Hugging Face's logo

Datasets:
RobotLearningProject
/
so101_merged

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
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
listlengths
6
6
observation.state
listlengths
6
6
cube_position
listlengths
2
2
bin_position
listlengths
2
2
timestamp
float32
0
39.9
frame_index
int64
0
1.2k
episode_index
int64
0
89
index
int64
0
45.2k
task_index
int64
0
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0
0
0
0
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.033333
1
0
1
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.066667
2
0
2
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.1
3
0
3
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.133333
4
0
4
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.166667
5
0
5
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.2
6
0
6
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.233333
7
0
7
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.266667
8
0
8
0
[ -4.791208744049072, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.3
9
0
9
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.333333
10
0
10
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.86813354492188, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.366667
11
0
11
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.86813354492188, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.4
12
0
12
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.78022003173828, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.433333
13
0
13
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.78022003173828, 0.6926407217979431 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.466667
14
0
14
0
[ -4.9670329093933105, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.86813354492188, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.5
15
0
15
0
[ -5.05494499206543, -102.81318664550781, 86.28571319580078, 85.4945068359375, -103.95604705810547, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.533333
16
0
16
0
[ -5.05494499206543, -102.9011001586914, 86.02198028564453, 85.4065933227539, -103.78022003173828, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.566667
17
0
17
0
[ -5.05494499206543, -102.9011001586914, 85.93406677246094, 85.31867980957031, -103.78022003173828, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.6
18
0
18
0
[ -5.05494499206543, -102.9011001586914, 85.93406677246094, 85.31867980957031, -103.69230651855469, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.633333
19
0
19
0
[ -4.791208744049072, -102.9011001586914, 85.93406677246094, 85.23076629638672, -103.69230651855469, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.666667
20
0
20
0
[ -4.615384578704834, -102.9011001586914, 85.75823974609375, 85.05494689941406, -103.69230651855469, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.7
21
0
21
0
[ -4.615384578704834, -102.9011001586914, 85.23076629638672, 84, -103.42857360839844, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.74725341796875, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.733333
22
0
22
0
[ -4.615384578704834, -102.9011001586914, 84.43955993652344, 83.03296661376953, -102.54945373535156, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.65933990478516, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.766667
23
0
23
0
[ -4.527472496032715, -102.9011001586914, 83.56044006347656, 82.24176025390625, -101.05494689941406, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.67032623291016, 84.57142639160156, -103.86813354492188, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.8
24
0
24
0
[ -4.439560413360596, -102.81318664550781, 82.76923370361328, 81.71428680419922, -99.47252655029297, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.5824203491211, 84.04395294189453, -103.34066009521484, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.833333
25
0
25
0
[ -4.263736248016357, -102.81318664550781, 82.06593322753906, 81.45054626464844, -98.15384674072266, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.4945068359375, 83.42857360839844, -102.37362670898438, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.866667
