Hugging Face's logo

Datasets:
bkgrf
/
eval_act_a_pen_to_penholder_no_human_body

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
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
79.7
frame_index
int64
0
2.39k
episode_index
int64
0
9
index
int64
0
15.7k
task_index
int64
0
0
[ -5.572884559631348, -99.18212890625, 101.56961059570312, 72.68395233154297, -0.046062469482421875, 1.1993517875671387 ]
[ -5.742574214935303, -97.8040542602539, 99.27371978759766, 72.02252197265625, -2.3051023483276367, 0.9589040875434875 ]
0
0
0
0
0
[ -5.557772636413574, -99.14551544189453, 101.44232177734375, 72.62617492675781, -0.22022628784179688, 1.1827654838562012 ]
[ -5.742574214935303, -97.8040542602539, 99.27371978759766, 72.02252197265625, -2.3051023483276367, 0.9589040875434875 ]
0.033333
1
0
1
0
[ -5.656476020812988, -99.27748107910156, 101.54180908203125, 72.68828582763672, -0.3047447204589844, 1.1785235404968262 ]
[ -5.742574214935303, -97.88851165771484, 99.54607391357422, 72.02252197265625, -2.0461020469665527, 0.9589040875434875 ]
0.066667
2
0
2
0
[ -5.423408508300781, -99.2705307006836, 101.26097106933594, 72.400146484375, -0.5283775329589844, 1.1663661003112793 ]
[ -5.663366317749023, -98.3108139038086, 99.81842803955078, 72.02252197265625, -0.9583009481430054, 0.9589040875434875 ]
0.1
3
0
3
0
[ -5.539959907531738, -99.32294464111328, 101.198974609375, 72.51268005371094, -0.651885986328125, 1.1443696022033691 ]
[ -5.742574214935303, -98.73310852050781, 99.81842803955078, 72.02252197265625, -0.7511007785797119, 0.9589040875434875 ]
0.133333
4
0
4
0
[ -5.379875183105469, -99.38158416748047, 100.71145629882812, 72.29396057128906, -1.0953636169433594, 1.121591567993164 ]
[ -5.742574214935303, -98.73310852050781, 99.81842803955078, 72.02252197265625, -0.6993007063865662, 0.9589040875434875 ]
0.166667
5
0
5
0
[ -5.330385208129883, -99.39382934570312, 100.46035766601562, 72.27703857421875, -1.2429847717285156, 1.1178007125854492 ]
[ -5.663366317749023, -98.73310852050781, 99.81842803955078, 72.02252197265625, -0.6993007063865662, 0.9589040875434875 ]
0.2
6
0
6
0
[ -5.27935791015625, -99.46269226074219, 99.76445007324219, 72.06001281738281, -1.86328125, 1.0832452774047852 ]
[ -5.663366317749023, -98.73310852050781, 99.81842803955078, 72.02252197265625, -0.6993007063865662, 0.9589040875434875 ]
0.233333
7
0
7
0
[ -5.142123699188232, -99.50601196289062, 98.94284057617188, 71.78192901611328, -3.4334754943847656, 1.012545108795166 ]
[ -5.663366317749023, -98.73310852050781, 99.81842803955078, 72.02252197265625, -0.8029007911682129, 0.9589040875434875 ]
0.266667
8
0
8
0
[ -4.857827663421631, -99.79905700683594, 97.54450988769531, 71.45709991455078, -4.700611114501953, 0.9627900123596191 ]
[ -5.663366317749023, -98.73310852050781, 99.81842803955078, 72.02252197265625, -1.0619010925292969, 0.9589040875434875 ]
0.3
9
0
9
0
[ -4.767707824707031, -99.99592590332031, 96.35124206542969, 71.1176528930664, -6.021827697753906, 0.9321351051330566 ]
[ -5.663366317749023, -98.81756591796875, 99.72764587402344, 72.02252197265625, -1.6317015886306763, 0.9589040875434875 ]
0.333333
10
0
10
0
[ -4.658792018890381, -100.04442596435547, 95.10295104980469, 70.98442077636719, -7.332813262939453, 0.8907828330993652 ]
[ -5.584158420562744, -99.0709457397461, 99.45529174804688, 71.76266479492188, -3.0303030014038086, 0.9589040875434875 ]
