Hugging Face's logo

Datasets:
Leejungwook
/
cube_stack

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
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
19.7
frame_index
int64
0
590
episode_index
int64
0
29
index
int64
0
14.2k
task_index
int64
0
0
[ 0, 0, 0, 0, 0, 0, 0 ]
[ -2.9519999027252197, 3.5269999504089355, 0, 2.2769999504089355, -2.50600004196167, -1.4639999866485596, 0.4000000059604645 ]
0
0
0
0
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.8940000534057617, 3.4700000286102295, 0, 2.2769999504089355, -2.50600004196167, -1.4639999866485596, 0.4000000059604645 ]
0.033333
1
0
1
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.509999990463257, 3.184999942779541, -0.06599999964237213, 2.1010000705718994, -2.25600004196167, -1.24399995803833, 1.2999999523162842 ]
0.066667
2
0
2
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2290000915527344, 3.124000072479248, -0.34700000286102295, 1.3489999771118164, -1.465999960899353, -1.1200000047683716, 6.699999809265137 ]
0.1
3
0
3
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 3.4179999828338623, -1.0499999523162842, 0.6520000100135803, -0.3059999942779541, -1.1710000038146973, 16.600000381469727 ]
0.133333
4
0
4
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 4.136000156402588, -2.0959999561309814, 0.6449999809265137, 1.1480000019073486, -1.1699999570846558, 31.100000381469727 ]
0.166667
5
0
5
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 5.183000087738037, -3.5, 0.6449999809265137, 2.5269999504089355, -1.1699999570846558, 45.400001525878906 ]
0.2
6
0
6
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 6.591000080108643, -5.250999927520752, 0.6449999809265137, 4.584000110626221, -1.1699999570846558, 62.599998474121094 ]
0.233333
7
0
7
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 8.347999572753906, -7.343999862670898, 0.6449999809265137, 6.949999809265137, -1.1699999570846558, 74.19999694824219 ]
0.266667
8
0
8
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 9.996000289916992, -9.270999908447266, 0.6449999809265137, 9.10099983215332, -1.1699999570846558, 81.5 ]
0.3
9
0
9
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 12.357999801635742, -11.979000091552734, 0.6449999809265137, 12.114999771118164, -1.1699999570846558, 85.9000015258789 ]
0.333333
10
0
10
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.242000102996826, 15.079000473022461, -15.039999961853027, 0.6449999809265137, 15.473999977111816, -1.1699999570846558, 88.5 ]
0.366667
11
0
11
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 17.336000442504883, -17.729999542236328, 0.6449999809265137, 19.256000518798828, -1.1699999570846558, 89.80000305175781 ]
0.4
12
0
12
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 19.847999572753906, -21.374000549316406, 0.6449999809265137, 23.160999298095703, -1.1699999570846558, 90.80000305175781 ]
0.433333
13
0
13
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 21.95599937438965, -25.358999252319336, 0.6449999809265137, 26.709999084472656, -1.1699999570846558, 91.4000015258789 ]
0.466667
14
0
14
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 23.690000534057617, -28.70599937438965, 0.6449999809265137, 28.79400062561035, -1.1699999570846558, 91.69999694824219 ]
0.5
15
0
15
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 25.035999298095703, -33.38800048828125, 0.6449999809265137, 30.25200080871582, -1.1699999570846558, 92 ]
0.533333
16
0
16
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 26.034000396728516, -36.86000061035156, 0.6449999809265137, 31.841999053955078, -1.1699999570846558, 92.0999984741211 ]
0.566667
17
0
17
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 26.61400032043457, -39.32699966430664, 0.6449999809265137, 33.637001037597656, -1.1699999570846558, 92.19999694824219 ]
0.6
18
0
18
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.052000045776367, -42.04600143432617, 0.6449999809265137, 35.97700119018555, -1.1699999570846558, 92.0999984741211 ]
0.633333
19
0
19
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.107999801635742, -44.42599868774414, 0.6449999809265137, 37.65999984741211, -1.1699999570846558, 92.0999984741211 ]
0.666667
20
0
20
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.107999801635742, -46.12900161743164, 0.6449999809265137, 38.47600173950195, -1.1699999570846558, 92.0999984741211 ]
0.7
21
0
21
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.05299949645996, -47.99599838256836, 0.6449999809265137, 38.577999114990234, -1.1699999570846558, 92.0999984741211 ]
0.733333
22
0
22
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -49.5, 0.6449999809265137, 38.577999114990234, -1.1699999570846558, 92.30000305175781 ]
0.766667
23
0
23
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -50.59400177001953, 0.6449999809265137, 38.71699905395508, -1.1699999570846558, 92.30000305175781 ]
0.8
24
0
24
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.21099853515625, 0.6449999809265137, 38.9109992980957, -1.1699999570846558, 92.30000305175781 ]
