bigym x LeRobotv21
Collection
40 items • Updated
episode_index int64 0 59 | frame_index int64 0 743 | timestamp float64 0 14.9 | index int64 0 38.1k | task_index int64 0 0 | observation.qpos listlengths 30 30 | observation.qvel listlengths 30 30 | observation.gripper listlengths 2 2 | observation.floating_base listlengths 4 4 | observation.floating_base_actions listlengths 4 4 | observation.state listlengths 16 16 | observation.state_arm listlengths 12 12 | action listlengths 16 16 | action.floating_base listlengths 4 4 | action.arms listlengths 12 12 | observation.images.head dict | observation.images.left_wrist dict | observation.images.right_wrist dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | 0 | 0 | 0 | [
0.037497762590646744,
-0.006417584605515003,
-0.014317345805466175,
-0.08314553648233414,
0.0006819270784035325,
0.0012953985715284944,
0.0019432135159149766,
-0.0042777154594659805,
0.000687060528434813,
0.0013530999422073364,
0.002007564529776573,
-0.004500946961343288,
0.01022344361990690... | [
2.52807879447937,
-0.5145381689071655,
-1.0086954832077026,
-5.912090301513672,
0.02731090597808361,
-0.01196662150323391,
0.015299667604267597,
-0.007316974923014641,
0.027432089671492577,
-0.023317061364650726,
0.005271230358630419,
0.033146508038043976,
0.6640661954879761,
1.60929298400... | [
0,
0
] | [
0.0011774316662922502,
-0.8001444935798645,
0.9995748400688171,
-0.0008511741179972887
] | [
0,
0,
0,
0
] | [
0.0011774316662922502,
-0.8001444935798645,
0.9995748400688171,
-0.0008511741179972887,
-0.004500946961343288,
0.010223443619906902,
0.023878339678049088,
0.008874734863638878,
0.01650395430624485,
-0.0573766864836216,
0.0006000699941068888,
0.0013530267169699073,
0.0019404622726142406,
-0... | [
-0.004500946961343288,
0.010223443619906902,
0.023878339678049088,
0.008874734863638878,
0.01650395430624485,
-0.0573766864836216,
0.0006000699941068888,
0.0013530267169699073,
0.0019404622726142406,
-0.004411814734339714,
0,
0
] | [
0.0011198262218385935,
-0.0005475234356708825,
0.0006879495922476053,
0.00024027522886171937,
0.16440346837043762,
-0.05569376423954964,
-0.06555701792240143,
-0.39857763051986694,
0.03345340117812157,
0.07676154375076294,
0.08848978579044342,
0.09315700083971024,
-0.28313198685646057,
-0.... | [
0.0011198262218385935,
-0.0005475234356708825,
0.0006879495922476053,
0.00024027522886171937
] | [
0.16440346837043762,
-0.05569376423954964,
-0.06555701792240143,
-0.39857763051986694,
0.03345340117812157,
0.07676154375076294,
0.08848978579044342,
0.09315700083971024,
-0.28313198685646057,
-0.2771775424480438,
0,
0
] | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... |
0 | 1 | 0.02 | 1 | 0 | [
0.08411767333745956,
-0.01819504424929619,
-0.03441691771149635,
-0.20320747792720795,
0.0010182219557464123,
0.0011513875797390938,
0.002179335569962859,
-0.003965020179748535,
0.0010189245222136378,
0.0011529260082170367,
0.0021800966933369637,
-0.003954921383410692,
0.021264992654323578,
... | [
2.013833522796631,
-0.6117531657218933,
-0.9255328178405762,
-5.647172927856445,
0.01343915332108736,
-0.002143191872164607,
0.013935654424130917,
-0.00126316596288234,
0.013256738893687725,
-0.002629956929013133,
0.012932991608977318,
-0.0006562975468114018,
0.4379834830760956,
1.12713980... | [
0,
0
] | [
0.0020496391225606203,
-0.800407350063324,
0.9996343851089478,
