Hugging Face's logo

Datasets:
hukewei
/
lerobot_peg_in_optical_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
35.5
frame_index
int64
0
1.06k
episode_index
int64
0
29
index
int64
0
20.5k
task_index
int64
0
0
[ -7.472527503967285, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0
0
0
0
0
[ -7.560439586639404, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.033333
1
0
1
0
[ -7.648351669311523, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.066667
2
0
2
0
[ -7.736263751983643, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.1
3
0
3
0
[ -7.736263751983643, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.133333
4
0
4
0
[ -7.736263751983643, -99.42857360839844, 97.36264038085938, 75.12088012695312, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.166667
5
0
5
0
[ -7.824175834655762, -99.69230651855469, 97.36264038085938, 75.20879364013672, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.2
6
0
6
0
[ -7.824175834655762, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.233333
7
0
7
0
[ -7.824175834655762, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.266667
8
0
8
0
[ -7.824175834655762, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.3
9
0
9
0
[ -7.736263751983643, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.333333
10
0
10
0
[ -7.560439586639404, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.366667
11
0
11
0
[ -7.560439586639404, -99.69230651855469, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.4
12
0
12
0
[ -7.472527503967285, -99.69230651855469, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.433333
13
0
13
0
[ -7.472527503967285, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.466667
14
0
14
0
[ -7.472527503967285, -99.78022003173828, 97.36264038085938, 75.38461303710938, -87.34066009521484, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.5
15
0
15
0
[ -7.472527503967285, -99.78022003173828, 97.36264038085938, 75.12088012695312, -87.51648712158203, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.533333
16
0
16
0
[ -7.472527503967285, -99.6043930053711, 97.36264038085938, 74.5934066772461, -87.78022003173828, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.566667
17
0
17
0
[ -7.472527503967285, -99.42857360839844, 97.36264038085938, 72.74725341796875, -87.78022003173828, 1.6773163080215454 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.6
18
0
18
0
[ -7.384615421295166, -99.34066009521484, 97.18681335449219, 70.37362670898438, -87.78022003173828, 1.8370606899261475 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.81318664550781, -87.86813354492188, 1.860465168952942 ]
0.633333
19
0
19
0
[ -7.384615421295166, -99.34066009521484, 96.74725341796875, 68.0879135131836, -87.78022003173828, 1.9169329404830933 ]
[ -8.219779968261719, -99.69230651855469, 96.96703338623047, 74.28571319580078, -87.86813354492188, 1.860465168952942 ]
0.666667
20
0
20
0
[ -7.384615421295166, -99.25274658203125, 95.78022003173828, 65.71428680419922, -87.78022003173828, 1.9169329404830933 ]
[ -8.219779968261719, -99.51648712158203, 96.96703338623047, 72.79120635986328, -87.86813354492188, 1.860465168952942 ]
0.7
21
0
21
0
[ -7.384615421295166, -99.16483306884766, 94.72527313232422, 63.60439682006836, -87.78022003173828, 1.9169329404830933 ]
[ -8.219779968261719, -99.07691955566406, 96.96703338623047, 71.12088012695312, -87.86813354492188, 1.860465168952942 ]
0.733333
22
0
22
0