26
0
26
0
[ -3.384615421295166, -102.72527313232422, 81.45054626464844, 81.45054626464844, -97.010986328125, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.4945068359375, 82.9011001586914, -101.05494689941406, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.9
27
0
27
0
[ -2.5934066772460938, -102.72527313232422, 80.92308044433594, 81.45054626464844, -95.86813354492188, 0.5194805264472961 ]
[ -4.5714287757873535, -102.06593322753906, 85.31867980957031, 82.54945373535156, -99.73626708984375, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.933333
28
0
28
0
[ -1.890109896659851, -102.72527313232422, 80.30769348144531, 81.45054626464844, -94.81318664550781, 0.5194805264472961 ]
[ -4.395604610443115, -102.06593322753906, 85.05494689941406, 82.37362670898438, -98.5934066772461, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
0.966667
29
0
29
0
[ -1.3626374006271362, -102.63735961914062, 79.78022003173828, 81.53845977783203, -93.67032623291016, 0.5194805264472961 ]
[ -3.604395627975464, -102.06593322753906, 84.79120635986328, 82.37362670898438, -97.53845977783203, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1
30
0
30
0
[ -0.9230769276618958, -102.63735961914062, 79.25274658203125, 81.53845977783203, -92.61538696289062, 0.5194805264472961 ]
[ -2.98901104927063, -102.06593322753906, 84.52747344970703, 82.37362670898438, -96.3956069946289, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.033333
31
0
31
0
[ -0.3076923191547394, -102.63735961914062, 78.72527313232422, 81.53845977783203, -91.56044006347656, 0.5194805264472961 ]
[ -2.373626470565796, -102.06593322753906, 84.17582702636719, 82.37362670898438, -95.25274658203125, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.066667
32
0
32
0
[ 0.3956044018268585, -102.63735961914062, 78.19779968261719, 81.53845977783203, -90.5054931640625, 0.5194805264472961 ]
[ -1.9340659379959106, -102.06593322753906, 83.82417297363281, 82.37362670898438, -94.19779968261719, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.1
33
0
33
0
[ 0.9230769276618958, -102.63735961914062, 77.67032623291016, 81.53845977783203, -89.53845977783203, 0.5194805264472961 ]
[ -1.3186813592910767, -102.06593322753906, 83.29669952392578, 82.37362670898438, -93.14286041259766, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.133333
34
0
34
0
[ 1.4505494832992554, -102.63735961914062, 77.14286041259766, 81.62637329101562, -88.57142639160156, 0.5194805264472961 ]
[ -0.7032967209815979, -102.06593322753906, 82.76923370361328, 82.37362670898438, -92, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.166667
35
0
35
0
[ 1.890109896659851, -102.54945373535156, 76.43955993652344, 81.62637329101562, -87.6043930053711, 0.5194805264472961 ]
[ -0.08791209012269974, -102.06593322753906, 82.24176025390625, 82.37362670898438, -90.94505310058594, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.2
36
0
36
0
[ 2.4175825119018555, -102.54945373535156, 75.82417297363281, 81.62637329101562, -86.63735961914062, 0.5194805264472961 ]
[ 0.4395604431629181, -102.06593322753906, 81.71428680419922, 82.37362670898438, -89.97801971435547, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.233333
37
0
37
0
[ 2.857142925262451, -102.54945373535156, 75.12088012695312, 81.62637329101562, -85.67032623291016, 0.5194805264472961 ]
[ 0.9670329689979553, -102.06593322753906, 81.010986328125, 82.37362670898438, -89.010986328125, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.266667
38
0
38
0
[ 3.384615421295166, -102.54945373535156, 74.5054931640625, 81.45054626464844, -84.61538696289062, 0.5194805264472961 ]
[ 1.4065934419631958, -102.06593322753906, 80.30769348144531, 82.37362670898438, -88.04395294189453, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.3
39
0
39
0
[ 3.7362637519836426, -102.46154022216797, 73.80220031738281, 81.45054626464844, -83.29669952392578, 0.5194805264472961 ]
[ 1.9340659379959106, -102.06593322753906, 79.6043930053711, 82.37362670898438, -87.07691955566406, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.333333
40
0
40
0
[ 4, -102.46154022216797, 73.18681335449219, 81.45054626464844, -82.15384674072266, 0.5194805264472961 ]