0.833333
25
0
25
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.69599914550781, 0.6449999809265137, 38.9109992980957, -1.1699999570846558, 92.30000305175781 ]
0.866667
26
0
26
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.86399841308594, 0.6449999809265137, 38.9109992980957, -1.1699999570846558, 92.30000305175781 ]
0.9
27
0
27
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.86399841308594, 0.6449999809265137, 38.97200012207031, -1.1699999570846558, 92.30000305175781 ]
0.933333
28
0
28
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.86399841308594, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
0.966667
29
0
29
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
1
30
0
30
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
1.033333
31
0
31
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
1.066667
32
0
32
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
1.1
33
0
33
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.111000061035156, -1.1699999570846558, 92.30000305175781 ]
1.133333
34
0
34
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.060001373291016, -1.1699999570846558, 92.30000305175781 ]
1.166667
35
0
35
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.060001373291016, -1.1699999570846558, 92.30000305175781 ]
1.2
36
0
36
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.060001373291016, -1.1699999570846558, 92.30000305175781 ]
1.233333
37
0
37
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.80400085449219, 0.6449999809265137, 39.060001373291016, -1.1699999570846558, 92.30000305175781 ]
1.266667
38
0
38
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.76100158691406, 0.6449999809265137, 39.005001068115234, -1.1699999570846558, 92.30000305175781 ]
1.3
39
0
39
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.76100158691406, 0.6449999809265137, 39.00400161743164, -1.1699999570846558, 92.30000305175781 ]
1.333333
40
0
40
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.76100158691406, 0.6449999809265137, 39.00400161743164, -1.1699999570846558, 92.30000305175781 ]
1.366667
41
0
41
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.4
42
0
42
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.433333
43
0
43
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.466667
44
0
44
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.5
45
0
45
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.533333
46
0
46
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.566667
47
0
47
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.6
48
0
48
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.633333
49
0
49
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.666667
50
0
50
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.7
51
0
51
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.6449999809265137, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.733333
52
0
52
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.593999981880188, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.766667
53
0
53
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.8
54
0
54
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.593999981880188, 38.887001037597656, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.833333
55
0
55
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.729000091552734, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.866667
56
0
56
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.452999114990234, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.93299865722656, -1.1699999570846558, 92.30000305175781 ]
1.9
57
0
57
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.875999450683594, -1.1699999570846558, 92.30000305175781 ]
1.933333
58
0
58
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.68299865722656, -1.1699999570846558, 92.30000305175781 ]
1.966667
59
0
59
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.33300018310547, -1.1699999570846558, 92.30000305175781 ]
2
60
0
60
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.703000009059906, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.16400146484375, -1.1699999570846558, 92.30000305175781 ]
2.033333
61
0
61
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.968999981880188, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.10499954223633, -1.1699999570846558, 92.30000305175781 ]
2.066667
62
0
62
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 0.9869999885559082, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.5989999771118164, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.1
63
0
63
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 1.0789999961853027, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.7390000224113464, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.133333
64
0
64