[ -7.384615421295166, -98.72527313232422, 93.67032623291016, 61.67033004760742, -87.78022003173828, 1.9968050718307495 ]
[ -8.219779968261719, -99.07691955566406, 96.87911987304688, 69.27472686767578, -87.86813354492188, 1.860465168952942 ]
0.766667
23
0
23
0
[ -7.384615421295166, -97.84615325927734, 92.61538696289062, 59.912086486816406, -87.78022003173828, 1.9968050718307495 ]
[ -8.219779968261719, -99.07691955566406, 96.70330047607422, 67.16483306884766, -87.86813354492188, 1.860465168952942 ]
0.8
24
0
24
0
[ -7.384615421295166, -96.79120635986328, 91.47252655029297, 58.241756439208984, -87.78022003173828, 1.9968050718307495 ]
[ -8.131868362426758, -98.989013671875, 96.61538696289062, 65.31867980957031, -87.86813354492188, 1.860465168952942 ]
0.833333
25
0
25
0
[ -7.384615421295166, -95.47252655029297, 90.32967376708984, 56.83516311645508, -87.78022003173828, 1.9968050718307495 ]
[ -8.04395580291748, -98.54945373535156, 96.35164642333984, 63.47252655029297, -87.86813354492188, 1.860465168952942 ]
0.866667
26
0
26
0
[ -7.384615421295166, -94.24176025390625, 89.0988998413086, 55.340660095214844, -87.78022003173828, 2.0766773223876953 ]
[ -8.04395580291748, -97.67032623291016, 95.82417297363281, 61.626373291015625, -87.86813354492188, 1.860465168952942 ]
0.9
27
0
27
0
[ -7.296703338623047, -93.010986328125, 87.69230651855469, 53.67033004760742, -87.78022003173828, 2.0766773223876953 ]
[ -8.04395580291748, -96.70330047607422, 94.94505310058594, 60.0439567565918, -87.86813354492188, 1.860465168952942 ]
0.933333
28
0
28
0
[ -7.296703338623047, -91.78022003173828, 86.28571319580078, 52, -87.78022003173828, 2.6357827186584473 ]
[ -8.04395580291748, -95.56044006347656, 93.97801971435547, 58.46154022216797, -87.86813354492188, 1.860465168952942 ]
0.966667
29
0
29
0
[ -7.296703338623047, -90.54945373535156, 84.96703338623047, 50.153846740722656, -87.78022003173828, 4.073482513427734 ]
[ -8.04395580291748, -94.4175796508789, 92.92308044433594, 56.96703338623047, -87.86813354492188, 1.860465168952942 ]
1
30
0
30
0
[ -7.296703338623047, -89.4065933227539, 83.64835357666016, 48.131866455078125, -87.78022003173828, 6.389776229858398 ]
[ -8.04395580291748, -93.18681335449219, 91.78022003173828, 55.29670333862305, -87.86813354492188, 2.1262457370758057 ]
1.033333
31
0
31
0
[ -7.296703338623047, -88, 82.32967376708984, 45.758243560791016, -87.78022003173828, 9.584664344787598 ]
[ -8.04395580291748, -92.04395294189453, 90.54945373535156, 53.53845977783203, -87.86813354492188, 2.6578073501586914 ]
1.066667
32
0
32
0
[ -7.296703338623047, -86.94505310058594, 81.36264038085938, 43.736263275146484, -87.78022003173828, 12.06070327758789 ]
[ -8.04395580291748, -90.81318664550781, 89.23076629638672, 51.78022003173828, -87.86813354492188, 4.119601249694824 ]
1.1
33
0
33
0
[ -7.296703338623047, -85.80220031738281, 80.21977996826172, 41.53845977783203, -87.78022003173828, 14.057507514953613 ]
[ -8.04395580291748, -89.67032623291016, 88, 49.93406677246094, -87.86813354492188, 5.980066299438477 ]
1.133333
34
0
34
0
[ -7.296703338623047, -84.57142639160156, 79.07691955566406, 39.516483306884766, -87.78022003173828, 15.25559139251709 ]
[ -8.04395580291748, -88.35164642333984, 86.76923370361328, 47.736263275146484, -87.86813354492188, 8.372093200683594 ]
1.166667
35
0
35
0
[ -7.296703338623047, -83.34066009521484, 78.02198028564453, 37.31867980957031, -87.78022003173828, 15.335463523864746 ]
[ -8.04395580291748, -87.20879364013672, 85.62637329101562, 45.626373291015625, -87.86813354492188, 10.49833869934082 ]