0.366667
11
0
11
0
[ -4.408640384674072, -100.13336181640625, 93.77537536621094, 70.45182800292969, -9.242897033691406, 0.8582286834716797 ]
[ -5.029703140258789, -99.0709457397461, 98.91057586669922, 71.6760482788086, -4.221704006195068, 0.9589040875434875 ]
0.4
12
0
12
0
[ -4.206215858459473, -100.45469665527344, 91.54486083984375, 70.23282623291016, -10.91656494140625, 0.8098249435424805 ]
[ -4.712871074676514, -99.0709457397461, 98.093505859375, 71.76266479492188, -5.67210578918457, 0.9589040875434875 ]
0.433333
13
0
13
0
[ -4.235854625701904, -100.40483093261719, 90.2164306640625, 69.97721099853516, -12.637720108032227, 0.7822113037109375 ]
[ -4.712871074676514, -99.0709457397461, 97.27644348144531, 71.84928894042969, -6.708106517791748, 0.9589040875434875 ]
0.466667
14
0
14
0
[ -3.976547956466675, -100.4431381225586, 86.68653869628906, 69.80887603759766, -14.908334732055664, 0.7318692207336426 ]
[ -4.95049524307251, -99.0709457397461, 95.91466522216797, 71.50281524658203, -8.676508903503418, 0.9589040875434875 ]
0.5
15
0
15
0
[ -3.989348888397217, -100.17953491210938, 85.50772857666016, 69.72740173339844, -15.973932266235352, 0.7320232391357422 ]
[ -4.633663177490234, -99.0709457397461, 94.09895324707031, 71.24296569824219, -10.334110260009766, 0.9589040875434875 ]
0.533333
16
0
16
0
[ -3.8694400787353516, -100.00701904296875, 82.90023803710938, 69.75349426269531, -17.82274055480957, 0.6964678764343262 ]
[ -4.158415794372559, -99.0709457397461, 92.91874694824219, 70.89649200439453, -11.629111289978027, 0.9589040875434875 ]
0.566667
17
0
17
0
[ -3.8970024585723877, -99.76545715332031, 80.687255859375, 70.00291442871094, -19.405254364013672, 0.6629490852355957 ]
[ -4.079207897186279, -99.0709457397461, 90.37676239013672, 70.89649200439453, -13.752913475036621, 0.9589040875434875 ]
0.6
18
0
18
0
[ -3.858645439147949, -99.32772827148438, 77.84965515136719, 70.28944396972656, -21.366680145263672, 0.6612882614135742 ]
[ -4.158415794372559, -99.0709457397461, 88.56105041503906, 70.80987548828125, -15.099715232849121, 0.9589040875434875 ]
0.633333
19
0
19
0
[ -3.818817377090454, -98.96895599365234, 75.5615463256836, 70.64195251464844, -22.6641788482666, 0.6313939094543457 ]
[ -4.3960394859313965, -99.0709457397461, 85.65592193603516, 70.80987548828125, -17.327117919921875, 0.8904109597206116 ]
0.666667
20
0
20
0
[ -3.762758255004883, -98.37471008300781, 73.70225524902344, 70.79759216308594, -23.98848533630371, 0.6272692680358887 ]
[ -4.316831588745117, -99.0709457397461, 83.65864562988281, 70.80987548828125, -18.5703182220459, 0.8219178318977356 ]
0.7
21
0
21
0
[ -3.890650510787964, -97.75017547607422, 70.81979370117188, 71.42255401611328, -25.63966178894043, 0.6214938163757324 ]
[ -4.3960394859313965, -98.98648834228516, 80.66273498535156, 70.89649200439453, -20.694120407104492, 0.8219178318977356 ]
0.733333
22
0
22
0
[ -3.854098320007324, -96.89212036132812, 67.65702819824219, 72.29243469238281, -27.024621963500977, 0.6302347183227539 ]
[ -4.316831588745117, -98.98648834228516, 78.57466888427734, 70.89649200439453, -21.833721160888672, 0.8219178318977356 ]
0.766667
23
0
23
0
[ -3.8665144443511963, -96.17483520507812, 65.38220977783203, 72.85238647460938, -27.780029296875, 0.6510639190673828 ]
