick red block | move | 0.002439 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.3 | 69 | 0 | 69 | 0 | |||
[
4.148471832275391,
-97.13442993164062,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
6.473880290985107,
-96.41329956054688,
94.12228393554688,
57.14535903930664,
-0.3174603283405304,
30
] | [
0.18072962760925293,
-0.009333121590316296,
0.04086044803261757,
3.085796356201172,
0.7530688047409058,
2.994154214859009
] | 1 | [
0.06596117466688156,
-1.73493230342865,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.09863610565662384,
-1.7218072414398193,
1.5020711421966553,
0.9443193674087524,
-0.010737866163253784,
0
] | pick red block | move | 0.004398 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.333333 | 70 | 0 | 70 | 0 | |||
[
4.475982666015625,
-96.96586608886719,
98.73015594482422,
58.64144515991211,
-0.3174603283405304,
30
] | [
6.941188812255859,
-95.9289779663086,
93.64695739746094,
56.85818862915039,
-0.3174603283405304,
30
] | [
0.1804528683423996,
-0.009969590231776237,
0.04051779583096504,
3.086137533187866,
0.7500109672546387,
2.9897851943969727
] | 1 | [
0.07056311517953873,
-1.731864333152771,
1.5800001621246338,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.10520237684249878,
-1.7129921913146973,
1.494032382965088,
0.9391962289810181,
-0.010737866163253784,
0
] | pick red block | move | 0.006446 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.366667 | 71 | 0 | 71 | 0 | |||
[
4.803493499755859,
-96.79730224609375,
98.54875183105469,
58.64144515991211,
-0.3174603283405304,
30
] | [
7.480466842651367,
-95.37006378173828,
93.09841918945312,
56.52679443359375,
-0.3174603283405304,
30
] | [
0.18043534457683563,
-0.010623447597026825,
0.04087240621447563,
3.086137533187866,
0.7500109076499939,
2.9851832389831543
] | 1 | [
0.07516505569219589,
-1.728796362876892,
1.5769321918487549,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.11277991533279419,
-1.702819585800171,
1.4847553968429565,
0.9332840442657471,
-0.010737866163253784,
0
] | pick red block | move | 0.009252 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.4 | 72 | 0 | 72 | 0 | |||
[
5.240174770355225,
-96.79730224609375,
98.54875183105469,
58.55546188354492,
-0.3174603283405304,
30
] | [
8.031431198120117,
-94.79904174804688,
92.53799438476562,
56.18821716308594,
-0.3174603283405304,
30
] | [
0.1805374175310135,
-0.011505934409797192,
0.04101766645908356,
3.0859673023223877,
0.7515397667884827,
2.978931188583374
] | 1 | [
0.08130098134279251,
-1.728796362876892,
1.5769321918487549,
0.9694758653640747,
-0.010737866163253784,
0
] | [
0.1205216646194458,
-1.6924266815185547,
1.4752774238586426,
0.9272437691688538,
-0.010737866163253784,
0
] | pick red block | move | 0.011248 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.433333 | 73 | 0 | 73 | 0 | |||
[
5.67685604095459,
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98.36734771728516,
58.38349151611328,
-0.3174603283405304,
30
] | [
8.63902759552002,
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91.91996765136719,
55.814842224121094,
-0.3174603283405304,
30
] | [
0.18106257915496826,
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0.042007893323898315,
3.085280656814575,
0.7576552629470825,
2.972324848175049
] | 1 | [
0.08743690699338913,
-1.728796362876892,
1.5738643407821655,
0.9664078950881958,
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0
] | [
0.12905916571617126,
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1.4648252725601196,
0.9205827116966248,
-0.010737866163253784,
0
] | pick red block | move | 0.014216 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.466667 | 74 | 0 | 74 | 0 | |||
[
6.113537311553955,
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98.00453186035156,
57.95356750488281,
-0.3174603283405304,
30
] | [
9.268730163574219,
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91.27945709228516,
55.427879333496094,
-0.3174603283405304,
30
] | [
0.18155108392238617,
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0.04293176531791687,
3.0849344730377197,
0.7607129812240601,
2.9659507274627686
] | 1 | [
0.09357283264398575,
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1.5677282810211182,
0.9587379693984985,
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0
] | [
0.13790728151798248,
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1.4539929628372192,
0.9136791825294495,
-0.010737866163253784,
0
] | pick red block | move | 0.021086 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.5 | 75 | 0 | 75 | 0 | |||
[
6.659388542175293,
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97.55101776123047,
57.695613861083984,
-0.3174603283405304,
30
] | [
9.939939498901367,
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90.59672546386719,
55.015411376953125,
-0.3174603283405304,
30
] | [
0.18225692212581635,
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0.04460769519209862,
3.084059953689575,
0.7683569192886353,
2.9576754570007324
] | 1 | [
0.10124272853136063,
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1.5600584745407104,
0.9541360139846802,
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0
] | [
0.1473386138677597,
-1.6564257144927979,
1.4424464702606201,
0.9063206911087036,
-0.010737866163253784,
0
] | pick red block | move | 0.026921 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.533333 | 76 | 0 | 76 | 0 | |||
[
7.31441068649292,
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97.00680541992188,
57.26569366455078,
-0.3174603283405304,
30
] | [
10.64392375946045,
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89.88065338134766,
54.582801818847656,
-0.3174603283405304,
30
] | [
0.18295349180698395,
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0.046237923204898834,
3.0833511352539062,
0.7744715809822083,
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] | 1 | [
0.11044661700725555,
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1.5508545637130737,
0.9464661478996277,
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0
] | [
0.15723048150539398,
-1.643146276473999,
1.4303361177444458,
0.8986028432846069,
-0.010737866163253784,
0
] | pick red block | move | 0.035436 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.566667 | 77 | 0 | 77 | 0 | |||
[
7.751091480255127,
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96.37187957763672,