1.2
36
0
36
0
[ -7.296703338623047, -82.02198028564453, 76.79120635986328, 35.29670333862305, -87.78022003173828, 15.095846176147461 ]
[ -8.04395580291748, -85.89010620117188, 84.48351287841797, 43.516483306884766, -87.86813354492188, 12.425249099731445 ]
1.233333
37
0
37
0
[ -7.296703338623047, -80.70330047607422, 75.47252655029297, 33.18681335449219, -87.78022003173828, 15.175719261169434 ]
[ -8.04395580291748, -84.74725341796875, 83.51648712158203, 41.406593322753906, -87.86813354492188, 13.488371849060059 ]
1.266667
38
0
38
0
[ -7.296703338623047, -79.20879364013672, 74.4175796508789, 30.813186645507812, -87.78022003173828, 15.175719261169434 ]
[ -8.04395580291748, -83.42857360839844, 82.37362670898438, 39.38461685180664, -87.86813354492188, 13.820597648620605 ]
1.3
39
0
39
0
[ -7.296703338623047, -77.71428680419922, 73.45054626464844, 28.263736724853516, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -82.02198028564453, 81.14286041259766, 37.27472686767578, -87.78022003173828, 14.219268798828125 ]
1.333333
40
0
40
0
[ -7.296703338623047, -76.13186645507812, 72.74725341796875, 25.450550079345703, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -80.61538696289062, 79.9120864868164, 35.07692337036133, -87.78022003173828, 14.485050201416016 ]
1.366667
41
0
41
0
[ -7.296703338623047, -74.54945373535156, 72.3956069946289, 22.461538314819336, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -79.20879364013672, 78.85713958740234, 32.79121017456055, -87.78022003173828, 14.617939949035645 ]
1.4
42
0
42
0
[ -7.120879173278809, -72.87911987304688, 72.21977996826172, 19.03296661376953, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -77.71428680419922, 77.89010620117188, 30.329669952392578, -87.78022003173828, 14.75083065032959 ]
1.433333
43
0
43
0
[ -6.593406677246094, -71.20879364013672, 72.30769348144531, 15.428571701049805, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -76.13186645507812, 77.27472686767578, 27.604394912719727, -87.78022003173828, 14.817276000976562 ]
1.466667
44
0
44
0
[ -6.241758346557617, -69.36264038085938, 72.48351287841797, 11.912087440490723, -87.86813354492188, 15.175719261169434 ]
[ -8.04395580291748, -74.54945373535156, 76.83516693115234, 24.791208267211914, -87.78022003173828, 14.817276000976562 ]
1.5
45
0
45
0
[ -5.890110015869141, -67.34066009521484, 72.74725341796875, 8.571428298950195, -87.86813354492188, 15.175719261169434 ]
[ -7.692307472229004, -72.87911987304688, 76.74725341796875, 21.714284896850586, -87.78022003173828, 14.817276000976562 ]
1.533333
46
0
46
0
[ -5.714285850524902, -65.14286041259766, 73.0988998413086, 5.5824174880981445, -87.86813354492188, 15.175719261169434 ]
[ -7.252747058868408, -71.12088012695312, 76.74725341796875, 18.461538314819336, -87.78022003173828, 14.817276000976562 ]
1.566667
47
0
47
0
[ -5.362637519836426, -63.03296661376953, 73.27472686767578, 2.4175825119018555, -87.86813354492188, 15.175719261169434 ]
[ -6.901098728179932, -69.36264038085938, 76.74725341796875, 15.120879173278809, -87.78022003173828, 14.817276000976562 ]
1.6
48
0
48
0
[ -4.747252941131592, -60.83516311645508, 73.27472686767578, -0.48351648449897766, -87.86813354492188, 15.175719261169434 ]
[ -6.549450397491455, -67.25274658203125, 76.74725341796875, 11.95604419708252, -87.78022003173828, 14.883721351623535 ]
1.633333
49
0
49
0
[ -4.307692527770996, -58.63736343383789, 73.36264038085938, -3.1208791732788086, -87.86813354492188, 15.175719261169434 ]
