Hugging Face's logo

Datasets:
edgarkim
/
so101_test_0113_mimic

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
12.3
frame_index
int64
0
369
episode_index
int64
0
499
index
int64
0
136k
task_index
int64
0
0
[ 0.28778076171875, -0.21138763427734375, 6.228218078613281, -0.7424468994140625, -0.00095367431640625, 1.1579817533493042 ]
[ 0.30938720703125, 1.8701400756835938, 7.73260498046875, -0.020233154296875, -0.0008392333984375, 1.8418083190917969 ]
0
0
0
0
0
[ -0.02557373046875, -3.0678863525390625, 11.810752868652344, -3.449066162109375, 0.078582763671875, 1.1579817533493042 ]
[ 0.28875732421875, 1.0548019409179688, 10.0277099609375, -1.173980712890625, 0.0292510986328125, 1.5744659900665283 ]
0.033333
1
0
1
0
[ 0.7501602172851562, 1.992584228515625, 5.221534729003906, -1.8266143798828125, 0.21851348876953125, 1.1579817533493042 ]
[ 0.30197906494140625, 1.968017578125, 9.345451354980469, -1.1349563598632812, 0.1019439697265625, 1.4057601690292358 ]
0.066667
2
0
2
0
[ -0.33148193359375, -10.1129150390625, 18.01800537109375, 7.452079772949219, 1.8063812255859375, 1.1579817533493042 ]
[ 0.28536224365234375, -0.9630966186523438, 12.899208068847656, 2.142730712890625, 0.7581253051757812, 1.3155425786972046 ]
0.1
3
0
3
0
[ -1.5817489624023438, -21.035324096679688, 29.311996459960938, 17.433631896972656, 3.2054672241210938, 1.1579817533493042 ]
[ -0.01946258544921875, -7.284767150878906, 19.8323974609375, 8.136001586914062, 1.7003631591796875, 1.2546911239624023 ]
0.133333
4
0
4
0
[ -2.3829498291015625, -29.201461791992188, 36.42872619628906, 29.866409301757812, 3.87933349609375, 1.1579817533493042 ]
[ -0.6861801147460938, -14.867042541503906, 26.968399047851562, 16.668548583984375, 2.5398483276367188, 1.2145354747772217 ]
0.166667
5
0
5
0
[ -3.6765899658203125, -37.57318115234375, 42.73455810546875, 41.7476806640625, 4.228912353515625, 1.1579817533493042 ]
[ -1.6959152221679688, -22.973403930664062, 33.76185607910156, 26.23784637451172, 3.1906280517578125, 1.1892787218093872 ]
0.2
6
0
6
0
[ -2.9558792114257812, -43.23600387573242, 52.02549743652344, 48.57075500488281, 4.704536437988281, 1.1579817533493042 ]
[ -2.6079788208007812, -31.087265014648438, 40.834869384765625, 34.891357421875, 3.775848388671875, 1.1758795976638794 ]
0.233333
7
0
7
0
[ -4.0130615234375, -52.04338455200195, 60.3929443359375, 59.16755676269531, 4.45953369140625, 1.1579817533493042 ]
[ -3.2782211303710938, -39.30723571777344, 48.323577880859375, 44.18064880371094, 4.040550231933594, 1.1701853275299072 ]
0.266667
8
0
8
0
[ -3.1817474365234375, -60.180442810058594, 71.55105590820312, 62.66871643066406, 4.7216644287109375, 1.1579817533493042 ]
[ -3.5387954711914062, -47.749961853027344, 57.2547607421875, 51.369049072265625, 4.3047943115234375, 1.163784384727478 ]
0.3
9
0
9
0
[ -3.7381210327148438, -65.22522735595703, 79.74385070800781, 62.7723388671875, 4.537818908691406, 1.1579817533493042 ]
[ -3.615203857421875, -54.91939926147461, 66.43223571777344, 56.020538330078125, 4.394737243652344, 1.1546404361724854 ]
0.333333
10
0
10
0
[ -4.875419616699219, -73.50664520263672, 89.56466674804688, 59.87666320800781, 3.6103973388671875, 1.4888347387313843 ]
[ -4.01544189453125, -61.892154693603516, 76.00323486328125, 57.77592468261719, 4.091987609863281, 1.2758749723434448 ]
0.366667
11
0
11
0