[ -4.3960394859313965, -98.22634887695312, 76.30503845214844, 71.24296569824219, -23.33592414855957, 0.8219178318977356 ]
0.8
24
0
24
0
[ -4.019954204559326, -94.78551483154297, 61.82954788208008, 74.25884246826172, -29.32558250427246, 0.6629862785339355 ]
[ -4.3960394859313965, -98.14189147949219, 74.39854431152344, 71.50281524658203, -24.579124450683594, 0.8219178318977356 ]
0.833333
25
0
25
0
[ -4.149433135986328, -92.28736877441406, 56.11317443847656, 76.46424865722656, -31.304771423339844, 0.6950030326843262 ]
[ -4.316831588745117, -97.46621704101562, 70.67635345458984, 72.36898803710938, -26.28852653503418, 0.8219178318977356 ]
0.866667
26
0
26
0
[ -4.3960113525390625, -90.02420043945312, 52.27080535888672, 78.48171997070312, -32.71963119506836, 0.710200309753418 ]
[ -4.316831588745117, -96.875, 68.49750518798828, 72.8886947631836, -27.117326736450195, 0.8219178318977356 ]
0.9
27
0
27
0
[ -4.510676860809326, -86.60784149169922, 46.87080383300781, 81.04306030273438, -34.96195983886719, 0.7358746528625488 ]
[ -4.475247383117676, -94.93243408203125, 65.22923278808594, 74.18795776367188, -28.723129272460938, 0.8219178318977356 ]
0.933333
28
0
28
0
[ -4.736231327056885, -84.2930908203125, 43.32196044921875, 82.96165466308594, -36.033226013183594, 0.7286481857299805 ]
[ -4.3960394859313965, -93.15878295898438, 59.96368408203125, 76.5266342163086, -30.691530227661133, 0.8219178318977356 ]
0.966667
29
0
29
0
[ -5.05053186416626, -80.29673767089844, 38.77714920043945, 86.06517028808594, -37.3005256652832, 0.7558917999267578 ]
[ -4.237623691558838, -91.46959686279297, 56.42306137084961, 77.91251373291016, -31.831130981445312, 0.8219178318977356 ]
1
30
0
30
0
[ -5.465320587158203, -76.85921478271484, 33.46078109741211, 88.8328857421875, -39.407958984375, 0.7353873252868652 ]
[ -4.3960394859313965, -89.35810852050781, 52.97321701049805, 79.73148345947266, -33.281532287597656, 0.8219178318977356 ]
1.033333
31
0
31
0
[ -5.863664150238037, -72.97889709472656, 29.17974090576172, 91.34675598144531, -41.31968307495117, 0.7558369636535645 ]
[ -4.554455280303955, -86.40202331542969, 48.7063102722168, 81.9835433959961, -34.835533142089844, 0.8219178318977356 ]
1.066667
32
0
32
0
[ -6.332961559295654, -69.62490844726562, 25.297243118286133, 93.61532592773438, -43.12742614746094, 0.7499628067016602 ]
[ -4.95049524307251, -83.10810852050781, 43.89468765258789, 84.66868591308594, -36.182334899902344, 0.8219178318977356 ]
1.1
33
0
33
0
[ -6.831473350524902, -66.76206970214844, 21.99688720703125, 95.23907470703125, -44.730960845947266, 0.766273021697998 ]
[ -5.346534729003906, -80.06756591796875, 39.62778091430664, 87.18059539794922, -37.63273620605469, 0.8219178318977356 ]
1.133333
34
0
34
0
[ -7.103947639465332, -64.40477752685547, 19.221996307373047, 96.62474822998047, -45.98637390136719, 0.7689418792724609 ]
[ -6.05940580368042, -75.08445739746094, 33.09123992919922, 90.73191833496094, -40.48173904418945, 0.8219178318977356 ]
1.166667
35
0
35
0
[ -8.004376411437988, -61.21283721923828, 15.029842376708984, 98.53594970703125, -48.066993713378906, 0.7936553955078125 ]
[ -6.297029495239258, -70.77702331542969, 27.734907150268555, 93.3304443359375, -42.812744140625, 0.8219178318977356 ]
1.2
36
0
36
0
[ -8.57756233215332, -59.258338928222656, 12.681841850280762, 99.46833801269531, -49.550811767578125, 0.790771484375 ]