56.9217529296875,
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30
] | [
11.378387451171875,
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89.13358306884766,
54.13146209716797,
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30
] | [
0.18334484100341797,
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0.047543756663799286,
3.083172559738159,
0.776000440120697,
2.941716432571411
] | 1 | [
0.11658253520727158,
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1.5401166677474976,
0.9403302073478699,
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0
] | [
0.16755062341690063,
-1.6292917728424072,
1.4177016019821167,
0.8905508518218994,
-0.010737866163253784,
0
] | pick red block | move | 0.0443 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.6 | 78 | 0 | 78 | 0 | |||
[
8.406113624572754,
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95.64625549316406,
56.405845642089844,
-0.3174603283405304,
30
] | [
12.149587631225586,
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88.3491439819336,
53.65754699707031,
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30
] | [
0.18446104228496552,
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0.050034865736961365,
3.0819075107574463,
0.7867006063461304,
2.931621551513672
] | 1 | [
0.1257864236831665,
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1.527844786643982,
0.9311262965202332,
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0
] | [
0.17838697135448456,
-1.6147443056106567,
1.4044350385665894,
0.8820961117744446,
-0.010737866163253784,
0
] | pick red block | move | 0.053795 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.633333 | 79 | 0 | 79 | 0 | |||
[
9.170305252075195,
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95.01133728027344,
55.97592544555664,
-0.3174603283405304,
30
] | [
12.940092086791992,
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87.54507446289062,
53.17176818847656,
-0.3174603283405304,
30
] | [
0.1851484477519989,
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0.05184740200638771,
3.081172227859497,
0.7928144931793213,
2.9203615188598633
] | 1 | [
0.1365242898464203,
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1.5171070098876953,
0.9234564304351807,
-0.010737866163253784,
0
] | [
0.1894945502281189,
-1.5998328924179077,
1.390836477279663,
0.8734297156333923,
-0.010737866163253784,
0
] | pick red block | move | 0.063489 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.666667 | 80 | 0 | 80 | 0 | |||
[
9.934497833251953,
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94.37641906738281,
55.71797180175781,
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30
] | [
13.77406120300293,
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86.69678497314453,
52.65928268432617,
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30
] | [
0.1855059713125229,
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0.05335515737533569,
3.080801248550415,
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2.9093589782714844
] | 1 | [
0.14726215600967407,
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1.5063691139221191,
0.9188545346260071,
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0
] | [
0.20121286809444427,
-1.5841014385223389,
1.3764901161193848,
0.8642868995666504,
-0.010737866163253784,
0
] | pick red block | move | 0.07275 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.7 | 81 | 0 | 81 | 0 | |||
[
10.698690414428711,
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93.74149322509766,
55.37403106689453,
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30
] | [
14.728521347045898,
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85.72594451904297,
52.072750091552734,
-0.3174603283405304,
30
] | [
0.18592821061611176,
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0.054832588881254196,
3.080427885055542,
0.7989283204078674,
2.8983540534973145
] | 1 | [
0.15800002217292786,
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1.495631217956543,
0.9127185344696045,
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0
] | [
0.21462424099445343,
-1.5660970211029053,
1.3600711822509766,
0.8538230657577515,
-0.010737866163253784,
0
] | pick red block | move | 0.082581 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.733333 | 82 | 0 | 82 | 0 | |||
[
11.681222915649414,
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92.74376678466797,
54.6861572265625,
-0.3174603283405304,
30
] | [
15.847247123718262,
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84.5880126953125,
51.385276794433594,
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30
] | [
0.18704721331596375,
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0.05762271210551262,
3.079293727874756,
0.808098316192627,
2.8837316036224365
] | 1 | [
0.17180585861206055,
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1.4787575006484985,
0.9004467129707336,
-0.010737866163253784,
0
] | [
0.230343759059906,
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1.3408262729644775,
0.8415583968162537,
-0.010737866163253784,
0
] | pick red block | move | 0.097115 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.766667 | 83 | 0 | 83 | 0 | |||
[
12.554585456848145,
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91.92743682861328,
54.170249938964844,
-0.3174603283405304,
30
] | [
16.763246536254883,
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83.65628814697266,
50.82238006591797,
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30
] | [
0.18781819939613342,
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0.05975275859236717,
3.0785253047943115,
0.8142114877700806,
2.8709027767181396
] | 1 | [
0.1840776950120926,
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1.4649516344070435,
0.8912428617477417,
-0.010737866163253784,
0
] | [
0.2432147115468979,
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1.3250688314437866,
0.8315162062644958,
-0.010737866163253784,
0
] | pick red block | move | 0.109297 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.8 | 84 | 0 | 84 | 0 | |||
[
13.427947998046875,
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91.11111450195312,
53.568359375,
-0.3174603283405304,
30
] | [
17.700475692749023,
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82.70297241210938,
50.24644088745117,
-0.3174603283405304,
30
] | [