[ 2.461538553237915, -102.06593322753906, 78.989013671875, 82.37362670898438, -86.10989379882812, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.366667
41
0
41
0
[ 4.439560413360596, -102.46154022216797, 72.3956069946289, 81.53845977783203, -81.27472686767578, 0.5194805264472961 ]
[ 2.9010989665985107, -102.06593322753906, 78.37362670898438, 82.37362670898438, -84.87911987304688, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.4
42
0
42
0
[ 4.791208744049072, -102.46154022216797, 71.86813354492188, 81.62637329101562, -80.74725341796875, 0.5194805264472961 ]
[ 3.2527472972869873, -102.06593322753906, 77.93406677246094, 82.37362670898438, -83.73626708984375, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.433333
43
0
43
0
[ 4.791208744049072, -102.28571319580078, 71.42857360839844, 81.71428680419922, -80.48351287841797, 0.5194805264472961 ]
[ 3.692307710647583, -102.06593322753906, 77.4065933227539, 82.37362670898438, -82.68132019042969, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.466667
44
0
44
0
[ 4.791208744049072, -101.67032623291016, 70.9011001586914, 81.71428680419922, -80.48351287841797, 0.5194805264472961 ]
[ 3.9560439586639404, -102.06593322753906, 76.96703338623047, 82.37362670898438, -81.97801971435547, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.5
45
0
45
0
[ 4.791208744049072, -100.52747344970703, 70.19779968261719, 81.71428680419922, -80.48351287841797, 0.5194805264472961 ]
[ 4.131868362426758, -102.06593322753906, 76.61538696289062, 82.37362670898438, -81.45054626464844, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.533333
46
0
46
0
[ 4.791208744049072, -99.03296661376953, 69.23076629638672, 81.80220031738281, -80.48351287841797, 0.5194805264472961 ]
[ 4.219780445098877, -101.80220031738281, 76.35164642333984, 82.37362670898438, -81.18681335449219, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.566667
47
0
47
0
[ 4.791208744049072, -97.18681335449219, 68.0879135131836, 81.80220031738281, -80.48351287841797, 0.5194805264472961 ]
[ 4.307692527770996, -101.18681335449219, 75.73626708984375, 82.37362670898438, -81.010986328125, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.6
48
0
48
0
[ 4.791208744049072, -95.07691955566406, 66.68132019042969, 81.80220031738281, -80.57142639160156, 0.5194805264472961 ]
[ 4.307692527770996, -100.48351287841797, 74.5054931640625, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.633333
49
0
49
0
[ 4.879120826721191, -92.70330047607422, 64.74725341796875, 81.71428680419922, -80.57142639160156, 0.5194805264472961 ]
[ 4.307692527770996, -99.25274658203125, 72.92308044433594, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.666667
50
0
50
0
[ 4.879120826721191, -90.32967376708984, 62.81318664550781, 81.71428680419922, -80.65933990478516, 0.5194805264472961 ]
[ 4.307692527770996, -97.67032623291016, 71.34066009521484, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.7
51
0
51
0
[ 4.879120826721191, -87.78022003173828, 60.79121017456055, 81.71428680419922, -80.65933990478516, 0.5194805264472961 ]
[ 4.307692527770996, -95.82417297363281, 69.75823974609375, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.733333
52
0
52
0
[ 4.879120826721191, -85.23076629638672, 58.68132019042969, 81.80220031738281, -80.65933990478516, 0.5194805264472961 ]
[ 4.395604610443115, -93.62637329101562, 68, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.766667
53
0
53
0
[ 4.879120826721191, -82.85713958740234, 56.483516693115234, 82.15384674072266, -80.65933990478516, 0.5194805264472961 ]
[ 4.395604610443115, -91.42857360839844, 66.06593322753906, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.8
54
0
54
0
[ 4.879120826721191, -80.65933990478516, 54.28571319580078, 82.85713958740234, -80.65933990478516, 0.5194805264472961 ]
[ 4.395604610443115, -89.14286041259766, 64.13186645507812, 82.37362670898438, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.833333
55
0
55
0
[ 5.142857074737549, -78.54945373535156, 52.087913513183594, 83.56044006347656, -80.65933990478516, 0.5194805264472961 ]
[ 4.395604610443115, -86.68132019042969, 62.021976470947266, 82.46154022216797, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.866667