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 1.3420000076293945, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.7979999780654907, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.166667
65
0
65
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 1.6100000143051147, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 0.8700000047683716, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.2
66
0
66
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 1.875, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 1.222000002861023, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.233333
67
0
67
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.365999937057495, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 1.4500000476837158, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.266667
68
0
68
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.5179998874664307, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 1.7949999570846558, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.3
69
0
69
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.5179998874664307, 38.20100021362305, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 2.3519999980926514, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.333333
70
0
70
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.5179998874664307, 38.31100082397461, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 2.5139999389648438, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.366667
71
0
71
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.5179998874664307, 38.44200134277344, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 2.5820000171661377, 38.06100082397461, -1.1699999570846558, 92.30000305175781 ]
2.4
72
0
72
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.5179998874664307, 38.69499969482422, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 2.5820000171661377, 38.17900085449219, -1.1699999570846558, 92.30000305175781 ]
2.433333
73
0
73
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 2.7980000972747803, 39.111000061035156, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.70000076293945, 2.5820000171661377, 38.46099853515625, -1.1699999570846558, 92.30000305175781 ]
2.466667
74
0
74
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 3.0820000171661377, 39.56700134277344, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 2.5820000171661377, 38.8380012512207, -1.1699999570846558, 92.30000305175781 ]
2.5
75
0
75
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 3.5889999866485596, 40.03200149536133, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 2.759000062942505, 39.1150016784668, -1.1699999570846558, 92.30000305175781 ]
2.533333
76
0
76
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 3.747999906539917, 40.46099853515625, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 3.0280001163482666, 39.487998962402344, -1.1699999570846558, 92.30000305175781 ]
2.566667
77
0
77
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 4.120999813079834, 40.9739990234375, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 3.4260001182556152, 39.902000427246094, -1.1699999570846558, 92.30000305175781 ]
2.6
78
0
78
0
[ -2.2980000972747803, 27.020999908447266, -51.7239990234375, 4.110000133514404, 41.481998443603516, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 3.8919999599456787, 40.465999603271484, -1.1699999570846558, 92.30000305175781 ]
2.633333
79
0
79
0
[ -2.2980000972747803, 27.277000427246094, -51.7239990234375, 4.110000133514404, 42.17100143432617, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 4.168000221252441, 40.981998443603516, -1.1699999570846558, 92.30000305175781 ]
2.666667
80
0
80
0
[ -2.2980000972747803, 27.39699935913086, -51.7239990234375, 4.110000133514404, 43.051998138427734, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.006000518798828, -51.75299835205078, 4.214000225067139, 41.39500045776367, -1.1699999570846558, 92.30000305175781 ]
2.7
81
0
81
0
[ -2.194999933242798, 27.69700050354004, -51.7239990234375, 4.428999900817871, 43.691001892089844, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.219999313354492, -51.75299835205078, 4.214000225067139, 42.01499938964844, -1.1699999570846558, 92.30000305175781 ]
2.733333
82
0
82
0
[ -2.069000005722046, 28.014999389648438, -51.7239990234375, 4.729000091552734, 44.48400115966797, -1.2079999446868896, 66.98999786376953 ]
[ -2.2929999828338623, 27.5, -51.75299835205078, 4.214000225067139, 42.62900161743164, -1.1699999570846558, 92.30000305175781 ]
2.766667
83
0
83
0
[ -1.4830000400543213, 28.444000244140625, -51.7239990234375, 5.057000160217285, 45.027000427246094, -1.2079999446868896, 66.98999786376953 ]
[ -2.1610000133514404, 27.760000228881836, -51.75299835205078, 4.34499979019165, 43.569000244140625, -1.1699999570846558, 92.30000305175781 ]
2.8
84
0
84
0
[ -0.9179999828338623, 28.67799949645996, -51.7239990234375, 5.086999893188477, 45.479000091552734, -1.2079999446868896, 66.98999786376953 ]