[ -6.6930694580078125, -69.25675964355469, 25.828414916992188, 94.36985778808594, -43.69334411621094, 0.8219178318977356 ]
1.233333
37
0
37
0
[ -9.105825424194336, -58.329620361328125, 11.658966064453125, 99.84061431884766, -50.262779235839844, 0.8083910942077637 ]
[ -7.089108943939209, -66.3851318359375, 22.560144424438477, 95.92897033691406, -45.1955451965332, 0.8219178318977356 ]
1.266667
38
0
38
0
[ -9.438713073730469, -56.803977966308594, 9.748331069946289, 100.42491149902344, -51.21053695678711, 0.8066010475158691 ]
[ -8.277227401733398, -62.5844612121582, 18.0208797454834, 98.00779724121094, -47.3193473815918, 0.8219178318977356 ]
1.3
39
0
39
0
[ -11.163272857666016, -54.397796630859375, 7.307521820068359, 101.02308654785156, -53.31045913696289, 0.8396167755126953 ]
[ -8.594058990478516, -60.64189147949219, 15.47889232635498, 98.35426330566406, -48.82154846191406, 0.8219178318977356 ]
1.333333
40
0
40
0
[ -11.980245590209961, -53.53205108642578, 6.590688705444336, 101.08161926269531, -54.32898712158203, 0.8690018653869629 ]
[ -8.831683158874512, -59.121620178222656, 13.663187026977539, 98.87397003173828, -49.85755157470703, 0.8219178318977356 ]
1.366667
41
0
41
0
[ -12.663374900817871, -52.63908386230469, 5.405693054199219, 101.14254760742188, -55.37834548950195, 0.8811221122741699 ]
[ -9.623762130737305, -57.60135269165039, 11.847480773925781, 98.96058654785156, -50.84175109863281, 0.8219178318977356 ]
1.4
42
0
42
0
[ -13.792046546936035, -51.896202087402344, 5.045469284057617, 101.10289001464844, -56.20298767089844, 0.9133377075195312 ]
[ -11.207921028137207, -55.57432556152344, 9.759419441223145, 98.96058654785156, -52.499351501464844, 0.8219178318977356 ]
1.433333
43
0
43
0
[ -14.441372871398926, -51.46907043457031, 4.654247283935547, 101.13082885742188, -56.81390380859375, 0.9315876960754395 ]
[ -11.920791625976562, -53.80067443847656, 8.216069221496582, 98.96058654785156, -54.00155258178711, 0.8219178318977356 ]
1.466667
44
0
44
0
[ -14.986894607543945, -51.12544631958008, 4.325984954833984, 101.18730926513672, -57.41266632080078, 0.9510397911071777 ]
[ -12.237624168395996, -53.2094612121582, 7.580572128295898, 98.96058654785156, -54.72675323486328, 0.8219178318977356 ]
1.5
45
0
45
0
[ -15.583412170410156, -50.81499481201172, 3.9662246704101562, 101.31492614746094, -57.71868133544922, 0.9683966636657715 ]
[ -13.425742149353027, -52.533782958984375, 6.945075035095215, 98.96058654785156, -55.659156799316406, 0.8219178318977356 ]
1.533333
46
0
46
0
[ -16.48845672607422, -50.55036163330078, 4.005546569824219, 101.24533081054688, -58.420833587646484, 0.9892654418945312 ]
[ -14.455445289611816, -52.02702713012695, 6.491148471832275, 98.96058654785156, -56.280757904052734, 0.8219178318977356 ]
1.566667
47
0
47
0
[ -17.43804168701172, -50.36748123168945, 3.9284191131591797, 101.35408020019531, -58.73394775390625, 1.0198478698730469 ]
[ -14.693069458007812, -51.52027130126953, 6.037221908569336, 98.96058654785156, -56.9023551940918, 0.8219178318977356 ]
1.6
48
0
48
0
[ -17.975921630859375, -50.215667724609375, 3.9362850189208984, 101.36312103271484, -58.91388702392578, 1.0403437614440918 ]
[ -15.643564224243164, -51.09797286987305, 5.946436882019043, 98.96058654785156, -57.57575607299805, 0.8219178318977356 ]
1.633333
49
0
49
0