56
0
56
0
[ 5.846153736114502, -76.43955993652344, 49.89011001586914, 84.26373291015625, -80.57142639160156, 0.5194805264472961 ]
[ 4.395604610443115, -84.3956069946289, 59.82417678833008, 82.72527313232422, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.9
57
0
57
0
[ 6.285714149475098, -74.32967376708984, 47.69230651855469, 85.05494689941406, -80.57142639160156, 0.5194805264472961 ]
[ 4.5714287757873535, -82.19779968261719, 57.71428680419922, 83.25274658203125, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.933333
58
0
58
0
[ 6.637362480163574, -72.3956069946289, 45.406593322753906, 85.84615325927734, -80.48351287841797, 0.5194805264472961 ]
[ 5.098901271820068, -80, 55.516483306884766, 83.78022003173828, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
1.966667
59
0
59
0
[ 6.901098728179932, -70.46154022216797, 43.120880126953125, 86.63735961914062, -80.48351287841797, 0.5194805264472961 ]
[ 5.626373767852783, -77.80220031738281, 53.406593322753906, 84.3956069946289, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2
60
0
60
0
[ 6.989010810852051, -68.61538696289062, 40.92307662963867, 87.16483306884766, -80.3956069946289, 0.5194805264472961 ]
[ 6.153846263885498, -75.69230651855469, 51.20878982543945, 85.0988998413086, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.033333
61
0
61
0
[ 7.07692289352417, -66.76923370361328, 38.901100158691406, 87.51648712158203, -80.04395294189453, 0.5194805264472961 ]
[ 6.329670429229736, -73.5824203491211, 49.010990142822266, 85.89010620117188, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.066667
62
0
62
0
[ 7.07692289352417, -65.0988998413086, 36.96703338623047, 87.6043930053711, -79.6043930053711, 0.5194805264472961 ]
[ 6.4175825119018555, -71.64835357666016, 46.72527313232422, 86.5054931640625, -80.83516693115234, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.1
63
0
63
0
[ 7.604395389556885, -63.516483306884766, 35.120880126953125, 87.69230651855469, -79.25274658203125, 0.5194805264472961 ]
[ 6.593406677246094, -69.80220031738281, 44.52747344970703, 86.94505310058594, -80.57142639160156, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.133333
64
0
64
0
[ 8.307692527770996, -62.10988998413086, 33.36263656616211, 87.69230651855469, -78.63735961914062, 0.5194805264472961 ]
[ 6.769230842590332, -67.95604705810547, 42.5054931640625, 87.20879364013672, -80.13186645507812, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.166667
65
0
65
0
[ 8.659340858459473, -60.79121017456055, 31.604394912719727, 87.69230651855469, -77.93406677246094, 0.5194805264472961 ]
[ 6.94505500793457, -66.19779968261719, 40.483516693115234, 87.38461303710938, -79.78022003173828, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.2
66
0
66
0
[ 9.01098918914795, -59.47252655029297, 29.934066772460938, 87.78022003173828, -77.31867980957031, 0.5194805264472961 ]
[ 7.472527503967285, -64.52747344970703, 38.63736343383789, 87.38461303710938, -79.34066009521484, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.233333
67
0
67
0
[ 9.09890079498291, -58.241756439208984, 28.351648330688477, 88.13186645507812, -76.79120635986328, 0.5194805264472961 ]
[ 8, -63.03296661376953, 36.79121017456055, 87.38461303710938, -78.72527313232422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.266667
68
0
68
0
[ 9.186813354492188, -57.098899841308594, 26.593406677246094, 88.92308044433594, -76.70330047607422, 0.5194805264472961 ]
[ 8.439560890197754, -61.626373291015625, 34.94505310058594, 87.47252655029297, -78.19779968261719, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.3
69
0
69
0
[ 9.274724960327148, -55.868133544921875, 24.923076629638672, 89.53845977783203, -76.52747344970703, 0.5194805264472961 ]
[ 8.527472496032715, -60.21977996826172, 33.18681335449219, 87.9120864868164, -77.67032623291016, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.333333
70
0
70
0
[ 9.714285850524902, -54.72527313232422, 23.516483306884766, 90.24176025390625, -76.52747344970703, 0.5194805264472961 ]
[ 8.703296661376953, -58.989009857177734, 31.604394912719727, 88.43955993652344, -77.31867980957031, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.366667