[ -2.932159423828125, -85.56954956054688, 92.04354858398438, 64.98191833496094, 5.2217254638671875, 1.4888347387313843 ]
[ -3.805450439453125, -70.16605377197266, 84.07911682128906, 60.9884033203125, 4.528739929199219, 1.3479502201080322 ]
0.4
12
0
12
0
[ -2.98602294921875, -97.06322479248047, 93.44961547851562, 74.7138671875, 5.204132080078125, 1.4888347387313843 ]
[ -3.45721435546875, -79.3258285522461, 89.43434143066406, 66.69436645507812, 4.7892913818359375, 1.3922483921051025 ]
0.433333
13
0
13
0
[ -3.6955413818359375, -94.64484405517578, 92.04718017578125, 72.57684326171875, 4.566070556640625, 1.240695595741272 ]
[ -3.5133056640625, -85.21528625488281, 92.00465393066406, 69.46754455566406, 4.703971862792969, 1.3214744329452515 ]
0.466667
14
0
14
0
[ -3.6114730834960938, -103.48783111572266, 96.10127258300781, 77.03599548339844, 4.920509338378906, 1.240695595741272 ]
[ -3.5269012451171875, -92.35997009277344, 93.17854309082031, 71.86520385742188, 4.736198425292969, 1.2834124565124512 ]
0.5
15
0
15
0
[ -4.75732421875, -98.33930969238281, 91.01177978515625, 76.32057189941406, 3.921783447265625, 1.240695595741272 ]
[ -3.9207305908203125, -95.23204803466797, 92.87989807128906, 73.05424499511719, 4.377769470214844, 1.2681015729904175 ]
0.533333
16
0
16
0
[ -4.413780212402344, -100.43633270263672, 93.68717956542969, 75.31205749511719, 3.9557113647460938, 1.240695595741272 ]
[ -4.156883239746094, -97.48023223876953, 93.16862487792969, 73.57913208007812, 4.236091613769531, 1.2580559253692627 ]
0.566667
17
0
17
0
[ -3.0550918579101562, -94.90373229980469, 93.13710021972656, 69.94227600097656, 4.664817810058594, 1.240695595741272 ]
[ -3.8148193359375, -96.73992919921875, 93.52310180664062, 72.26173400878906, 4.400566101074219, 1.2509276866912842 ]
0.6
18
0
18
0
[ -3.644989013671875, -102.45452880859375, 94.36932373046875, 77.23135375976562, 4.2210845947265625, 1.240695595741272 ]
[ -3.6590499877929688, -98.77274322509766, 93.96530151367188, 73.77145385742188, 4.27044677734375, 1.2410839796066284 ]
0.633333
19
0
19
0
[ -3.4599456787109375, -100.80253601074219, 95.13896179199219, 74.40400695800781, 4.685417175292969, 1.240695595741272 ]
[ -3.5722885131835938, -99.91697692871094, 94.24728393554688, 73.86766052246094, 4.42047119140625, 1.2423419952392578 ]
0.666667
20
0
20
0
[ -3.4350128173828125, -103.1322250366211, 96.33511352539062, 74.92971801757812, 4.563079833984375, 1.240695595741272 ]
[ -3.4859619140625, -100.0150375366211, 94.7237548828125, 73.83363342285156, 4.4240570068359375, 1.2406115531921387 ]
0.7
21
0
21
0
[ -4.528480529785156, -101.3130874633789, 95.85844421386719, 73.57000732421875, 4.026153564453125, 1.240695595741272 ]
[ -3.8069686889648438, -100.00450134277344, 94.96070861816406, 73.62130737304688, 4.241111755371094, 1.2393293380737305 ]
0.733333
22
0
22
0
[ -3.2013702392578125, -102.17383575439453, 93.78121948242188, 77.30758666992188, 4.617401123046875, 1.240695595741272 ]
[ -3.6088790893554688, -100.0152587890625, 94.92031860351562, 73.84622192382812, 4.322418212890625, 1.2385376691818237 ]
0.766667
23
0
23
0
[ -3.6572494506835938, -92.82686614990234, 91.60543823242188, 68.91470336914062, 4.353248596191406, 1.240695595741272 ]
[ -3.583526611328125, -97.26600646972656, 94.51075744628906, 72.15242004394531, 4.329742431640625, 1.235796332359314 ]
0.8
24
0
24
0