-0.0000686473649693653
] | [
0.0011198262218385935,
-0.0005475234356708825,
0.0006879495922476053,
0.00024027522886171937
] | [
0.0020496391225606203,
-0.800407350063324,
0.9996343851089478,
-0.0000686473649693653,
-0.003954921383410692,
0.021264992654323578,
0.05207924544811249,
0.025790592655539513,
0.04215862974524498,
-0.14033114910125732,
0.0009244398097507656,
0.0011502268025651574,
0.0020729091484099627,
-0.... | [
-0.003954921383410692,
0.021264992654323578,
0.05207924544811249,
0.025790592655539513,
0.04215862974524498,
-0.14033114910125732,
0.0009244398097507656,
0.0011502268025651574,
0.0020729091484099627,
-0.0038699060678482056,
0,
0
] | [
0.0011011501774191856,
-0.000553523248527199,
0.0007469961419701576,
0.0003071590035688132,
0.16442212462425232,
-0.054415129125118256,
-0.06649304181337357,
-0.4006711542606354,
0.031944390386343,
0.07690548896789551,
0.08751612901687622,
0.09482549130916595,
-0.28492841124534607,
-0.2767... | [
0.0011011501774191856,
-0.000553523248527199,
0.0007469961419701576,
0.0003071590035688132
] | [
0.16442212462425232,
-0.054415129125118256,
-0.06649304181337357,
-0.4006711542606354,
0.031944390386343,
0.07690548896789551,
0.08751612901687622,
0.09482549130916595,
-0.28492841124534607,
-0.2767954170703888,
0,
0
] | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... | {
"bytes": [
255,
216,
255,
224,
0,
16,
74,
70,
73,
70,
0,
1,
1,
0,
0,
1,
0,
1,
0,
0,
255,
219,
0,
67,
0,
2,
1,
1,
1,
1,
1,
2,
1,
1,
1,
2,
2,
2,
2,
2,
4,
... |
0 | 2 | 0.04 | 2 | 0 | [0.11530295759439468,-0.028906460851430893,-0.05088874697685242,-0.29940614104270935,0.0012603671057(...TRUNCATED) | [1.2125158309936523,-0.4771367311477661,-0.7064559459686279,-4.039004325866699,0.011063949204981327,(...TRUNCATED) | [
0,
0
] | [
0.0021330444142222404,
-0.8006728887557983,
0.9996911287307739,
0.0009749382152222097
] | [
0.002220976399257779,
-0.0011010466841980815,
0.001434945734217763,
0.0005474342033267021
] | [0.0021330444142222404,-0.8006728887557983,0.9996911287307739,0.0009749382152222097,-0.0041411560960(...TRUNCATED) | [-0.0041411560960114,0.02558750845491886,0.06764025241136551,0.043375082314014435,0.0670500546693801(...TRUNCATED) | [0.0010264459997415543,-0.0005775222671218216,0.0009831821080297232,0.0005746940732933581,0.16449666(...TRUNCATED) | [
0.0010264459997415543,
-0.0005775222671218216,
0.0009831821080297232,
0.0005746940732933581
] | [0.16449666023254395,-0.04930058494210243,-0.07023710012435913,-0.40904515981674194,0.02590835466980(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 3 | 0.06 | 3 | 0 | [0.1329963654279709,-0.03686271235346794,-0.062231700867414474,-0.3613123595714569,0.001463279826566(...TRUNCATED) | [0.6746901273727417,-0.3359803557395935,-0.4479227364063263,-2.368075370788574,0.009477571584284306,(...TRUNCATED) | [
0,
0
] | [
0.0019279522821307182,
-0.8009024262428284,
0.9997077584266663,
0.0018755707424134016
] | [
0.0032474223989993334,
-0.001678569009527564,
0.002418127842247486,
0.0011221283348277211
] | [0.0019279522821307182,-0.8009024262428284,0.9997077584266663,0.0018755707424134016,-0.0043348902836(...TRUNCATED) | [-0.004334890283644199,0.025598663836717606,0.0733439177274704,0.058383502066135406,0.08697191625833(...TRUNCATED) | [0.00102029531262815,-0.0005865002749487758,0.0010519931092858315,0.0006435197428800166,0.1631827801(...TRUNCATED) | [