[ -6.1978020668029785, -65.14286041259766, 76.74725341796875, 8.703296661376953, -87.78022003173828, 14.883721351623535 ]
1.666667
50
0
50
0
[ -4.043956279754639, -56.35165023803711, 73.36264038085938, -5.670329570770264, -87.86813354492188, 15.335463523864746 ]
[ -5.846153736114502, -63.120880126953125, 76.74725341796875, 5.626373767852783, -87.78022003173828, 14.883721351623535 ]
1.7
51
0
51
0
[ -3.604395627975464, -54.06593322753906, 73.36264038085938, -7.956043720245361, -87.86813354492188, 15.495207786560059 ]
[ -5.406593322753906, -60.92307662963867, 76.74725341796875, 2.7252748012542725, -87.78022003173828, 14.883721351623535 ]
1.733333
52
0
52
0
[ -3.076923131942749, -51.868133544921875, 73.27472686767578, -10.241758346557617, -88.21977996826172, 15.575079917907715 ]
[ -4.9670329093933105, -58.63736343383789, 76.74725341796875, -0.08791209012269974, -87.78022003173828, 14.883721351623535 ]
1.766667
53
0
53
0
[ -2.549450635910034, -49.758243560791016, 73.18681335449219, -12.351648330688477, -88.92308044433594, 15.575079917907715 ]
[ -4.527472496032715, -56.35165023803711, 76.74725341796875, -2.8131868839263916, -87.78022003173828, 14.950165748596191 ]
1.8
54
0
54
0
[ -2.2857143878936768, -47.736263275146484, 73.0988998413086, -14.461538314819336, -89.45054626464844, 15.575079917907715 ]
[ -4.087912082672119, -54.06593322753906, 76.74725341796875, -5.274725437164307, -87.95604705810547, 15.083056449890137 ]
1.833333
55
0
55
0
[ -2.2857143878936768, -45.80219650268555, 72.92308044433594, -16.483516693115234, -89.89010620117188, 15.575079917907715 ]
[ -3.6483516693115234, -51.868133544921875, 76.74725341796875, -7.560439586639404, -88.48351287841797, 15.215947151184082 ]
1.866667
56
0
56
0
[ -2.2857143878936768, -44.131866455078125, 72.92308044433594, -18.505495071411133, -89.80220031738281, 15.575079917907715 ]
[ -3.296703338623047, -49.67033004760742, 76.74725341796875, -9.934065818786621, -88.92308044433594, 15.215947151184082 ]
1.9
57
0
57
0
[ -2.2857143878936768, -42.46154022216797, 72.92308044433594, -20.52747344970703, -89.80220031738281, 15.575079917907715 ]
[ -3.0329670906066895, -47.64834976196289, 76.74725341796875, -12.131868362426758, -89.27472686767578, 15.415282249450684 ]
1.933333
58
0
58
0
[ -2.461538553237915, -40.879119873046875, 72.92308044433594, -22.549449920654297, -89.71428680419922, 15.654952049255371 ]
[ -2.9450550079345703, -45.626373291015625, 76.74725341796875, -14.15384578704834, -89.45054626464844, 15.415282249450684 ]
1.966667
59
0
59
0
[ -2.7252748012542725, -39.38461685180664, 72.92308044433594, -24.395605087280273, -89.53845977783203, 15.654952049255371 ]
[ -2.9450550079345703, -43.78022003173828, 76.74725341796875, -16.263736724853516, -89.45054626464844, 15.415282249450684 ]
2
60
0
60
0
[ -2.9010989665985107, -38.06593322753906, 72.92308044433594, -25.80219841003418, -89.45054626464844, 15.654952049255371 ]
[ -2.9450550079345703, -42.10988998413086, 76.74725341796875, -18.285715103149414, -89.45054626464844, 15.348836898803711 ]
2.033333
61
0
61
0
[ -2.9010989665985107, -36.92307662963867, 72.83516693115234, -27.03296661376953, -89.36264038085938, 15.654952049255371 ]
[ -2.9450550079345703, -40.35165023803711, 76.74725341796875, -20.30769157409668, -89.45054626464844, 15.282392501831055 ]
2.066667
62
0
62
0
[ -2.98901104927063, -35.78022003173828, 72.57142639160156, -27.648351669311523, -89.36264038085938, 15.654952049255371 ]