[ -1.9476852416992188, -100.33956909179688, 94.520751953125, 74.35787963867188, 5.627082824707031, 1.240695595741272 ]
[ -3.0279541015625, -98.17826843261719, 94.75245666503906, 72.99778747558594, 4.830375671386719, 1.238081693649292 ]
0.833333
25
0
25
0
[ -3.2096405029296875, -96.926025390625, 94.18087768554688, 71.421630859375, 4.898765563964844, 1.240695595741272 ]
[ -3.0040283203125, -97.77865600585938, 95.03715515136719, 72.50794982910156, 4.8562164306640625, 1.2366485595703125 ]
0.866667
26
0
26
0
[ -2.239959716796875, -97.83314514160156, 97.40887451171875, 69.18952941894531, 5.600044250488281, 1.240695595741272 ]
[ -2.7620162963867188, -97.81224822998047, 96.13002014160156, 71.26625061035156, 5.143424987792969, 1.2375866174697876 ]
0.9
27
0
27
0
[ -3.9449615478515625, -98.98979187011719, 92.62055969238281, 75.5877685546875, 4.6040191650390625, 1.240695595741272 ]
[ -3.1029586791992188, -98.20269012451172, 95.95608520507812, 72.40876770019531, 4.927459716796875, 1.2348028421401978 ]
0.933333
28
0
28
0
[ -3.506317138671875, -91.43797302246094, 94.71882629394531, 66.00148010253906, 4.698966979980469, 1.240695595741272 ]
[ -3.3090744018554688, -95.83750915527344, 95.78036499023438, 70.0421142578125, 4.836341857910156, 1.2356064319610596 ]
0.966667
29
0
29
0
[ -2.2346343994140625, -95.9459457397461, 94.30680847167969, 70.45671081542969, 5.566619873046875, 1.4888347387313843 ]
[ -2.9586181640625, -95.6053237915039, 95.74960327148438, 70.25253295898438, 5.1183929443359375, 1.3327711820602417 ]
1
30
0
30
0
[ -2.8757781982421875, -93.2161865234375, 92.63496398925781, 69.94784545898438, 5.040214538574219, 1.6542599201202393 ]
[ -2.8714599609375, -94.63240051269531, 95.22552490234375, 70.26602172851562, 5.088111877441406, 1.4541088342666626 ]
1.033333
31
0
31
0
[ -3.8015289306640625, -97.95083618164062, 94.3927001953125, 73.00187683105469, 4.67822265625, 1.6542599201202393 ]
[ -3.1786270141601562, -95.74463653564453, 95.23167419433594, 71.36262512207031, 4.929588317871094, 1.5302441120147705 ]
1.066667
32
0
32
0
[ -3.778961181640625, -98.76976013183594, 92.4267578125, 75.780029296875, 4.848304748535156, 1.7369730472564697 ]
[ -3.39801025390625, -97.00183868408203, 94.99656677246094, 72.467041015625, 4.840492248535156, 1.6061782836914062 ]
1.1
33
0
33
0
[ -2.8399658203125, -93.341796875, 90.11592102050781, 72.30720520019531, 5.3847808837890625, 1.7369730472564697 ]
[ -3.2398605346679688, -95.75609588623047, 94.20855712890625, 72.28219604492188, 5.07928466796875, 1.6607639789581299 ]
1.133333
34
0
34
0
[ -3.3712692260742188, -91.68946838378906, 92.84516906738281, 67.41754150390625, 4.7908172607421875, 1.7369730472564697 ]
[ -3.2593154907226562, -94.02081298828125, 94.39112854003906, 70.58979797363281, 4.966033935546875, 1.684885859489441 ]
1.166667
35
0
35
0
[ -3.1867904663085938, -93.66360473632812, 95.02864074707031, 66.8148193359375, 5.188499450683594, 1.7369730472564697 ]
[ -3.2406539916992188, -93.75056457519531, 95.00631713867188, 69.18997192382812, 5.05169677734375, 1.7038302421569824 ]
1.2
36
0
36
0
[ -2.9874954223632812, -96.9091567993164, 92.82119750976562, 72.82646179199219, 5.632713317871094, 1.7369730472564697 ]
[ -3.144683837890625, -94.72235107421875, 94.95864868164062, 70.6810302734375, 5.275726318359375, 1.7157459259033203 ]
1.233333
37
0
37
0
[ -2.4776153564453125, -95.1645736694336, 92.10536193847656, 72.04461669921875, 5.318199157714844, 1.8196860551834106 ]
