Hugging Face's logo

Datasets:
aailabkaist
/
so101_2machine_full_SH_DH

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
86.8
frame_index
int64
0
2.6k
episode_index
int64
0
49
index
int64
0
111k
task_index
int64
0
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0
0
0
0
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.033333
1
0
1
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.066667
2
0
2
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.1
3
0
3
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.133333
4
0
4
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.166667
5
0
5
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.2
6
0
6
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.233333
7
0
7
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.266667
8
0
8
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.3
9
0
9
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.333333
10
0
10
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.366667
11
0
11
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.4
12
0
12
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.3720742464065552 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.433333
13
0
13
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.466667
14
0
14
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.5
15
0
15
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.533333
16
0
16
0
[ -9.151291847229004, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.566667
17
0
17
0
[ -9.07749080657959, -97.5338134765625, 99.19355010986328, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.6
18
0
18
0
[ -9.003689765930176, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.633333
19
0
19
0
[ -9.003689765930176, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.666667
20
0
20
0
[ -8.929889678955078, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.7
21
0
21
0
[ -8.78228759765625, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.733333
22
0
22
0
[ -8.044280052185059, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.96780776977539, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.766667
23
0
23
0
[ -7.011070251464844, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -9.164149284362793, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.8
24
0
24
0
[ -5.830258369445801, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -9.063444137573242, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.833333
25
0
25
0
[ -4.870848655700684, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -8.35851001739502, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.866667
26
0
26
0
[ -3.9114391803741455, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -7.3514604568481445, -97.49059295654297, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.9
27
0
27
0
[ -3.247232437133789, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -6.3444108963012695, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.933333
28
0
28
0
[ -2.8782286643981934, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -5.538771629333496, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
0.966667
29
0
29
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -4.7331318855285645, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1
30
0
30
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -4.128902435302734, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.033333
31
0
31
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -3.8267874717712402, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.066667
32
0
32
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.1
33
0
33
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2913639545440674 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.133333
34
0
34
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2913639545440674 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.166667
35
0
35
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2913639545440674 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.2
36
0
36
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.233333
37
0
37
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.266667
38
0
38
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.3
39
0
39
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.333333
40
0
40
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.366667
41
0
41
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.4
42
0
42
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.433333
43
0
43
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.466667