0.1887451559305191,
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0.0620364211499691,
3.0775508880615234,
0.8218521475791931,
2.857919692993164
] | 1 | [
0.19634954631328583,
-1.5846021175384521,
1.451145887374878,
0.8805050253868103,
-0.010737866163253784,
0
] | [
0.2563839554786682,
-1.5100359916687012,
1.3089462518692017,
0.8212413191795349,
-0.010737866163253784,
0
] | pick red block | move | 0.121696 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.833333 | 85 | 0 | 85 | 0 | |||
[
14.410480499267578,
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90.2040786743164,
53.052452087402344,
-0.3174603283405304,
30
] | [
18.66607093811035,
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81.7208023071289,
49.6530647277832,
-0.3174603283405304,
30
] | [
0.18950608372688293,
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0.06433288753032684,
3.0767595767974854,
0.8279646635055542,
2.8435325622558594
] | 1 | [
0.21015536785125732,
-1.5661944150924683,
1.4358059167861938,
0.8713011145591736,
-0.010737866163253784,
0
] | [
0.26995179057121277,
-1.491821527481079,
1.2923356294631958,
0.8106553554534912,
-0.010737866163253784,
0
] | pick red block | move | 0.135056 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
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0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.866667 | 86 | 0 | 86 | 0 | |||
[
15.283843040466309,
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89.20635223388672,
52.53654479980469,
-0.3174603283405304,
30
] | [
19.64278793334961,
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80.7273178100586,
49.0528564453125,
-0.3174603283405304,
30
] | [
0.19051046669483185,
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0.06717850267887115,
3.0755529403686523,
0.8371325731277466,
2.8303682804107666
] | 1 | [
0.22242721915245056,
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1.418932318687439,
0.8620972037315369,
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0
] | [
0.2836759090423584,
-1.4733974933624268,
1.275533676147461,
0.7999475598335266,
-0.010737866163253784,
0
] | pick red block | move | 0.148004 | [
74.20367431640625,
-25.342504501342773,
27.361330032348633,
15.524337768554688,
-0.3174603283405304,
30
] | [
0.18150390684604645,
-0.24882234632968903,
0.21523119509220123,
2.75901460647583,
1.412770390510559,
1.704337239265442
] | 30 | [
0,
0,
0
] | 2.9 | 87 | 0 | 87 | 0 | |||
[
16.266376495361328,
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88.29931640625,
52.02063751220703,
-0.3174603283405304,
30
] | [
20.65253257751465,
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79.68370056152344,
48.43235397338867,
-0.3174603283405304,
30
] | [
0.19133260846138,
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0.06965921819210052,
3.074528217315674,
0.8447719812393188,
2.815798759460449
] | 1 | [
0.23623305559158325,
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1.4035923480987549,
0.8528933525085449,
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0
] | [
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
SO-101 robot dataset collected with the MA autonomous forward/reset pipeline. The task is to stack red, green, and blue RGB blocks on the blue dish from bottom to top. The dataset contains 100 successful episodes at 30 FPS with top and left-wrist RGB camera streams, robot state/action features, end-effector pose, gripper state, and skill/subtask annotations.
- Homepage: https://huggingface.co/CoRL2026-CSI
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 276480,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"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": {
"observation.state": {
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"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.ee_pos.robot_xyzrpy": {
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"shape": [
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],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
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1
],
"names": null
},
"observation.state.radian_urdf0": {
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"shape": [
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"names": [
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"elbow_flex.pos",
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]
},
"action.radian_urdf0": {
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"shape": [
6
],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"skill.natural_language": {
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},
"skill.verification_question": {
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},
"skill.type": {
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1
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"names": null
},
"skill.progress": {
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"names": null
},
"skill.goal_position.joint": {
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"shape": [
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],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
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]
},
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"shape": [
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],
"names": [
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"y",
"z",
"roll",
"pitch",
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]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
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},
"subtask.natural_language": {
"dtype": "string",
"shape": [
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],
"names": null
},
"subtask.object_name": {
"dtype": "string",
"shape": [
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],
"names": null
},
"subtask.target_position": {
"dtype": "float32",
"shape": [
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],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
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"shape": [
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"names": null
},
"frame_index": {
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"shape": [
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],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
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