[ -2.9114456176757812, -94.86514282226562, 94.47163391113281, 71.34489440917969, 5.2929840087890625, 1.7528932094573975 ]
1.266667
38
0
38
0
[ -2.3546295166015625, -80.58509063720703, 90.62541198730469, 59.91386413574219, 5.696556091308594, 1.8196860551834106 ]
[ -2.7009735107421875, -89.70112609863281, 93.44795227050781, 67.10113525390625, 5.4484710693359375, 1.7753245830535889 ]
1.3
39
0
39
0
[ -3.6104812622070312, -79.20973205566406, 89.66476440429688, 59.281646728515625, 4.8009490966796875, 1.8196860551834106 ]
[ -2.9707565307617188, -85.44281005859375, 92.43820190429688, 64.13700866699219, 5.198417663574219, 1.7914416790008545 ]
1.333333
40
0
40
0
[ -3.3337326049804688, -68.56183624267578, 84.83747863769531, 53.813446044921875, 5.02130126953125, 1.8196860551834106 ]
[ -3.1539764404296875, -78.88092803955078, 90.35362243652344, 60.33927917480469, 5.1305999755859375, 1.7989002466201782 ]
1.366667
41
0
41
0
[ -4.0324859619140625, -72.21273803710938, 87.16073608398438, 55.318695068359375, 4.3913116455078125, 1.8196860551834106 ]
[ -3.4516677856445312, -75.98857116699219, 89.23663330078125, 58.374603271484375, 4.845390319824219, 1.8073463439941406 ]
1.4
42
0
42
0
[ -4.801063537597656, -64.36567687988281, 83.28926086425781, 51.39849853515625, 4.277839660644531, 1.9023995399475098 ]
[ -3.9531631469726562, -71.48654174804688, 87.63191223144531, 55.827117919921875, 4.626258850097656, 1.8413712978363037 ]
1.433333
43
0
43
0
[ -3.5775527954101562, -64.61181640625, 81.49156188964844, 54.33628845214844, 4.367637634277344, 1.9023995399475098 ]
[ -3.9182815551757812, -68.48446655273438, 85.81080627441406, 55.31098937988281, 4.5279541015625, 1.8643617630004883 ]
1.466667
44
0
44
0
[ -4.4650115966796875, -63.87233352661133, 78.32969665527344, 56.71095275878906, 4.3785552978515625, 1.9023995399475098 ]
[ -4.058113098144531, -66.37488555908203, 83.65934753417969, 55.97764587402344, 4.46942138671875, 1.8762333393096924 ]
1.5
45
0
45
0
[ -4.408988952636719, -56.17951583862305, 77.791259765625, 49.861083984375, 4.499176025390625, 1.9023995399475098 ]
[ -4.221031188964844, -62.596927642822266, 81.6993408203125, 53.72496032714844, 4.4811248779296875, 1.8836861848831177 ]
1.533333
46
0
46
0
[ -3.1232147216796875, -50.95944595336914, 73.157470703125, 50.78974914550781, 4.732582092285156, 1.9023995399475098 ]
[ -3.9052734375, -57.925270080566406, 78.99513244628906, 52.67521667480469, 4.579399108886719, 1.8902742862701416 ]
1.566667
47
0
47
0
[ -2.5158843994140625, -44.01009750366211, 70.45451354980469, 46.717987060546875, 5.336402893066406, 2.067824602127075 ]
[ -3.392333984375, -52.47862243652344, 76.16549682617188, 50.49046325683594, 4.871223449707031, 1.9560539722442627 ]
1.6
48
0
48
0
[ -3.2257766723632812, -44.70904541015625, 65.44508361816406, 52.94175720214844, 4.930152893066406, 2.812241554260254 ]
[ -3.218963623046875, -48.78409957885742, 72.7862548828125, 51.50727844238281, 4.893280029296875, 2.2849485874176025 ]
1.633333
49
0
49
0
[ -2.1566619873046875, -39.637054443359375, 62.377777099609375, 51.33644104003906, 5.74102783203125, 4.631927013397217 ]
[ -2.8993759155273438, -45.08007049560547, 69.328125, 51.574859619140625, 5.2206268310546875, 3.1862406730651855 ]
1.666667
50
0
50
0
[ -1.9954299926757812, -42.15745162963867, 63.264923095703125, 53.37715148925781, 6.0007781982421875, 10.173697471618652 ]