[ -2.9450550079345703, -38.85714340209961, 76.74725341796875, -22.065933227539062, -89.45054626464844, 15.282392501831055 ]
2.1
63
0
63
0
[ -3.604395627975464, -34.72527313232422, 72.04395294189453, -27.824174880981445, -89.36264038085938, 15.654952049255371 ]
[ -2.9450550079345703, -37.626373291015625, 76.74725341796875, -23.560440063476562, -89.45054626464844, 15.348836898803711 ]
2.133333
64
0
64
0
[ -4.131868362426758, -33.58241653442383, 71.34066009521484, -28, -89.36264038085938, 15.654952049255371 ]
[ -2.9450550079345703, -36.39560317993164, 76.74725341796875, -24.615385055541992, -89.45054626464844, 15.348836898803711 ]
2.166667
65
0
65
0
[ -4.5714287757873535, -32.52747344970703, 70.46154022216797, -28.08791160583496, -89.36264038085938, 15.654952049255371 ]
[ -2.9450550079345703, -35.16483688354492, 76.57142639160156, -25.230770111083984, -89.45054626464844, 15.348836898803711 ]
2.2
66
0
66
0
[ -4.747252941131592, -31.208791732788086, 69.31867980957031, -28.08791160583496, -89.36264038085938, 15.654952049255371 ]
[ -3.2087912559509277, -33.93406677246094, 76.13186645507812, -25.670330047607422, -89.45054626464844, 15.348836898803711 ]
2.233333
67
0
67
0
[ -4.835165023803711, -29.80219841003418, 68.0879135131836, -28.08791160583496, -89.36264038085938, 15.654952049255371 ]
[ -3.5604395866394043, -32.70329666137695, 75.51648712158203, -25.934066772460938, -89.45054626464844, 15.348836898803711 ]
2.266667
68
0
68
0
[ -4.835165023803711, -28.043956756591797, 66.76923370361328, -28.08791160583496, -89.36264038085938, 15.654952049255371 ]
[ -3.912087917327881, -31.47252655029297, 74.54945373535156, -26.0219783782959, -89.45054626464844, 15.348836898803711 ]
2.3
69
0
69
0
[ -4.835165023803711, -26.19780158996582, 65.53845977783203, -28.08791160583496, -89.53845977783203, 15.654952049255371 ]
[ -4.351648330688477, -30.153846740722656, 73.4065933227539, -26.0219783782959, -89.45054626464844, 15.282392501831055 ]
2.333333
70
0
70
0
[ -4.747252941131592, -24.263736724853516, 64.13186645507812, -28.08791160583496, -89.62637329101562, 15.654952049255371 ]
[ -4.527472496032715, -28.74725341796875, 72.0879135131836, -26.0219783782959, -89.45054626464844, 15.282392501831055 ]
2.366667
71
0
71
0
[ -4.659340858459473, -22.241758346557617, 62.63736343383789, -28.175825119018555, -89.62637329101562, 15.654952049255371 ]
[ -4.527472496032715, -26.989011764526367, 70.68132019042969, -26.0219783782959, -89.45054626464844, 15.282392501831055 ]
2.4
72
0
72
0
[ -4.483516693115234, -20.30769157409668, 61.05494689941406, -28.175825119018555, -89.71428680419922, 15.654952049255371 ]
[ -4.527472496032715, -25.230770111083984, 69.27472686767578, -26.0219783782959, -89.45054626464844, 15.282392501831055 ]
2.433333
73
0
73
0
[ -4.483516693115234, -18.63736343383789, 59.56044006347656, -28.175825119018555, -89.71428680419922, 15.654952049255371 ]
[ -4.527472496032715, -23.296703338623047, 67.95604705810547, -26.10988998413086, -89.45054626464844, 15.348836898803711 ]
2.466667
74
0
74
0
[ -4.395604610443115, -16.879121780395508, 58.06593322753906, -28.175825119018555, -89.71428680419922, 15.654952049255371 ]
[ -4.527472496032715, -21.36263656616211, 66.54945373535156, -26.10988998413086, -89.45054626464844, 15.348836898803711 ]
2.5
75
0
75
0
[ -4.395604610443115, -15.296703338623047, 56.659339904785156, -28.175825119018555, -89.80220031738281, 15.654952049255371 ]