[ -18.914274215698242, -49.987579345703125, 3.9414215087890625, 101.50114440917969, -59.327674865722656, 1.0673298835754395 ]
[ -16.356435775756836, -50.591217041015625, 5.855651378631592, 98.96058654785156, -58.04195785522461, 0.8219178318977356 ]
1.666667
50
0
50
0
[ -20.19137191772461, -49.790184020996094, 4.007724761962891, 101.45995330810547, -59.67351150512695, 1.1008820533752441 ]
[ -17.386138916015625, -50.422298431396484, 5.855651378631592, 98.96058654785156, -58.35275650024414, 0.8219178318977356 ]
1.7
51
0
51
0
[ -21.17477035522461, -49.54319763183594, 4.181835174560547, 101.3443374633789, -60.27139663696289, 1.1353955268859863 ]
[ -17.465347290039062, -50.16891860961914, 5.855651378631592, 98.96058654785156, -58.71535873413086, 0.8219178318977356 ]
1.733333
52
0
52
0
[ -22.3018856048584, -49.1609001159668, 4.486715316772461, 101.395263671875, -60.59880828857422, 1.1494369506835938 ]
[ -18.73267364501953, -50.0844612121582, 5.855651378631592, 98.96058654785156, -59.1297607421875, 0.8219178318977356 ]
1.766667
53
0
53
0
[ -22.690078735351562, -49.162078857421875, 4.472743988037109, 101.38955688476562, -60.775299072265625, 1.163276195526123 ]
[ -20.079208374023438, -50, 5.855651378631592, 98.96058654785156, -59.544158935546875, 0.8219178318977356 ]
1.8
54
0
54
0
[ -24.936222076416016, -48.4901123046875, 5.043426513671875, 101.36426544189453, -61.68248748779297, 1.2165193557739258 ]
[ -21.18811798095703, -50, 5.855651378631592, 98.96058654785156, -59.906761169433594, 0.8219178318977356 ]
1.833333
55
0
55
0
[ -25.931100845336914, -48.125125885009766, 5.204296112060547, 101.34993743896484, -62.12516403198242, 1.24025297164917 ]
[ -21.74257469177246, -49.746620178222656, 5.855651378631592, 98.96058654785156, -60.217559814453125, 0.8219178318977356 ]
1.866667
56
0
56
0
[ -28.46009063720703, -46.95886993408203, 5.7383270263671875, 101.33180236816406, -62.972511291503906, 1.2467756271362305 ]
[ -22.613861083984375, -49.32432556152344, 5.855651378631592, 98.96058654785156, -60.68376159667969, 0.8904109597206116 ]
1.9
57
0
57
0
[ -29.927330017089844, -46.836700439453125, 6.019386291503906, 101.39152526855469, -63.564231872558594, 1.3093438148498535 ]
[ -24.435644149780273, -48.56418991088867, 5.855651378631592, 98.96058654785156, -61.305362701416016, 1.0273972749710083 ]
1.933333
58
0
58
0
[ -31.528005599975586, -45.83376693725586, 6.472927093505859, 101.12126922607422, -64.18421936035156, 1.3061261177062988 ]
[ -26.01980209350586, -47.7195930480957, 6.037221908569336, 98.96058654785156, -61.875160217285156, 1.0273972749710083 ]
1.966667
59
0
59
0
[ -32.49066925048828, -45.42137908935547, 6.507728576660156, 101.11029815673828, -64.62184143066406, 1.3327245712280273 ]
[ -27.603960037231445, -47.128379821777344, 6.21879243850708, 98.96058654785156, -62.548561096191406, 1.1643835306167603 ]
2
60
0
60
0
[ -34.12395477294922, -44.27154541015625, 6.648738861083984, 100.72705078125, -65.1976547241211, 1.3337359428405762 ]
[ -29.02970314025879, -46.70608139038086, 6.400362968444824, 98.96058654785156, -63.06656265258789, 1.1643835306167603 ]
2.033333
61
0
61
0
[ -35.88113784790039, -43.07194900512695, 7.268682479858398, 100.05387878417969, -66.03194427490234, 1.3627257347106934 ]
[ -31.326732635498047, -45.945945739746094, 6.581933498382568, 98.96058654785156, -63.68816375732422, 1.1643835306167603 ]