[ -2.5239334106445312, -43.487667083740234, 67.06768798828125, 52.194915771484375, 5.521186828613281, 5.881048202514648 ]
1.7
51
0
51
0
[ -3.9988632202148438, -37.84836959838867, 57.32403564453125, 56.29536437988281, 4.7822723388671875, 14.143919944763184 ]
[ -2.8491058349609375, -41.10313034057617, 64.02339172363281, 53.914459228515625, 5.2347412109375, 9.06324577331543 ]
1.733333
52
0
52
0
[ -4.1280670166015625, -33.49314880371094, 56.827239990234375, 52.49018859863281, 4.16552734375, 20.43010711669922 ]
[ -3.3692398071289062, -38.17161178588867, 61.46697998046875, 53.43536376953125, 4.82293701171875, 13.442776679992676 ]
1.766667
53
0
53
0
[ -4.1447906494140625, -31.80554962158203, 54.0411376953125, 54.232177734375, 4.345977783203125, 23.242347717285156 ]
[ -3.71966552734375, -35.34214782714844, 58.97100830078125, 53.7506103515625, 4.6393280029296875, 17.221332550048828 ]
1.8
54
0
54
0
[ -2.2908172607421875, -28.485107421875, 51.53184509277344, 53.94317626953125, 6.072296142578125, 26.964435577392578 ]
[ -3.4391632080078125, -32.44036865234375, 56.54148864746094, 53.89619445800781, 5.193626403808594, 20.97606658935547 ]
1.833333
55
0
55
0
[ -4.203483581542969, -22.54595184326172, 46.0765380859375, 54.39013671875, 4.682624816894531, 28.287839889526367 ]
[ -3.4692459106445312, -28.400253295898438, 53.16551208496094, 54.23011779785156, 4.994873046875, 23.7913761138916 ]
1.866667
56
0
56
0
[ -4.010398864746094, -22.294265747070312, 46.19921875, 54.29949951171875, 5.144142150878906, 29.52853775024414 ]
[ -3.6841964721679688, -25.476394653320312, 50.65724182128906, 54.208099365234375, 5.052009582519531, 26.003482818603516 ]
1.9
57
0
57
0
[ -4.388694763183594, -19.310935974121094, 43.00730895996094, 54.33686828613281, 4.674530029296875, 29.776674270629883 ]
[ -3.9322662353515625, -22.698287963867188, 48.22123718261719, 54.33714294433594, 4.906532287597656, 27.455795288085938 ]
1.933333
58
0
58
0
[ -3.78948974609375, -14.064262390136719, 39.249114990234375, 53.4830322265625, 4.931831359863281, 29.942100524902344 ]
[ -4.0091552734375, -19.154678344726562, 45.26654052734375, 54.11820983886719, 4.9173736572265625, 28.411653518676758 ]
1.966667
59
0
59
0
[ -4.231819152832031, -10.848945617675781, 35.10090637207031, 54.4876708984375, 4.62884521484375, 30.107524871826172 ]
[ -4.0511627197265625, -15.389755249023438, 41.87644958496094, 54.32655334472656, 4.8057098388671875, 29.062744140625 ]
2
60
0
60
0
[ -3.831268310546875, -7.323295593261719, 30.4769287109375, 56.462890625, 4.8447265625, 30.107524871826172 ]
[ -4.036033630371094, -11.656257629394531, 38.04258728027344, 55.220489501953125, 4.820991516113281, 29.46271514892578 ]
2.033333
61
0
61
0
[ -4.895271301269531, -6.044258117675781, 27.82213592529297, 59.38807678222656, 4.426979064941406, 30.107524871826172 ]
[ -4.176765441894531, -8.686408996582031, 34.47407531738281, 56.810455322265625, 4.667320251464844, 29.70987319946289 ]
2.066667
62
0
62
0
[ -4.5024261474609375, -3.20635986328125, 25.40837860107422, 59.97523498535156, 5.0703887939453125, 30.107524871826172 ]
[ -4.3604583740234375, -6.089813232421875, 31.330734252929688, 58.06703186035156, 4.82244873046875, 29.861186981201172 ]
2.1
63
0
63
0
[ -5.368980407714844, -1.0214767456054688, 22.42310333251953, 62.365478515625, 4.594970703125, 30.107524871826172 ]
