Hugging Face's logo

Datasets:
Sengankou
/
so101_fold_towel

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
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
73.4
frame_index
int64
0
2.2k
episode_index
int64
0
179
index
int64
0
238k
task_index
int64
0
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -3.8702542781829834, -99.06502532958984, 99.72776794433594, 74.7286148071289, -50.707176208496094, 0.8048290014266968 ]
0
0
0
0
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -3.8702542781829834, -99.06502532958984, 99.72776794433594, 74.7286148071289, -50.707176208496094, 0.8048290014266968 ]
0.033333
1
0
1
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.091411590576172, -99.1500244140625, 99.72776794433594, 74.7286148071289, -51.126243591308594, 0.8048290014266968 ]
0.066667
2
0
2
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.386288166046143, -99.1500244140625, 99.72776794433594, 74.7286148071289, -52.226295471191406, 0.8048290014266968 ]
0.1
3
0
3
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.3125691413879395, -99.1500244140625, 99.72776794433594, 74.64176940917969, -52.90727996826172, 0.8048290014266968 ]
0.133333
4
0
4
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.386288166046143, -99.1500244140625, 99.72776794433594, 74.554931640625, -53.16919708251953, 0.8048290014266968 ]
0.166667
5
0
5
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.554931640625, -53.431114196777344, 0.8048290014266968 ]
0.2
6
0
6
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.53588104248047, 0.8048290014266968 ]
0.233333
7
0
7
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.640647888183594, 0.8048290014266968 ]
0.266667
8
0
8
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.3
9
0
9
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.333333
10
0
10
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.366667
11
0
11
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.4
12
0
12
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.433333
13
0
13
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.466667
14
0
14
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.5
15
0
15
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.533333
16
0
16
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.566667
17
0
17
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.6
18
0
18
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.633333
19
0
19
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.666667
20
0
20
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.7
21
0
21
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.733333
22
0
22
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.766667
23
0
23
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.8
24
0
24
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.833333
25
0
25
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.866667
26
0
26
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.9
27
0
27
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.933333
28
0
28
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
0.966667
29
0
29
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1
30
0
30
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.033333
31
0
31
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.066667
32
0
32
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.1
33
0
33
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.133333
34
0
34
0
[ -4.668125629425049, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.166667
35
0
35
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.2
36
0
36
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.233333
37
0
37
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.266667
38
0
38
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.3
39
0
39
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.333333
40
0
40
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.366667
41
0
41
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.4
42
0
42
0
[ -4.595186233520508, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.433333
43
0
43
0
[ -4.522246360778809, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.23603461682796478 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.466667
44
0
44
0
[ -4.522246360778809, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.23603461682796478 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.5
45
0
45
0
[ -4.522246360778809, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.23603461682796478 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.533333
46
0
46
0
[ -4.522246360778809, -100, 99.63915252685547, 74.87309265136719, -53.98503875732422, 0.23603461682796478 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.566667
47
0
47
0
[ -4.449306964874268, -100, 99.63915252685547, 74.87309265136719, -54.13979721069336, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.6
48
0
48
0
[ -4.1575493812561035, -100, 99.63915252685547, 74.87309265136719, -54.036624908447266, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.693031311035156, 0.8048290014266968 ]