2.066667
62
0
62
0
[ -36.75599670410156, -42.06264877319336, 7.298118591308594, 99.5963134765625, -66.3846206665039, 1.354902744293213 ]
[ -31.881187438964844, -45.27027130126953, 6.581933498382568, 98.96058654785156, -64.20616149902344, 1.1643835306167603 ]
2.1
63
0
63
0
[ -37.45909118652344, -41.614097595214844, 7.518165588378906, 99.13447570800781, -66.82218933105469, 1.4099464416503906 ]
[ -33.386138916015625, -44.42567443847656, 6.854289531707764, 98.96058654785156, -64.72416687011719, 1.1643835306167603 ]
2.133333
64
0
64
0
[ -38.54430389404297, -40.13325500488281, 7.784929275512695, 98.21283721923828, -67.29316711425781, 1.4000320434570312 ]
[ -35.4455451965332, -43.158782958984375, 7.308216094970703, 98.96058654785156, -65.50116729736328, 1.1643835306167603 ]
2.166667
65
0
65
0
[ -39.24932861328125, -39.09539794921875, 7.961307525634766, 97.23844146728516, -67.57280731201172, 1.391286849975586 ]
[ -36.31683349609375, -42.22972869873047, 7.489786624908447, 98.96058654785156, -65.91556549072266, 1.1643835306167603 ]
2.2
66
0
66
0
[ -39.60304260253906, -38.25162124633789, 8.326202392578125, 96.32766723632812, -67.75493621826172, 1.3930492401123047 ]
[ -36.950496673583984, -41.30067443847656, 7.943713188171387, 98.87397003173828, -66.43356323242188, 1.1643835306167603 ]
2.233333
67
0
67
0
[ -39.91849136352539, -37.32292938232422, 8.235580444335938, 95.65531921386719, -67.8614730834961, 1.3709001541137695 ]
[ -37.98019790649414, -40.202701568603516, 8.125283241271973, 98.70073699951172, -66.74436950683594, 1.1643835306167603 ]
2.266667
68
0
68
0
[ -40.2542610168457, -36.143306732177734, 8.419424057006836, 94.68987274169922, -68.10428619384766, 1.3740887641906738 ]
[ -39.16831588745117, -38.93581008911133, 8.488425254821777, 98.00779724121094, -67.10696411132812, 1.1643835306167603 ]
2.3
69
0
69
0
[ -40.47063446044922, -35.34865188598633, 8.577869415283203, 93.86006164550781, -68.30863952636719, 1.3526020050048828 ]
[ -39.16831588745117, -37.83783721923828, 8.57921028137207, 97.05500030517578, -67.31417083740234, 1.1643835306167603 ]
2.333333
70
0
70
0
[ -40.48545455932617, -34.86794662475586, 8.476020812988281, 93.62451934814453, -68.34747314453125, 1.3459649085998535 ]
[ -39.56435775756836, -36.908782958984375, 8.669995307922363, 96.27544403076172, -67.52136993408203, 1.1643835306167603 ]
2.366667
71
0
71
0
[ -40.917388916015625, -33.411521911621094, 8.118173599243164, 92.84136962890625, -68.59056091308594, 1.3315386772155762 ]
[ -40.43564224243164, -35.81081008911133, 8.760780334472656, 95.40927124023438, -67.78036499023438, 1.1643835306167603 ]
2.4
72
0
72
0
[ -40.82044982910156, -32.174156188964844, 7.610925674438477, 91.88214111328125, -68.55088806152344, 1.3206405639648438 ]
[ -40.43564224243164, -35.05067443847656, 8.760780334472656, 94.80294799804688, -67.78036499023438, 1.1643835306167603 ]
2.433333
73
0
73
0
[ -41.046932220458984, -30.443349838256836, 6.848112106323242, 91.08708190917969, -68.69983673095703, 1.3065581321716309 ]
[ -40.198020935058594, -34.628379821777344, 8.760780334472656, 94.28324127197266, -67.9357681274414, 1.1643835306167603 ]
2.466667
74
0
74
0
[ -41.26496887207031, -29.60206413269043, 6.341257095336914, 91.02894592285156, -68.85456848144531, 1.2915334701538086 ]