[ -4.624137878417969, -3.558197021484375, 28.243682861328125, 59.73431396484375, 4.733970642089844, 29.954792022705078 ]
2.133333
64
0
64
0
[ -6.081512451171875, 1.424346923828125, 19.754501342773438, 62.586669921875, 4.4286956787109375, 30.107524871826172 ]
[ -5.060577392578125, -1.09423828125, 25.398216247558594, 60.893524169921875, 4.614959716796875, 30.010732650756836 ]
2.166667
65
0
65
0
[ -7.018890380859375, 6.81976318359375, 12.804771423339844, 65.49676513671875, 4.3881378173828125, 30.107524871826172 ]
[ -5.6759033203125, 2.4100341796875, 21.19879913330078, 62.808135986328125, 4.525970458984375, 30.043729782104492 ]
2.2
66
0
66
0
[ -7.673561096191406, 7.886039733886719, 12.464103698730469, 65.27835083007812, 4.428924560546875, 30.107524871826172 ]
[ -6.377525329589844, 5.255821228027344, 17.984664916992188, 63.6986083984375, 4.487815856933594, 30.068117141723633 ]
2.233333
67
0
67
0
[ -8.160659790039062, 8.517059326171875, 9.985221862792969, 67.85115051269531, 4.021705627441406, 30.107524871826172 ]
[ -7.079071044921875, 7.469520568847656, 15.295181274414062, 65.27145385742188, 4.308341979980469, 30.082454681396484 ]
2.266667
68
0
68
0
[ -6.2558746337890625, 14.545692443847656, 2.1363601684570312, 70.13113403320312, 5.377899169921875, 30.107524871826172 ]
[ -7.3564453125, 10.709892272949219, 11.040603637695312, 67.35235595703125, 4.72357177734375, 30.08631134033203 ]
2.3
69
0
69
0
[ -9.874359130859375, 11.942329406738281, 7.41107177734375, 67.26666259765625, 3.5939178466796875, 30.107524871826172 ]
[ -7.7425994873046875, 12.17340087890625, 9.531425476074219, 67.13076782226562, 4.285514831542969, 30.0965633392334 ]
2.333333
70
0
70
0
[ -7.16180419921875, 19.169113159179688, -0.8132171630859375, 68.71017456054688, 4.894676208496094, 30.107524871826172 ]
[ -8.048446655273438, 15.043899536132812, 6.245384216308594, 67.95458984375, 4.5223846435546875, 30.095741271972656 ]
2.366667
71
0
71
0
[ -8.85711669921875, 15.170135498046875, 1.3139266967773438, 72.08534240722656, 3.9266586303710938, 30.107524871826172 ]
[ -8.211959838867188, 16.619171142578125, 4.4417266845703125, 69.31552124023438, 4.292694091796875, 30.104028701782227 ]
2.4
72
0
72
0
[ -8.398323059082031, 21.504379272460938, -3.5264511108398438, 70.78581237792969, 4.197906494140625, 30.024808883666992 ]
[ -8.382637023925781, 18.734512329101562, 2.0316696166992188, 70.10725402832031, 4.255470275878906, 30.066131591796875 ]
2.433333
73
0
73
0
[ -9.834190368652344, 22.852012634277344, -6.908805847167969, 73.00955200195312, 3.5809478759765625, 29.85938835144043 ]
[ -8.601081848144531, 20.90581512451172, -1.0849456787109375, 71.21511840820312, 3.9756546020507812, 29.99348258972168 ]
2.466667
74
0
74
0
[ -9.232040405273438, 22.772872924804688, -5.621131896972656, 71.45137023925781, 4.097450256347656, 29.52853775024414 ]
[ -8.697555541992188, 21.875205993652344, -2.9759674072265625, 71.13096618652344, 3.99029541015625, 29.83163833618164 ]
2.5
75
0
75
0
[ -10.677467346191406, 25.308502197265625, -7.268714904785156, 70.6251220703125, 3.8129806518554688, 29.44582176208496 ]
[ -8.92303466796875, 23.12554931640625, -4.687431335449219, 70.82400512695312, 3.9083099365234375, 29.704116821289062 ]
2.533333
76
0
76
0
[ -10.374710083007812, 26.194236755371094, -6.9954681396484375, 70.74455261230469, 4.059539794921875, 29.44582176208496 ]