1.633333
49
0
49
0
[ -3.501094102859497, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.74541473388672, 0.8048290014266968 ]
1.666667
50
0
50
0
[ -3.282275676727295, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -4.533726692199707, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.7
51
0
51
0
[ -3.282275676727295, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -4.460007190704346, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.733333
52
0
52
0
[ -3.355215072631836, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -4.017692565917969, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.766667
53
0
53
0
[ -3.355215072631836, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -3.8702542781829834, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.8
54
0
54
0
[ -3.428154706954956, -100, 99.63915252685547, 74.87309265136719, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.833333
55
0
55
0
[ -3.428154706954956, -100, 99.63915252685547, 74.70388793945312, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.866667
56
0
56
0
[ -3.428154706954956, -100, 99.63915252685547, 74.365478515625, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.9
57
0
57
0
[ -3.428154706954956, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.933333
58
0
58
0
[ -3.428154706954956, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
1.966667
59
0
59
0
[ -3.428154706954956, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2
60
0
60
0
[ -3.355215072631836, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.033333
61
0
61
0
[ -3.355215072631836, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.066667
62
0
62
0
[ -3.282275676727295, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.1
63
0
63
0
[ -3.282275676727295, -100, 99.63915252685547, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.133333
64
0
64
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.166667
65
0
65
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.2
66
0
66
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.233333
67
0
67
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.266667
68
0
68
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.3
69
0
69
0
[ -3.282275676727295, -100, 99.54894256591797, 74.28087615966797, -53.93345260620117, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.333333
70
0
70
0
[ -3.282275676727295, -100, 99.45872497558594, 74.28087615966797, -53.881866455078125, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.366667
71
0
71
0
[ -3.282275676727295, -100, 99.45872497558594, 74.19627380371094, -53.881866455078125, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.4
72
0
72
0
[ -3.355215072631836, -100, 99.45872497558594, 73.85786437988281, -53.83028030395508, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.433333
73
0
73
0
[ -3.355215072631836, -98.9860610961914, 99.45872497558594, 72.92723846435547, -53.26283264160156, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.466667
74
0
74
0
[ -3.355215072631836, -97.8031234741211, 99.45872497558594, 71.48899841308594, -52.17951965332031, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.46808624267578, -53.79779815673828, 0.8048290014266968 ]
2.5
75
0
75
0
[ -3.355215072631836, -96.8736801147461, 99.45872497558594, 69.88155364990234, -51.044620513916016, 0.1573564112186432 ]
[ -3.722815990447998, -99.1500244140625, 99.72776794433594, 74.38124084472656, -53.79779815673828, 0.8048290014266968 ]
2.533333
76
0
76
0
[ -3.282275676727295, -95.9442367553711, 99.45872497558594, 68.18950653076172, -49.85813903808594, 0.1573564112186432 ]
[ -3.722815990447998, -98.98002624511719, 99.72776794433594, 73.7733383178711, -53.58826446533203, 0.8048290014266968 ]
2.566667
77
0
77
0
[ -3.136396884918213, -95.09928131103516, 99.45872497558594, 66.58206176757812, -48.77482604980469, 0.1573564112186432 ]
[ -3.722815990447998, -98.55503845214844, 99.72776794433594, 72.73121643066406, -52.90727996826172, 0.8048290014266968 ]
2.6
78
0
78
0
[ -3.0634572505950928, -94.5078125, 99.45872497558594, 65.48223114013672, -47.84627151489258, 0.1573564112186432 ]
[ -3.722815990447998, -97.45006561279297, 99.72776794433594, 71.2548828125, -51.85961151123047, 0.8048290014266968 ]
2.633333
79
0
79
0
[ -2.9905178546905518, -93.83185577392578, 99.45872497558594, 64.72080993652344, -47.072479248046875, 0.1573564112186432 ]
[ -3.722815990447998, -96.77008056640625, 99.72776794433594, 69.95223999023438, -50.916709899902344, 0.8048290014266968 ]
2.666667
80
0
80
0
[ -2.9175784587860107, -93.15589141845703, 99.45872497558594, 64.12859344482422, -46.298683166503906, 0.1573564112186432 ]
[ -3.649096965789795, -96.26009368896484, 99.72776794433594, 68.47589874267578, -49.97380828857422, 0.8048290014266968 ]
2.7
81
0
81
0
[ -2.8446390628814697, -92.39543914794922, 99.45872497558594, 63.70558547973633, -45.679649353027344, 0.1573564112186432 ]
[ -3.5753777027130127, -95.49510955810547, 99.72776794433594, 67.26009368896484, -48.97852325439453, 0.8048290014266968 ]
2.733333
82
0
82
0