[ -40.51485061645508, -33.19256591796875, 8.669995307922363, 93.5036849975586, -68.03936767578125, 1.1643835306167603 ]
2.5
75
0
75
0
[ -41.06185531616211, -27.45594024658203, 5.70564079284668, 89.78074645996094, -68.79278564453125, 1.2699661254882812 ]
[ -41.069305419921875, -32.179054260253906, 8.669995307922363, 92.8973617553711, -68.03936767578125, 1.1643835306167603 ]
2.533333
76
0
76
0
[ -41.11387252807617, -25.757190704345703, 4.549806594848633, 89.26648712158203, -68.8634033203125, 1.2559542655944824 ]
[ -40.9901008605957, -30.405405044555664, 8.669995307922363, 92.20441436767578, -68.24656677246094, 1.1643835306167603 ]
2.566667
77
0
77
0
[ -41.03395080566406, -24.499725341796875, 3.907522201538086, 89.05271911621094, -68.91703796386719, 1.2761492729187012 ]
[ -40.83168411254883, -29.560810089111328, 8.397639274597168, 91.85794830322266, -68.29837036132812, 1.1643835306167603 ]
2.6
78
0
78
0
[ -41.05731201171875, -23.394447326660156, 3.4649524688720703, 88.59329223632812, -68.76963806152344, 1.3040580749511719 ]
[ -40.594058990478516, -27.533782958984375, 7.580572128295898, 90.9051513671875, -68.35016632080078, 1.1643835306167603 ]
2.633333
79
0
79
0
[ -41.10416793823242, -21.829463958740234, 2.4596118927001953, 88.507568359375, -68.87779235839844, 1.317643165588379 ]
[ -40.75247573852539, -25.33783721923828, 6.6727190017700195, 90.21221160888672, -68.35016632080078, 1.1643835306167603 ]
2.666667
80
0
80
0
[ -41.00118637084961, -21.2889404296875, 2.3250465393066406, 88.16513061523438, -68.95919799804688, 1.7246322631835938 ]
[ -40.67326736450195, -24.070945739746094, 6.21879243850708, 89.77912139892578, -68.40196990966797, 1.1643835306167603 ]
2.7
81
0
81
0
[ -41.02976989746094, -20.118064880371094, 1.8390216827392578, 87.30851745605469, -68.8878173828125, 2.1155436038970947 ]
[ -40.67326736450195, -22.804054260253906, 5.401724815368652, 89.51927185058594, -68.40196990966797, 1.1643835306167603 ]
2.733333
82
0
82
0
[ -41.26309585571289, -18.80364990234375, 0.7483348846435547, 87.4293212890625, -69.06838989257812, 3.0764830112457275 ]
[ -40.75247573852539, -21.62162208557129, 4.947798252105713, 89.17280578613281, -68.40196990966797, 1.3013699054718018 ]
2.766667
83
0
83
0
[ -41.50084686279297, -17.117847442626953, -1.1905899047851562, 88.26419067382812, -69.30706024169922, 6.446683883666992 ]
[ -40.75247573852539, -20.861486434936523, 4.584657192230225, 88.6530990600586, -68.40196990966797, 1.7123287916183472 ]
2.8
84
0
84
0
[ -41.5269889831543, -16.69667625427246, -1.017547607421875, 88.06607818603516, -69.22528839111328, 7.405503749847412 ]
[ -40.67326736450195, -19.847972869873047, 3.94916033744812, 88.39324188232422, -68.45376586914062, 1.917808175086975 ]
2.833333
85
0
85
0
[ -41.55702590942383, -15.671955108642578, -1.0425586700439453, 87.53762817382812, -69.53622436523438, 9.930665969848633 ]
[ -40.910892486572266, -18.75, 3.041307210922241, 88.39324188232422, -68.60916900634766, 2.6712329387664795 ]
2.866667
86
0
86
0
[ -41.86760711669922, -14.180456161499023, -1.8867454528808594, 88.44873046875, -69.84393310546875, 12.253215789794922 ]
[ -41.30693054199219, -16.976350784301758, 1.8610985279083252, 88.22000885009766, -68.76457214355469, 5 ]
2.9
87
0
87
0
[ -41.87358474731445, -12.4817533493042, -2.9873123168945312, 88.27296447753906, -70.04511260986328, 14.447305679321289 ]