[ -9.291854858398438, 24.35345458984375, -5.9039306640625, 70.27861022949219, 3.9620361328125, 29.689741134643555 ]
2.566667
77
0
77
0
[ -10.055747985839844, 27.213577270507812, -9.045913696289062, 72.36808776855469, 4.616233825683594, 29.44582176208496 ]
[ -9.580131530761719, 25.585708618164062, -7.464324951171875, 70.34408569335938, 4.218650817871094, 29.724246978759766 ]
2.6
78
0
78
0
[ -9.51373291015625, 28.277847290039062, -9.279891967773438, 72.57180786132812, 5.456947326660156, 29.363107681274414 ]
[ -9.699539184570312, 26.576492309570312, -8.694648742675781, 70.45191955566406, 4.706787109375, 29.70973014831543 ]
2.633333
79
0
79
0
[ -10.311050415039062, 30.843490600585938, -11.926918029785156, 72.7176513671875, 5.245269775390625, 29.363107681274414 ]
[ -9.789115905761719, 27.997886657714844, -10.360649108886719, 70.62091064453125, 4.929115295410156, 29.705413818359375 ]
2.666667
80
0
80
0
[ -11.632843017578125, 33.29730224609375, -16.104331970214844, 75.26283264160156, 4.5258636474609375, 29.032257080078125 ]
[ -10.100379943847656, 30.057846069335938, -13.009056091308594, 71.63143920898438, 4.792961120605469, 29.58159065246582 ]
2.7
81
0
81
0
[ -12.381294250488281, 33.251312255859375, -15.507362365722656, 74.73066711425781, 4.6862335205078125, 27.791563034057617 ]
[ -10.653236389160156, 31.520538330078125, -14.499969482421875, 72.10542297363281, 4.765960693359375, 29.002761840820312 ]
2.733333
82
0
82
0
[ -12.764663696289062, 31.849212646484375, -11.810775756835938, 73.94253540039062, 4.2391815185546875, 23.076923370361328 ]
[ -11.342117309570312, 31.904266357421875, -14.115737915039062, 72.01515197753906, 4.586639404296875, 26.836288452148438 ]
2.766667
83
0
83
0
[ -13.233467102050781, 32.135284423828125, -12.902572631835938, 73.64840698242188, 4.1204833984375, 19.520263671875 ]
[ -12.0826416015625, 32.373931884765625, -13.573562622070312, 72.49263000488281, 4.412933349609375, 24.042213439941406 ]
2.8
84
0
84
0
[ -14.133979797363281, 36.11846923828125, -19.136672973632812, 75.45082092285156, 4.0486602783203125, 12.655086517333984 ]
[ -12.683197021484375, 34.049407958984375, -15.524887084960938, 73.67050170898438, 4.5277252197265625, 19.660037994384766 ]
2.833333
85
0
85
0
[ -12.618949890136719, 31.80938720703125, -11.537765502929688, 72.75889587402344, 5.1138916015625, 9.181140899658203 ]
[ -12.818267822265625, 33.436798095703125, -14.481651306152344, 73.04177856445312, 4.8727874755859375, 15.660574913024902 ]
2.866667
86
0
86
0
[ -13.774330139160156, 32.51649475097656, -13.165245056152344, 72.83161926269531, 3.9285659790039062, 3.1430933475494385 ]
[ -12.89483642578125, 33.19508361816406, -14.058273315429688, 72.83195495605469, 4.6279449462890625, 10.980480194091797 ]
2.9
87
0
87
0
[ -13.733627319335938, 32.234100341796875, -13.131248474121094, 74.22651672363281, 4.3396148681640625, 0.6617043018341064 ]
[ -13.028533935546875, 33.101593017578125, -13.904647827148438, 73.10337829589844, 4.5839080810546875, 7.26853609085083 ]
2.933333
88
0
88
0
[ -13.144424438476562, 32.61167907714844, -14.067359924316406, 74.38247680664062, 4.424308776855469, 0.1654260754585266 ]
[ -13.109466552734375, 33.169189453125, -14.023216247558594, 73.386962890625, 4.57830810546875, 4.742375373840332 ]
2.966667
89
0
89
0
[ -13.461509704589844, 36.334869384765625, -16.28125, 72.57864379882812, 3.9280624389648438, 0.5789904594421387 ]