0.00102029531262815,
-0.0005865002749487758,
0.0010519931092858315,
0.0006435197428800166
] | [0.16318278014659882,-0.048030171543359756,-0.0707583799958229,-0.41031089425086975,0.02353654056787(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 4 | 0.08 | 4 | 0 | [0.14307071268558502,-0.041893359273672104,-0.06905006617307663,-0.39423495531082153,0.0016375287668(...TRUNCATED) | [0.40725940465927124,-0.19100281596183777,-0.24956169724464417,-1.1296346187591553,0.008126975037157(...TRUNCATED) | [
0,
0
] | [
0.0018283807439729571,
-0.8011077046394348,
0.9997021555900574,
0.0026766154915094376
] | [
0.004267717711627483,
-0.002265069168061018,
0.0034701209515333176,
0.0017656480195000768
] | [0.0018283807439729571,-0.8011077046394348,0.9997021555900574,0.0026766154915094376,-0.0045066070742(...TRUNCATED) | [-0.004506607074290514,0.023613877594470978,0.07461419701576233,0.06934887170791626,0.10057740658521(...TRUNCATED) | [0.0010110692819580436,-0.0005999672575853765,0.0011552097275853157,0.0007467582472600043,0.16121201(...TRUNCATED) | [
0.0010110692819580436,
-0.0005999672575853765,
0.0011552097275853157,
0.0007467582472600043
] | [0.1612120121717453,-0.04612455144524574,-0.07154030352830887,-0.41220957040786743,0.019978825002908(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 5 | 0.1 | 5 | 0 | [0.1496824026107788,-0.04444369301199913,-0.07241564244031906,-0.4076519012451172,0.0017864247784018(...TRUNCATED) | [0.2944047749042511,-0.08248604834079742,-0.10066810995340347,-0.36440446972846985,0.006883337628096(...TRUNCATED) | [
0,
0
] | [
0.001997030572965741,
-0.8013243675231934,
0.9996898174285889,
0.0034540363121777773
] | [
0.005278787110000849,
-0.0028650364838540554,
0.004625330679118633,
0.002512406324967742
] | [0.001997030572965741,-0.8013243675231934,0.9996898174285889,0.0034540363121777773,-0.00465508736670(...TRUNCATED) | [-0.004655087366700172,0.02074587158858776,0.07502365112304688,0.07615134865045547,0.108252987265586(...TRUNCATED) | [0.001009551458992064,-0.000620635983068496,0.0011862283572554588,0.0008321821223944426,0.1601501256(...TRUNCATED) | [
0.001009551458992064,
-0.000620635983068496,
0.0011862283572554588,
0.0008321821223944426
] | [0.16015012562274933,-0.045155540108680725,-0.07144796848297119,-0.41315728425979614,0.0166671872138(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 6 | 0.12 | 6 | 0 | [0.1548384577035904,-0.04522748291492462,-0.07342328131198883,-0.4101291000843048,0.0019116178154945(...TRUNCATED) | [0.2442471832036972,-0.009456636384129524,-0.007154325023293495,0.02202869951725006,0.00573383783921(...TRUNCATED) | [
0,
0
] | [
0.002444565761834383,
-0.8015876412391663,
0.999677300453186,
0.00425089942291379
] | [
0.006288338452577591,
-0.0034856724087148905,
0.005811559036374092,
0.0033445884473621845
] | [0.002444565761834383,-0.8015876412391663,0.999677300453186,0.00425089942291379,-0.00478139286860823(...TRUNCATED) | [-0.004781392868608236,0.017901547253131866,0.07607214152812958,0.07947395741939545,0.11127912253141(...TRUNCATED) | [0.0010085395770147443,-0.0006344152498058975,0.0012069075601175427,0.0008891313918866217,0.15944220(...TRUNCATED) | [
0.0010085395770147443,
-0.0006344152498058975,
0.0012069075601175427,
0.0008891313918866217