[ -41.46534729003906, -16.131755828857422, 1.7703132629394531, 88.30662536621094, -68.91996765136719, 7.123287677764893 ]
2.933333
88
0
88
0
[ -42.03114318847656, -10.694470405578613, -3.588470458984375, 88.26060485839844, -70.20466613769531, 16.423004150390625 ]
[ -41.46534729003906, -15.118243217468262, 1.0440309047698975, 88.39324188232422, -69.12716674804688, 8.972602844238281 ]
2.966667
89
0
89
0
[ -42.2757453918457, -9.60146427154541, -4.321788787841797, 89.02217102050781, -70.5120849609375, 18.112157821655273 ]
[ -41.46534729003906, -13.091216087341309, -0.1361779421567917, 88.4798583984375, -69.43797302246094, 12.054794311523438 ]
3
90
0
90
0
[ -42.430599212646484, -7.519497871398926, -4.712554931640625, 88.4034423828125, -70.7482681274414, 21.00823974609375 ]
[ -41.62376403808594, -11.486486434936523, -0.8624602556228638, 88.4798583984375, -69.59336853027344, 14.041095733642578 ]
3.033333
91
0
91
0
[ -42.59829330444336, -6.681839942932129, -5.080841064453125, 88.10354614257812, -70.9249267578125, 22.1165771484375 ]
[ -41.94059371948242, -10.219594955444336, -1.4071720838546753, 88.56648254394531, -69.80056762695312, 15.616437911987305 ]
3.066667
92
0
92
0
[ -42.731544494628906, -4.410861968994141, -5.156230926513672, 87.53567504882812, -71.31501007080078, 23.55047035217285 ]
[ -42.0990104675293, -9.20608139038086, -1.9518837928771973, 88.56648254394531, -70.0595703125, 17.19178009033203 ]
3.1
93
0
93
0
[ -42.72177505493164, -4.2681884765625, -5.243438720703125, 87.30396270751953, -71.20391845703125, 23.803924560546875 ]
[ -42.336631774902344, -7.347972869873047, -2.587380886077881, 88.6530990600586, -70.26676940917969, 19.79452133178711 ]
3.133333
94
0
94
0
[ -43.457698822021484, -2.617918014526367, -5.820041656494141, 87.96897888183594, -71.36612701416016, 24.814435958862305 ]
[ -42.49504852294922, -5.827702522277832, -2.678166151046753, 88.39324188232422, -70.57756805419922, 21.50684928894043 ]
3.166667
95
0
95
0
[ -43.55881881713867, -1.0237102508544922, -6.124198913574219, 87.11078643798828, -71.47306823730469, 24.896156311035156 ]
[ -42.49504852294922, -4.476351261138916, -2.859736680984497, 88.13339233398438, -70.73297119140625, 22.671232223510742 ]
3.2
96
0
96
0
[ -43.78152847290039, -0.03873634338378906, -6.4133758544921875, 87.19546508789062, -71.67681121826172, 25.040559768676758 ]
[ -42.73267364501953, -3.2094595432281494, -3.1320927143096924, 88.13339233398438, -70.73297119140625, 23.76712417602539 ]
3.233333
97
0
97
0
[ -43.983856201171875, 2.06878662109375, -5.514892578125, 85.01463317871094, -71.59248352050781, 25.189537048339844 ]
[ -43.366336822509766, -1.7736486196517944, -3.676804304122925, 87.87353515625, -70.94017028808594, 24.3150691986084 ]
3.266667
98
0
98
0
[ -43.97866439819336, 3.0716629028320312, -6.9966583251953125, 85.69992065429688, -71.89822387695312, 25.158601760864258 ]
[ -43.76237487792969, 0, -3.858374834060669, 87.78691864013672, -71.09557342529297, 24.657533645629883 ]
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": 10,
    "total_frames": 15676,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.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
            }
        },
        "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
22
License:
apache-2.0
Number of rows:
15,676
Total file size:
185 MB