[ -13.104072570800781, 33.63914489746094, -14.849159240722656, 74.01359558105469, 4.425407409667969, 3.214787721633911 ]
3
90
0
90
0
[ -13.590240478515625, 31.201171875, -9.999015808105469, 71.32119750976562, 4.632545471191406, 0.8271303772926331 ]
[ -13.112480163574219, 32.765228271484375, -13.320747375488281, 72.86398315429688, 4.6156158447265625, 2.3621103763580322 ]
3.033333
91
0
91
0
[ -13.374069213867188, 32.916656494140625, -13.979461669921875, 73.70707702636719, 4.778984069824219, 0.6617043018341064 ]
[ -13.118354797363281, 32.92071533203125, -13.594406127929688, 73.0577392578125, 4.6963348388671875, 1.7309519052505493 ]
3.066667
92
0
92
0
[ -12.328346252441406, 30.974884033203125, -10.076438903808594, 71.84063720703125, 5.212493896484375, 0.8271303772926331 ]
[ -13.118728637695312, 32.33781433105469, -12.573257446289062, 72.30728149414062, 4.794654846191406, 1.4165565967559814 ]
3.1
93
0
93
0
[ -12.970291137695312, 32.54698181152344, -11.391464233398438, 71.29966735839844, 4.3134002685546875, 1.0752695798873901 ]
[ -13.110153198242188, 32.15484619140625, -12.257217407226562, 72.06260681152344, 4.633262634277344, 1.2895982265472412 ]
3.133333
94
0
94
0
[ -12.606277465820312, 34.1153564453125, -11.573051452636719, 70.18380737304688, 5.047859191894531, 1.1579817533493042 ]
[ -13.116157531738281, 32.12528991699219, -12.202499389648438, 72.01774597167969, 4.761314392089844, 1.2632110118865967 ]
3.166667
95
0
95
0
[ -13.261970520019531, 33.45086669921875, -14.315109252929688, 73.05902099609375, 4.093788146972656, 1.406120777130127 ]
[ -13.110298156738281, 32.577728271484375, -12.993453979492188, 72.62620544433594, 4.613533020019531, 1.2838901281356812 ]
3.2
96
0
96
0
[ -14.837501525878906, 34.97503662109375, -18.03778076171875, 75.65704345703125, 3.7419586181640625, 4.714639663696289 ]
[ -13.180061340332031, 33.62644958496094, -14.824882507324219, 73.9271240234375, 4.4241180419921875, 2.5832879543304443 ]
3.233333
97
0
97
0
[ -13.03173828125, 33.33087158203125, -12.362327575683594, 71.57371520996094, 4.449066162109375, 7.857733726501465 ]
[ -13.180152893066406, 33.24205017089844, -14.158859252929688, 73.41561889648438, 4.45721435546875, 4.521515369415283 ]
3.266667
98
0
98
0
[ -13.198760986328125, 32.903167724609375, -15.324195861816406, 75.45851135253906, 4.5507049560546875, 11.00082778930664 ]
[ -13.191558837890625, 33.503387451171875, -14.617691040039062, 74.02198791503906, 4.4935455322265625, 6.8083906173706055 ]
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": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 500,
    "total_frames": 136475,
    "total_tasks": 1,
    "total_videos": 1000,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:500"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30.0,
                "video.channels": 3,
                "has_audio": false
            },
            "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"
            ],
            "video_info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30.0,
                "video.channels": 3,
                "has_audio": false
            },
            "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
73
License:
apache-2.0
Size of downloaded dataset files:
12.4 MB
Size of the auto-converted Parquet files:
12.4 MB
Number of rows:
136,475