44
0
44
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.86396789550781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.5
45
0
45
0
[ -2.8044281005859375, -97.5338134765625, 99.10394287109375, 76.51580047607422, 36.915889739990234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.533333
46
0
46
0
[ -2.7306272983551025, -97.61336517333984, 99.10394287109375, 76.51580047607422, 36.96780776977539, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.566667
47
0
47
0
[ -2.7306272983551025, -97.61336517333984, 99.10394287109375, 76.51580047607422, 37.01972961425781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.6
48
0
48
0
[ -2.7306272983551025, -97.61336517333984, 99.10394287109375, 76.17420959472656, 37.01972961425781, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.633333
49
0
49
0
[ -2.7306272983551025, -97.61336517333984, 99.10394287109375, 75.8326187133789, 37.071651458740234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.666667
50
0
50
0
[ -2.6568264961242676, -97.61336517333984, 99.10394287109375, 75.57643127441406, 37.071651458740234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.7
51
0
51
0
[ -2.6568264961242676, -97.61336517333984, 99.10394287109375, 74.55166625976562, 37.071651458740234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.733333
52
0
52
0
[ -2.5830259323120117, -97.61336517333984, 99.10394287109375, 73.18531036376953, 37.071651458740234, 1.2106537818908691 ]
[ -3.524672746658325, -97.57423400878906, 99.0138931274414, 75.49978637695312, 36.9474983215332, 1.756007432937622 ]
1.766667
53
0
53
0
[ -2.5092251300811768, -97.61336517333984, 99.10394287109375, 71.81895446777344, 37.071651458740234, 1.2106537818908691 ]
[ -3.4239678382873535, -97.57423400878906, 99.0138931274414, 74.98936462402344, 36.9474983215332, 1.756007432937622 ]
1.8
54
0
54
0
[ -2.361623525619507, -97.61336517333984, 99.10394287109375, 70.02561950683594, 37.071651458740234, 1.2106537818908691 ]
[ -3.1218528747558594, -97.57423400878906, 99.19318389892578, 74.39387512207031, 36.898658752441406, 1.756007432937622 ]
1.833333
55
0
55
0
[ -1.6236162185668945, -97.5338134765625, 99.10394287109375, 67.8052978515625, 37.071651458740234, 1.2106537818908691 ]
[ -3.0211479663848877, -97.49059295654297, 99.19318389892578, 73.2879638671875, 36.898658752441406, 1.756007432937622 ]
1.866667
56
0
56
0
[ -0.7380073666572571, -97.37470245361328, 99.10394287109375, 64.81639862060547, 37.071651458740234, 1.2106537818908691 ]
[ -2.920443058013916, -97.07235717773438, 99.19318389892578, 71.92684173583984, 36.898658752441406, 1.756007432937622 ]
1.9
57
0
57
0
[ 0.22140221297740936, -97.37470245361328, 99.10394287109375, 61.74209976196289, 37.071651458740234, 1.2106537818908691 ]
[ -2.7190332412719727, -96.90505981445312, 99.28282928466797, 70.39557647705078, 36.898658752441406, 1.756007432937622 ]
1.933333
58
0
58
0
[ 1.5498155355453491, -97.29515075683594, 99.10394287109375, 58.07002639770508, 37.071651458740234, 1.2106537818908691 ]
[ -1.8126888275146484, -96.98870849609375, 99.28282928466797, 68.35388946533203, 36.898658752441406, 1.756007432937622 ]
1.966667
59
0
59
0
[ 2.7306272983551025, -97.21559143066406, 99.10394287109375, 54.39794921875, 37.123573303222656, 1.2106537818908691 ]
[ -0.503524661064148, -96.98870849609375, 99.28282928466797, 65.88685607910156, 36.898658752441406, 1.756007432937622 ]
2
60
0
60
0
[ 4.206642150878906, -96.89737701416016, 99.10394287109375, 50.12809753417969, 37.123573303222656, 1.2106537818908691 ]
[ 0.20140987634658813, -96.98870849609375, 99.28282928466797, 63.16461181640625, 36.898658752441406, 1.756007432937622 ]
2.033333
61
0
61
0
[ 5.461254596710205, -96.1018295288086, 99.10394287109375, 45.94363784790039, 37.17549514770508, 1.2106537818908691 ]
[ 1.007049322128296, -96.98870849609375, 99.28282928466797, 60.18715286254883, 36.898658752441406, 1.756007432937622 ]
2.066667
62
0
62
0
[ 7.011070251464844, -94.66984558105469, 99.10394287109375, 40.905208587646484, 37.5389404296875, 1.2106537818908691 ]
[ 2.215508460998535, -96.90505981445312, 99.28282928466797, 56.86941909790039, 36.898658752441406, 1.756007432937622 ]
2.1
63
0
63
0
[ 8.634686470031738, -92.91964721679688, 99.10394287109375, 36.293766021728516, 38.52544021606445, 1.2106537818908691 ]
[ 3.927492380142212, -96.8214111328125, 99.28282928466797, 53.12632751464844, 36.898658752441406, 1.756007432937622 ]
2.133333
64
0
64
0
[ 10.62730598449707, -90.37390899658203, 99.37275695800781, 30.9991455078125, 40.083072662353516, 1.2106537818908691 ]