] | [0.15944220125675201,-0.044509537518024445,-0.0713864117860794,-0.4137890934944153,0.014459425583481(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 7 | 0.14 | 7 | 0 | [0.1595078557729721,-0.04497017338871956,-0.07330823689699173,-0.4085880517959595,0.0020166721660643(...TRUNCATED) | [0.2298324853181839,0.02740865759551525,0.025113476440310478,0.10285991430282593,0.00471309991553425(...TRUNCATED) | [
0,
0
] | [
0.003123984672129154,
-0.8019189834594727,
0.9996663928031921,
0.005100963171571493
] | [
0.007296877913177013,
-0.004120087716728449,
0.007018466480076313,
0.004233719781041145
] | [0.003123984672129154,-0.8019189834594727,0.9996663928031921,0.005100963171571493,-0.004888901952654(...TRUNCATED) | [-0.004888901952654123,0.013141588307917118,0.07819928973913193,0.0802554190158844,0.111351497471332(...TRUNCATED) | [0.0009860133286565542,-0.0006578226457349956,0.0012170856352895498,0.0009504906483925879,0.16030994(...TRUNCATED) | [
0.0009860133286565542,
-0.0006578226457349956,
0.0012170856352895498,
0.0009504906483925879
] | [0.16030994057655334,-0.04463568329811096,-0.07238267362117767,-0.4182007908821106,0.005045588128268(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 8 | 0.16 | 8 | 0 | [0.16363008320331573,-0.04427284374833107,-0.07275348156690598,-0.40650203824043274,0.00210177665576(...TRUNCATED) | [0.19441112875938416,0.039480920881032944,0.03825134411454201,0.0951457992196083,0.00382544961757957(...TRUNCATED) | [
0,
0
] | [
0.003951488994061947,
-0.8023290038108826,
0.9996609091758728,
0.005993675906211138
] | [
0.008282891474664211,
-0.004777910187840462,
0.008235552348196507,
0.005184210371226072
] | [0.003951488994061947,-0.8023290038108826,0.9996609091758728,0.005993675906211138,-0.004973311908543(...TRUNCATED) | [-0.00497331190854311,0.00825328566133976,0.08098900318145752,0.0795014277100563,0.10986006259918213(...TRUNCATED) | [0.000980381853878498,-0.0006636744947172701,0.0012196301249787211,0.0009658304625190794,0.160526856(...TRUNCATED) | [
0.000980381853878498,
-0.0006636744947172701,
0.0012196301249787211,
0.0009658304625190794
] | [0.16052685678005219,-0.04466722160577774,-0.07263173907995224,-0.4193037152290344,0.002692128997296(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
0 | 9 | 0.18 | 9 | 0 | [0.16716323792934418,-0.04342406988143921,-0.07214649021625519,-0.4056246876716614,0.002172474982216(...TRUNCATED) | [0.1660066545009613,0.043290212750434875,0.03470233455300331,0.008054107427597046,0.0031413086690008(...TRUNCATED) | [
0,
0
] | [
0.0048696608282625675,
-0.8028180003166199,
0.999657154083252,
0.006893435027450323
] | [
0.00926327332854271,
-0.005441584624350071,
0.00945518258959055,
0.006150040775537491
] | [0.0048696608282625675,-0.8028180003166199,0.999657154083252,0.006893435027450323,-0.005043028388172(...TRUNCATED) | [-0.005043028388172388,0.004160614684224129,0.08423104137182236,0.07800514250993729,0.10796688497066(...TRUNCATED) | [0.0009233080199919641,-0.0006836501997895539,0.0012316881911829114,0.0009451371151953936,0.16191138(...TRUNCATED) | [
0.0009233080199919641,
-0.0006836501997895539,
0.0012316881911829114,
0.0009451371151953936
] | [0.16191138327121735,-0.04411521553993225,-0.07269692420959473,-0.4233550429344177,-0.00059784029144(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) | {"bytes":"/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBw(...TRUNCATED) |
No dataset card yet