[ -2.8446390628814697, -91.63497924804688, 99.36851501464844, 63.6209831237793, -45.06061553955078, 0.1573564112186432 ]
[ -3.5016586780548096, -94.56013488769531, 99.72776794433594, 66.39166259765625, -48.245155334472656, 0.8048290014266968 ]
2.766667
83
0
83
0
[ -2.8446390628814697, -90.70553588867188, 99.36851501464844, 63.19797134399414, -44.235233306884766, 0.1573564112186432 ]
[ -3.5016586780548096, -93.8801498413086, 99.72776794433594, 65.52323150634766, -47.354637145996094, 0.8048290014266968 ]
2.8
84
0
84
0
[ -2.8446390628814697, -89.94507598876953, 99.36851501464844, 62.859561920166016, -43.306678771972656, 0.1573564112186432 ]
[ -3.354220390319824, -93.37016296386719, 99.72776794433594, 65.0021743774414, -46.67365264892578, 0.8048290014266968 ]
2.833333
85
0
85
0
[ -2.8446390628814697, -89.10012817382812, 99.36851501464844, 62.35194396972656, -42.27495574951172, 0.1573564112186432 ]
[ -3.206782102584839, -92.35018920898438, 99.72776794433594, 64.56795501708984, -45.99266815185547, 0.8048290014266968 ]
2.866667
86
0
86
0
[ -2.8446390628814697, -88.33966827392578, 99.36851501464844, 61.759727478027344, -41.19164276123047, 0.1573564112186432 ]
[ -3.206782102584839, -91.58521270751953, 99.72776794433594, 64.13373565673828, -45.206912994384766, 0.8048290014266968 ]
2.9
87
0
87
0
[ -2.8446390628814697, -87.57921600341797, 99.36851501464844, 60.99830627441406, -40.05674362182617, 0.1573564112186432 ]
[ -3.206782102584839, -90.90522766113281, 99.72776794433594, 63.69952392578125, -44.26401138305664, 0.8048290014266968 ]
2.933333
88
0
88
0
[ -2.8446390628814697, -86.90325164794922, 99.36851501464844, 59.813873291015625, -38.66391372680664, 0.1573564112186432 ]
[ -3.206782102584839, -89.88525390625, 99.72776794433594, 63.26530456542969, -43.42587661743164, 0.8048290014266968 ]
2.966667
89
0
89
0
[ -2.7716994285583496, -86.3117904663086, 99.36851501464844, 58.544837951660156, -37.83853530883789, 0.1573564112186432 ]
[ -3.206782102584839, -89.12026977539062, 99.72776794433594, 62.570560455322266, -42.2210578918457, 0.8048290014266968 ]
3
90
0
90
0
[ -2.7716994285583496, -85.72032165527344, 99.36851501464844, 57.021995544433594, -37.37425994873047, 0.1573564112186432 ]
[ -3.206782102584839, -88.44029235839844, 99.72776794433594, 61.9626579284668, -41.27815628051758, 0.8048290014266968 ]
3.033333
91
0
91
0
[ -2.7716994285583496, -84.9598617553711, 99.36851501464844, 55.32994842529297, -37.271087646484375, 0.1573564112186432 ]
[ -3.206782102584839, -87.67530822753906, 99.72776794433594, 61.09422302246094, -40.1257209777832, 0.8048290014266968 ]
3.066667
92
0
92
0
[ -2.6987600326538086, -84.11491394042969, 99.36851501464844, 53.55329895019531, -37.6321907043457, 0.1573564112186432 ]
[ -3.206782102584839, -87.16532135009766, 99.72776794433594, 59.96526336669922, -39.130435943603516, 0.8048290014266968 ]
3.1
93
0
93
0
[ -2.6258206367492676, -82.9319839477539, 99.36851501464844, 51.692047119140625, -38.81867599487305, 0.1573564112186432 ]
[ -3.206782102584839, -86.40033721923828, 99.72776794433594, 58.57577133178711, -38.501834869384766, 0.8048290014266968 ]
3.133333
94
0
94
0
[ -2.6258206367492676, -81.49556732177734, 99.36851501464844, 49.83079528808594, -40.98529815673828, 0.1573564112186432 ]
[ -3.206782102584839, -85.7203598022461, 99.72776794433594, 57.186279296875, -38.13515090942383, 0.8048290014266968 ]
3.166667
95
0
95
0
[ -2.6258206367492676, -80.05914306640625, 99.36851501464844, 48.47715759277344, -42.997161865234375, 0.1573564112186432 ]
[ -3.206782102584839, -84.95537567138672, 99.72776794433594, 55.362571716308594, -38.13515090942383, 0.8048290014266968 ]
3.2
96
0
96
0
[ -2.6987600326538086, -78.62272644042969, 99.36851501464844, 47.20812225341797, -44.4931640625, 0.1573564112186432 ]
[ -3.206782102584839, -83.9354019165039, 99.72776794433594, 53.79939270019531, -38.65898513793945, 0.8048290014266968 ]
3.233333
97
0
97
0
[ -2.8446390628814697, -77.6087875366211, 99.36851501464844, 45.9390869140625, -45.5248908996582, 0.1573564112186432 ]
[ -3.206782102584839, -82.83042907714844, 99.72776794433594, 52.14937210083008, -39.759037017822266, 0.8048290014266968 ]
3.266667
98
0
98
0
[ -2.9175784587860107, -76.6793441772461, 99.36851501464844, 44.839256286621094, -46.40185546875, 0.1573564112186432 ]
[ -3.206782102584839, -81.38546752929688, 99.72776794433594, 50.67303466796875, -41.27815628051758, 0.8048290014266968 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 180,
    "total_frames": 238127,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:180"
    },
    "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.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
            }
        },
        "observation.images.top_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top_right": {
            "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
173
License:
apache-2.0
Size of downloaded dataset files:
12.1 MB
Size of the auto-converted Parquet files:
12.1 MB
Number of rows:
238,127

Models trained or fine-tuned on Sengankou/so101_fold_towel