71
0
71
0
[ 10.241758346557617, -53.4945068359375, 22.0219783782959, 90.94505310058594, -76.43955993652344, 0.5194805264472961 ]
[ 8.79120922088623, -57.67033004760742, 29.934066772460938, 89.05494689941406, -77.05494689941406, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.4
72
0
72
0
[ 10.417582511901855, -52.35165023803711, 20.703296661376953, 91.82417297363281, -76.43955993652344, 0.5194805264472961 ]
[ 9.230769157409668, -56.35165023803711, 28.175825119018555, 89.67032623291016, -76.96703338623047, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.433333
73
0
73
0
[ 10.681318283081055, -51.29670333862305, 19.560440063476562, 92.61538696289062, -76.43955993652344, 0.5194805264472961 ]
[ 9.670330047607422, -55.120880126953125, 26.593406677246094, 90.37362670898438, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.466667
74
0
74
0
[ 10.857142448425293, -50.41758346557617, 18.769229888916016, 93.05494689941406, -76.43955993652344, 0.5194805264472961 ]
[ 10.021978378295898, -53.89011001586914, 25.098901748657227, 91.07691955566406, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.5
75
0
75
0
[ 10.94505500793457, -49.89011001586914, 18.329669952392578, 93.23076629638672, -76.43955993652344, 0.5194805264472961 ]
[ 10.285714149475098, -52.83516311645508, 23.868131637573242, 91.78022003173828, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.533333
76
0
76
0
[ 10.94505500793457, -49.4505500793457, 18.153846740722656, 93.23076629638672, -76.43955993652344, 0.5194805264472961 ]
[ 10.461538314819336, -51.868133544921875, 22.72527503967285, 92.3956069946289, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.566667
77
0
77
0
[ 10.94505500793457, -49.18681335449219, 18.065933227539062, 93.23076629638672, -76.43955993652344, 0.5194805264472961 ]
[ 10.461538314819336, -51.07692337036133, 21.934066772460938, 92.74725341796875, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.6
78
0
78
0
[ 10.94505500793457, -49.18681335449219, 18.153846740722656, 93.14286041259766, -76.43955993652344, 0.5194805264472961 ]
[ 10.549450874328613, -50.373626708984375, 21.58241844177246, 92.92308044433594, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.633333
79
0
79
0
[ 10.94505500793457, -49.098899841308594, 18.241758346557617, 93.14286041259766, -76.43955993652344, 0.5194805264472961 ]
[ 10.637362480163574, -49.93406677246094, 21.318681716918945, 92.92308044433594, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.666667
80
0
80
0
[ 11.032966613769531, -48.92307662963867, 18.241758346557617, 93.14286041259766, -76.43955993652344, 0.5194805264472961 ]
[ 10.637362480163574, -49.67033004760742, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.7
81
0
81
0
[ 11.032966613769531, -48.74725341796875, 18.241758346557617, 93.14286041259766, -76.43955993652344, 0.5194805264472961 ]
[ 10.637362480163574, -49.406593322753906, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.733333
82
0
82
0
[ 11.032966613769531, -48.74725341796875, 18.241758346557617, 93.14286041259766, -76.52747344970703, 0.5194805264472961 ]
[ 10.637362480163574, -49.230770111083984, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.766667
83
0
83
0
[ 11.120879173278809, -48.659339904785156, 18.329669952392578, 93.14286041259766, -76.52747344970703, 0.5194805264472961 ]
[ 10.637362480163574, -49.05494689941406, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.8
84
0
84
0
[ 11.20879077911377, -48.659339904785156, 18.505495071411133, 93.05494689941406, -76.70330047607422, 0.5194805264472961 ]
[ 10.637362480163574, -48.879119873046875, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.833333
85
0
85
0
[ 11.912087440490723, -48.659339904785156, 19.120878219604492, 92.87911987304688, -76.87911987304688, 0.5194805264472961 ]
[ 10.637362480163574, -48.879119873046875, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.866667
86
0
86
0
[ 12.879120826721191, -48.659339904785156, 20, 92.0879135131836, -76.87911987304688, 0.5194805264472961 ]
[ 10.637362480163574, -48.879119873046875, 21.318681716918945, 93.010986328125, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.9