[ -4.527472496032715, -19.428571701049805, 65.05494689941406, -26.10988998413086, -89.45054626464844, 15.348836898803711 ]
2.533333
76
0
76
0
[ -4.395604610443115, -13.802197456359863, 55.340660095214844, -28.351648330688477, -89.80220031738281, 15.654952049255371 ]
[ -4.527472496032715, -17.758241653442383, 63.64834976196289, -26.10988998413086, -89.45054626464844, 15.282392501831055 ]
2.566667
77
0
77
0
[ -4.395604610443115, -12.483516693115234, 54.63736343383789, -29.318681716918945, -89.80220031738281, 15.654952049255371 ]
[ -4.527472496032715, -16, 62.153846740722656, -26.19780158996582, -89.45054626464844, 15.282392501831055 ]
2.6
78
0
78
0
[ -4.5714287757873535, -11.076923370361328, 54.19780349731445, -30.813186645507812, -89.80220031738281, 15.654952049255371 ]
[ -4.527472496032715, -14.329669952392578, 60.83516311645508, -26.461538314819336, -89.45054626464844, 15.348836898803711 ]
2.633333
79
0
79
0
[ -4.659340858459473, -9.84615421295166, 54.021976470947266, -32.30769348144531, -89.71428680419922, 15.654952049255371 ]
[ -4.527472496032715, -12.747252464294434, 59.60439682006836, -27.16483497619629, -89.45054626464844, 15.348836898803711 ]
2.666667
80
0
80
0
[ -4.747252941131592, -8.703296661376953, 54.021976470947266, -33.626373291015625, -89.62637329101562, 15.654952049255371 ]
[ -4.527472496032715, -11.340659141540527, 58.989009857177734, -28.30769157409668, -89.45054626464844, 15.282392501831055 ]
2.7
81
0
81
0
[ -4.747252941131592, -7.648351669311523, 54.021976470947266, -34.68132019042969, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -10.021978378295898, 58.46154022216797, -29.538461685180664, -89.45054626464844, 15.348836898803711 ]
2.733333
82
0
82
0
[ -4.747252941131592, -6.769230842590332, 54.021976470947266, -35.47252655029297, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -8.79120922088623, 58.28571319580078, -30.85714340209961, -89.45054626464844, 15.282392501831055 ]
2.766667
83
0
83
0
[ -4.747252941131592, -5.97802209854126, 54.10988998413086, -36.263736724853516, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -7.560439586639404, 58.19780349731445, -31.91208839416504, -89.45054626464844, 15.348836898803711 ]
2.8
84
0
84
0
[ -4.747252941131592, -5.274725437164307, 54.10988998413086, -36.879119873046875, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -6.505494594573975, 58.10988998413086, -32.79121017456055, -89.45054626464844, 15.348836898803711 ]
2.833333
85
0
85
0
[ -4.747252941131592, -4.5714287757873535, 54.10988998413086, -37.4945068359375, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -5.626373767852783, 58.10988998413086, -33.67033004760742, -89.45054626464844, 15.348836898803711 ]
2.866667
86
0
86
0
[ -4.747252941131592, -3.9560439586639404, 54.10988998413086, -38.19780349731445, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -4.92307710647583, 58.10988998413086, -34.373626708984375, -89.45054626464844, 15.282392501831055 ]
2.9
87
0
87
0
[ -4.747252941131592, -3.3406593799591064, 54.10988998413086, -38.5494499206543, -89.45054626464844, 15.654952049255371 ]
[ -4.527472496032715, -4.131868362426758, 58.021976470947266, -35.07692337036133, -89.45054626464844, 15.348836898803711 ]
2.933333
88
0
88
0
[ -4.747252941131592, -2.461538553237915, 54.10988998413086, -38.81318664550781, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, -3.5164835453033447, 58.021976470947266, -35.868133544921875, -89.45054626464844, 15.348836898803711 ]
2.966667
89