[ 5.035246849060059, -95.90129852294922, 99.28282928466797, 49.46831130981445, 37.14285659790039, 1.756007432937622 ]
2.166667
65
0
65
0
[ 12.546125411987305, -87.5895004272461, 99.55197143554688, 26.302305221557617, 41.74454879760742, 1.2106537818908691 ]
[ 6.143001079559326, -94.31200408935547, 99.37248229980469, 45.29987335205078, 37.68009948730469, 1.756007432937622 ]
2.2
66
0
66
0
[ 14.981550216674805, -84.0095443725586, 99.73118591308594, 21.093082427978516, 43.509864807128906, 1.2106537818908691 ]
[ 7.6535749435424805, -92.80635833740234, 99.37248229980469, 40.9612922668457, 38.46154022216797, 1.756007432937622 ]
2.233333
67
0
67
0
[ 17.34317398071289, -80.35003662109375, 99.73118591308594, 16.396242141723633, 44.85981369018555, 1.5334947109222412 ]
[ 9.66767406463623, -90.71517944335938, 99.46212768554688, 36.452571868896484, 39.731380462646484, 1.756007432937622 ]
2.266667
68
0
68
0
[ 19.778596878051758, -76.372314453125, 99.55197143554688, 11.784799575805664, 45.950157165527344, 1.614205002784729 ]
[ 11.782477378845215, -88.37306213378906, 99.46212768554688, 31.773714065551758, 41.0500602722168, 1.756007432937622 ]
2.3
69
0
69
0
[ 22.65682601928711, -71.51949310302734, 99.19355010986328, 5.892399787902832, 46.98857879638672, 1.6949152946472168 ]
[ 14.0986909866333, -85.7800064086914, 99.55177307128906, 26.924713134765625, 42.56410217285156, 1.756007432937622 ]
2.333333
70
0
70
0
[ 24.94464874267578, -67.46221160888672, 99.10394287109375, 0.6831767559051514, 47.55970764160156, 1.6949152946472168 ]
[ 16.2134952545166, -82.0158920288086, 99.55177307128906, 22.075712203979492, 43.83394241333008, 1.756007432937622 ]
2.366667
71
0
71
0
[ 27.675275802612305, -62.52983474731445, 99.10394287109375, -6.233987808227539, 47.97507858276367, 1.775625467300415 ]
[ 18.529708862304688, -78.58636474609375, 99.55177307128906, 17.396852493286133, 45.006103515625, 1.756007432937622 ]
2.4
72
0
72
0
[ 29.96310043334961, -58.313446044921875, 99.10394287109375, -12.724167823791504, 48.182762145996094, 1.775625467300415 ]
[ 20.84592056274414, -74.73860168457031, 99.55177307128906, 12.037430763244629, 45.982906341552734, 1.756007432937622 ]
2.433333
73
0
73
0
[ 32.32472229003906, -53.699283599853516, 99.01433563232422, -19.128950119018555, 48.234683990478516, 2.1791768074035645 ]
[ 23.262840270996094, -70.5562515258789, 99.55177307128906, 7.103360176086426, 46.66666793823242, 1.756007432937622 ]
2.466667
74
0
74
0
[ 34.2435417175293, -49.48289489746094, 98.65591430664062, -24.50896644592285, 48.234683990478516, 3.793381690979004 ]
[ 25.881168365478516, -66.7921371459961, 99.28282928466797, 1.4887281656265259, 47.20390701293945, 1.756007432937622 ]
2.5
75
0
75
0
[ 36.30996322631836, -45.0278434753418, 98.02867126464844, -29.37660026550293, 48.28660583496094, 6.6182403564453125 ]
[ 28.499496459960938, -62.35884475708008, 99.0138931274414, -4.210974216461182, 47.5457878112793, 1.756007432937622 ]
2.533333
76
0
76
0
[ 38.15497970581055, -41.05011749267578, 97.58064270019531, -33.64645767211914, 48.28660583496094, 9.443099021911621 ]
[ 30.815710067749023, -58.00920104980469, 98.83460235595703, -10.165886878967285, 47.741146087646484, 1.9408502578735352 ]
2.566667
77
0
77
0
[ 40.07379913330078, -36.59506607055664, 97.22222137451172, -37.91630935668945, 48.28660583496094, 12.429378509521484 ]
[ 32.62839889526367, -53.82685089111328, 98.56566619873047, -16.035730361938477, 47.88766860961914, 3.419593334197998 ]
2.6
78
0
78
0
[ 41.62361526489258, -32.776451110839844, 97.04301452636719, -41.58838653564453, 48.28660583496094, 14.769975662231445 ]
[ 34.44108581542969, -49.47720718383789, 98.3863754272461, -21.310081481933594, 47.985347747802734, 5.452865123748779 ]
2.633333
79
0
79
0
[ 43.394832611083984, -28.400955200195312, 96.50537872314453, -46.11443328857422, 48.338523864746094, 16.94915199279785 ]
[ 36.45518493652344, -45.21120834350586, 98.20708465576172, -26.499361038208008, 47.985347747802734, 7.763401031494141 ]
2.666667
80
0
80
0
[ 45.01845169067383, -24.74144744873047, 96.0573501586914, -49.70111083984375, 48.338523864746094, 18.563358306884766 ]
[ 38.36857986450195, -41.02885818481445, 98.02779388427734, -31.433433532714844, 48.08302688598633, 10.258780479431152 ]
2.7
81
0
81
0
[ 46.93727111816406, -20.365951538085938, 95.34049987792969, -54.05636215209961, 48.338523864746094, 20.096851348876953 ]
[ 40.3826789855957, -37.01380157470703, 97.93814086914062, -35.94215393066406, 48.18070983886719, 12.569315910339355 ]
2.733333
82
0
82
0
[ 48.56088638305664, -16.706443786621094, 94.6236572265625, -57.89923095703125, 48.338523864746094, 21.226795196533203 ]