[ -2.0360000133514404, 28.132999420166016, -51.75299835205078, 4.626999855041504, 44.38800048828125, -1.1699999570846558, 92.30000305175781 ]
2.833333
85
0
85
0
[ -0.13899999856948853, 29.2450008392334, -51.61800003051758, 5.086999893188477, 46.05500030517578, -1.2079999446868896, 66.98999786376953 ]
[ -1.6519999504089355, 28.516000747680664, -51.75299835205078, 4.954999923706055, 45.03499984741211, -1.1699999570846558, 92.30000305175781 ]
2.866667
86
0
86
0
[ 0.6769999861717224, 29.940000534057617, -51.61800003051758, 4.88100004196167, 46.685001373291016, -1.2079999446868896, 66.98999786376953 ]
[ -0.9829999804496765, 28.86199951171875, -51.694000244140625, 4.960999965667725, 45.43000030517578, -1.1699999570846558, 92.30000305175781 ]
2.9
87
0
87
0
[ 1.3320000171661377, 30.575000762939453, -51.61800003051758, 4.340000152587891, 47.12200164794922, -1.2079999446868896, 66.98999786376953 ]
[ -0.23100000619888306, 29.336000442504883, -51.64099884033203, 5.114999771118164, 46.040000915527344, -1.1699999570846558, 92.30000305175781 ]
2.933333
88
0
88
0
[ 2.131999969482422, 31.20199966430664, -51.61800003051758, 3.871999979019165, 47.53300094604492, -1.2079999446868896, 66.98999786376953 ]
[ 0.5630000233650208, 29.982999801635742, -51.64099884033203, 4.9730000495910645, 46.70600128173828, -1.1699999570846558, 92.30000305175781 ]
2.966667
89
0
89
0
[ 2.9040000438690186, 31.760000228881836, -51.61800003051758, 3.437000036239624, 47.68000030517578, -1.2079999446868896, 66.98999786376953 ]
[ 1.1629999876022339, 30.531999588012695, -51.64099884033203, 4.605000019073486, 47.0620002746582, -1.1699999570846558, 92.30000305175781 ]
3
90
0
90
0
[ 3.5920000076293945, 32.145999908447266, -51.61800003051758, 3.2939999103546143, 47.75699996948242, -1.2079999446868896, 66.98999786376953 ]
[ 1.9359999895095825, 31.222000122070312, -51.64099884033203, 4.03000020980835, 47.483001708984375, -1.1699999570846558, 92.30000305175781 ]
3.033333
91
0
91
0
[ 4.171000003814697, 32.731998443603516, -51.50199890136719, 3.1510000228881836, 47.75699996948242, -1.2079999446868896, 66.98999786376953 ]
[ 2.749000072479248, 31.836999893188477, -51.625999450683594, 3.427999973297119, 47.78099822998047, -1.1699999570846558, 92.30000305175781 ]
3.066667
92
0
92
0
[ 4.609000205993652, 33.24300003051758, -51.35599899291992, 2.9200000762939453, 47.8129997253418, -1.2079999446868896, 66.98999786376953 ]
[ 3.494999885559082, 32.35900115966797, -51.55799865722656, 3.1730000972747803, 47.87200164794922, -1.1699999570846558, 92.30000305175781 ]
3.1
93
0
93
0
[ 5.0929999351501465, 33.69599914550781, -51.06700134277344, 2.9200000762939453, 47.904998779296875, -1.2079999446868896, 66.98999786376953 ]
[ 4.025000095367432, 32.762001037597656, -51.49599838256836, 3.1070001125335693, 47.86600112915039, -1.1699999570846558, 92.30000305175781 ]
3.133333
94
0
94
0
[ 5.340000152587891, 34.17599868774414, -50.67100143432617, 2.9200000762939453, 48.03799819946289, -1.2079999446868896, 66.98999786376953 ]
[ 4.632999897003174, 33.30699920654297, -51.29199981689453, 3.052000045776367, 47.81800079345703, -1.1699999570846558, 92.30000305175781 ]
3.166667
95
0
95
0
[ 5.580999851226807, 34.54600143432617, -50.30799865722656, 2.9200000762939453, 48.03799819946289, -1.2079999446868896, 66.98999786376953 ]
[ 5.138999938964844, 33.83599853515625, -50.95199966430664, 3.052000045776367, 47.81800079345703, -1.1699999570846558, 92.30000305175781 ]
3.2
96
0
96
0
[ 5.756999969482422, 35.069000244140625, -50.05400085449219, 2.9200000762939453, 48.03799819946289, -1.2079999446868896, 66.98999786376953 ]
[ 5.513000011444092, 34.24300003051758, -50.61600112915039, 3.000999927520752, 47.9109992980957, -1.1699999570846558, 92.30000305175781 ]
3.233333
97
0
97
0
[ 5.860000133514404, 35.41600036621094, -49.652000427246094, 2.9200000762939453, 48.03799819946289, -1.2079999446868896, 66.98999786376953 ]
[ 5.704999923706055, 34.70899963378906, -50.20800018310547, 3.007999897003174, 48.00899887084961, -1.1699999570846558, 92.30000305175781 ]
3.266667
98
0
98
0
[ 5.860000133514404, 35.92100143432617, -49.20500183105469, 2.9200000762939453, 48.03799819946289, -1.2079999446868896, 66.98999786376953 ]
[ 5.853000164031982, 35.18299865722656, -49.88600158691406, 3.007999897003174, 48.077999114990234, -1.1699999570846558, 92.30000305175781 ]
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": "piper_follower",
    "total_episodes": 30,
    "total_frames": 14212,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1.pos",
                "joint2.pos",
                "joint3.pos",
                "joint4.pos",
                "joint5.pos",
                "joint6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.main": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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
74
License:
apache-2.0
Size of downloaded dataset files:
835 kB
Size of the auto-converted Parquet files:
835 kB
Number of rows:
14,212

Models trained or fine-tuned on Leejungwook/cube_stack