87
0
87
0
[ 13.582417488098145, -48.659339904785156, 21.05494499206543, 91.03296661376953, -76.70330047607422, 0.5194805264472961 ]
[ 11.076923370361328, -48.879119873046875, 21.318681716918945, 93.010986328125, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.933333
88
0
88
0
[ 14.197802543640137, -48.74725341796875, 22.0219783782959, 90.15384674072266, -76.61538696289062, 0.5194805264472961 ]
[ 11.780220031738281, -48.879119873046875, 21.318681716918945, 92.83516693115234, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
2.966667
89
0
89
0
[ 14.549450874328613, -48.74725341796875, 22.72527503967285, 89.27472686767578, -76.61538696289062, 0.5194805264472961 ]
[ 12.747252464294434, -48.879119873046875, 21.494504928588867, 92.13186645507812, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3
90
0
90
0
[ 15.076923370361328, -48.74725341796875, 23.428571701049805, 88.30769348144531, -76.61538696289062, 0.5194805264472961 ]
[ 13.450549125671387, -48.879119873046875, 21.934066772460938, 91.42857360839844, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.033333
91
0
91
0
[ 15.780220031738281, -48.74725341796875, 24.21977996826172, 87.51648712158203, -76.61538696289062, 0.5194805264472961 ]
[ 13.802197456359863, -48.879119873046875, 22.63736343383789, 90.63735961914062, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.066667
92
0
92
0
[ 16.483516693115234, -48.659339904785156, 25.098901748657227, 86.63735961914062, -76.61538696289062, 0.5194805264472961 ]
[ 14.15384578704834, -48.879119873046875, 23.16483497619629, 89.84615325927734, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.1
93
0
93
0
[ 17.27472496032715, -48.659339904785156, 25.9780216217041, 86.02198028564453, -76.52747344970703, 0.5194805264472961 ]
[ 14.857142448425293, -48.879119873046875, 23.78022003173828, 89.05494689941406, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.133333
94
0
94
0
[ 18.065933227539062, -48.659339904785156, 26.681318283081055, 85.5824203491211, -76.52747344970703, 0.5194805264472961 ]
[ 15.472527503967285, -48.879119873046875, 24.571428298950195, 88.17582702636719, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.166667
95
0
95
0
[ 19.03296661376953, -48.659339904785156, 27.47252655029297, 85.31867980957031, -76.52747344970703, 0.5194805264472961 ]
[ 16.263736724853516, -48.879119873046875, 25.450550079345703, 87.47252655029297, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.2
96
0
96
0
[ 20.351648330688477, -48.659339904785156, 28.175825119018555, 85.23076629638672, -76.61538696289062, 0.5194805264472961 ]
[ 16.879121780395508, -48.879119873046875, 26.153846740722656, 86.85713958740234, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.233333
97
0
97
0
[ 21.934066772460938, -48.659339904785156, 28.703296661376953, 85.05494689941406, -76.70330047607422, 0.5194805264472961 ]
[ 17.758241653442383, -48.879119873046875, 26.85714340209961, 86.5054931640625, -76.79120635986328, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
3.266667
98
0
98
0
[ 23.428571701049805, -48.659339904785156, 29.494504928588867, 84.0879135131836, -76.61538696289062, 0.6060606241226196 ]
[ 18.813186645507812, -48.879119873046875, 27.560440063476562, 86.24176025390625, -76.70330047607422, 1.249132513999939 ]
[ 12, -12 ]
[ 0, -12 ]
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": "so_follower",
    "total_episodes": 90,
    "total_frames": 45205,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:90"
    },
    "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.front": {
            "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
            }
        },
        "cube_position": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "cube_x",
                "cube_y"
            ]
        },
        "bin_position": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "bin_x",
                "bin_y"
            ]
        },
        "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
21
License:
apache-2.0
Number of rows:
45,205
Total file size:
315 MB

Models trained or fine-tuned on RobotLearningProject/so101_merged