[ 42.094661712646484, -32.831451416015625, 97.75885009765625, -40.280731201171875, 48.18070983886719, 14.602587699890137 ]
2.766667
83
0
83
0
[ 50.40590286254883, -12.649165153503418, 93.45877838134766, -61.65670394897461, 48.338523864746094, 22.437450408935547 ]
[ 43.6052360534668, -28.900041580200195, 97.66920471191406, -44.53424072265625, 48.18070983886719, 16.451017379760742 ]
2.8
84
0
84
0
[ 51.955718994140625, -9.228321075439453, 92.20429992675781, -64.64559936523438, 48.390445709228516, 23.32526206970215 ]
[ 45.11581039428711, -24.71769142150879, 97.22097778320312, -48.53253936767578, 48.18070983886719, 18.11460304260254 ]
2.833333
85
0
85
0
[ 53.5793342590332, -5.409705638885498, 90.6810073852539, -67.8052978515625, 48.390445709228516, 24.4552059173584 ]
[ 46.82779312133789, -20.618988037109375, 96.59345245361328, -52.615909576416016, 48.18070983886719, 19.500925064086914 ]
2.866667
86
0
86
0
[ 54.90774917602539, -2.0684168338775635, 88.88888549804688, -69.94022369384766, 48.390445709228516, 25.423728942871094 ]
[ 48.741188049316406, -16.603931427001953, 95.51770782470703, -56.44406509399414, 48.18070983886719, 20.887245178222656 ]
2.9
87
0
87
0
[ 56.16236114501953, 1.1933174133300781, 86.82795715332031, -72.07514953613281, 48.390445709228516, 26.79580307006836 ]
[ 50.65458297729492, -12.923462867736816, 94.44195556640625, -60.01701354980469, 48.18070983886719, 21.903881072998047 ]
2.933333
88
0
88
0
[ 57.63837814331055, 4.932378768920898, 84.3189926147461, -74.21007537841797, 48.390445709228516, 28.73284912109375 ]
[ 52.26586151123047, -8.992053985595703, 92.91797637939453, -63.419822692871094, 48.18070983886719, 23.012939453125 ]
2.966667
89
0
89
0
[ 58.81918716430664, 7.875895023345947, 81.98925018310547, -75.91802215576172, 48.59812927246094, 30.912025451660156 ]
[ 53.67573165893555, -5.395232200622559, 91.2146987915039, -66.39727783203125, 48.18070983886719, 24.214418411254883 ]
3
90
0
90
0
[ 60, 11.058074951171875, 79.21147155761719, -77.198974609375, 49.48078918457031, 33.41404342651367 ]
[ 54.88418960571289, -1.7984106540679932, 89.33213806152344, -68.94938659667969, 48.18070983886719, 25.600738525390625 ]
3.033333
91
0
91
0
[ 60.959407806396484, 13.762928009033203, 76.7921142578125, -78.13834381103516, 50.415367126464844, 35.67393112182617 ]
[ 56.092647552490234, 1.7984106540679932, 87.18063354492188, -71.24627685546875, 48.18070983886719, 27.356746673583984 ]
3.066667
92
0
92
0
[ 61.992618560791016, 16.626890182495117, 73.92472839355469, -78.82151794433594, 51.55763244628906, 38.4180793762207 ]
[ 57.40181350708008, 5.144290924072266, 84.84984588623047, -73.2879638671875, 48.47374725341797, 29.390018463134766 ]
3.1
93
0
93
0
[ 62.80442810058594, 19.013525009155273, 71.50537872314453, -79.33390045166016, 52.28452682495117, 40.59725570678711 ]
[ 58.91238784790039, 8.490171432495117, 82.42940521240234, -74.81922912597656, 49.157508850097656, 31.423290252685547 ]
3.133333
94
0
94
0
[ 63.54243469238281, 21.161495208740234, 68.54838562011719, -79.33390045166016, 52.80373764038086, 42.615013122558594 ]
[ 60.120845794677734, 11.585110664367676, 80.00896453857422, -76.09527587890625, 49.987789154052734, 33.364139556884766 ]
3.166667
95
0
95
0
[ 63.9852409362793, 22.991249084472656, 65.86021423339844, -79.33390045166016, 52.80373764038086, 43.906375885009766 ]
[ 61.12789535522461, 14.596403121948242, 77.31958770751953, -77.11611938476562, 50.86690902709961, 35.859519958496094 ]
3.2
96
0
96
0
[ 64.42804718017578, 25.13922119140625, 62.63440704345703, -79.33390045166016, 52.80373764038086, 44.713478088378906 ]
[ 61.832828521728516, 17.18946075439453, 74.80950164794922, -77.62654113769531, 51.5018310546875, 38.077632904052734 ]
3.233333
97
0
97
0
[ 64.94464874267578, 26.809864044189453, 59.856632232666016, -79.33390045166016, 52.80373764038086, 44.794189453125 ]
[ 62.53776550292969, 19.615222930908203, 72.12012481689453, -77.88175201416016, 51.990230560302734, 40.110904693603516 ]
3.266667
98
0
98
0
[ 65.31365203857422, 28.48050880432129, 56.9892463684082, -79.07771301269531, 52.80373764038086, 44.794189453125 ]
[ 63.242698669433594, 21.873693466186523, 69.43074798583984, -78.136962890625, 52.18559265136719, 41.58964920043945 ]
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": 50,
    "total_frames": 110987,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                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.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
31
License:
apache-2.0
Number of rows:
110,987
Total file size:
2.51 GB