0
89
0
[ -4.747252941131592, -1.7582417726516724, 54.10988998413086, -39.16483688354492, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, -2.9010989665985107, 58.021976470947266, -36.30769348144531, -89.45054626464844, 15.348836898803711 ]
3
90
0
90
0
[ -4.747252941131592, -0.791208803653717, 54.021976470947266, -39.69230651855469, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, -2.1098902225494385, 58.021976470947266, -36.74725341796875, -89.45054626464844, 15.282392501831055 ]
3.033333
91
0
91
0
[ -4.835165023803711, 0.08791209012269974, 54.021976470947266, -40.21977996826172, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, -1.4065934419631958, 58.021976470947266, -37.27472686767578, -89.45054626464844, 15.348836898803711 ]
3.066667
92
0
92
0
[ -4.835165023803711, 0.8791208863258362, 54.021976470947266, -40.74725341796875, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, -0.6153846383094788, 58.021976470947266, -37.626373291015625, -89.45054626464844, 15.348836898803711 ]
3.1
93
0
93
0
[ -4.835165023803711, 1.6703296899795532, 54.021976470947266, -41.27472686767578, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 0.35164836049079895, 58.021976470947266, -38.153846740722656, -89.45054626464844, 15.348836898803711 ]
3.133333
94
0
94
0
[ -4.835165023803711, 2.373626470565796, 54.021976470947266, -41.89011001586914, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 1.1428571939468384, 58.021976470947266, -38.68132019042969, -89.45054626464844, 15.282392501831055 ]
3.166667
95
0
95
0
[ -4.835165023803711, 2.98901104927063, 53.93406677246094, -42.241756439208984, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 2.1098902225494385, 58.021976470947266, -39.20878982543945, -89.45054626464844, 15.282392501831055 ]
3.2
96
0
96
0
[ -4.835165023803711, 3.604395627975464, 53.846153259277344, -42.41758346557617, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 2.9010989665985107, 58.021976470947266, -39.736263275146484, -89.45054626464844, 15.282392501831055 ]
3.233333
97
0
97
0
[ -4.835165023803711, 4.307692527770996, 53.67033004760742, -42.32966995239258, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 3.4285714626312256, 58.021976470947266, -40.087913513183594, -89.45054626464844, 15.282392501831055 ]
3.266667
98
0
98
0
[ -4.835165023803711, 4.835165023803711, 53.58241653442383, -42.32966995239258, -89.45054626464844, 15.734824180603027 ]
[ -4.527472496032715, 4.043956279754639, 58.021976470947266, -40.35165023803711, -89.45054626464844, 15.348836898803711 ]
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": "so_follower",
    "total_episodes": 30,
    "total_frames": 20534,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "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.tactile_displacement0": {
            "dtype": "video",
            "shape": [
                700,
                400,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 700,
                "video.width": 400,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.tactile_displacemen1": {
            "dtype": "video",
            "shape": [
                700,
                400,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 700,
                "video.width": 400,
                "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
11
License:
apache-2.0
Number of rows:
20,534
Total file size:
967 MB

Models trained or fine-tuned on hukewei/lerobot_peg_in_optical_2