Hugging Face's logo

Datasets:
iui-whgi
/
knubotis-pick-the-candle

Modalities:
Tabular
Time-series
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
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
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -11.752227783203125, -99.57929992675781, 93.96939849853516, 71.62451934814453, -1.9628647565841675, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 97.77682495117188, 69.329345703125, -2.149487018585205, 2.5128865242004395 ]
0
0
0
0
0
[ -11.752227783203125, -99.57929992675781, 93.96939849853516, 71.62451934814453, -1.9628647565841675, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 97.77682495117188, 69.329345703125, -2.149487018585205, 2.5128865242004395 ]
0.033333
1
0
1
0
[ -11.752227783203125, -99.57929992675781, 93.96939849853516, 71.62451934814453, -1.9628647565841675, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 97.77682495117188, 69.58564758300781, -2.149487018585205, 2.448453664779663 ]
0.066667
2
0
2
0
[ -11.752227783203125, -99.57929992675781, 93.96939849853516, 71.45306396484375, -1.9628647565841675, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 97.00727081298828, 70.43997955322266, -2.149487018585205, 2.255154609680176 ]
0.1
3
0
3
0
[ -11.752227783203125, -99.57929992675781, 94.05940246582031, 71.19588470458984, -1.9628647565841675, 1.420029878616333 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.86714935302734, -2.149487018585205, 2.255154609680176 ]
0.133333
4
0
4
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.15559196472168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.166667
5
0
5
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.15559196472168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.2
6
0
6
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.047541618347168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.233333
7
0
7
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.047541618347168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.266667
8
0
8
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.047541618347168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.3
9
0
9
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.11016082763672, -1.9628647565841675, 1.420029878616333 ]
[ -12.15559196472168, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.333333
10
0
10
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.19588470458984, -1.9628647565841675, 1.420029878616333 ]
[ -12.263641357421875, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.366667
11
0
11
0
[ -11.752227783203125, -99.57929992675781, 94.1494140625, 71.36734008789062, -1.9628647565841675, 1.420029878616333 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.4
12
0
12
0
[ -11.837080955505371, -99.57929992675781, 94.05940246582031, 71.36734008789062, -1.9628647565841675, 1.420029878616333 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.433333
13
0
13
0
[ -12.00678825378418, -99.57929992675781, 94.05940246582031, 71.36734008789062, -1.9628647565841675, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.466667
14
0
14
0
[ -12.176495552062988, -99.57929992675781, 94.05940246582031, 71.53878784179688, -1.9628647565841675, 1.195814609527588 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.5
15
0
15
0
[ -12.176495552062988, -99.57929992675781, 94.05940246582031, 71.62451934814453, -1.9628647565841675, 1.195814609527588 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.533333
16
0
16
0
[ -12.176495552062988, -99.57929992675781, 94.05940246582031, 71.62451934814453, -1.9628647565841675, 1.121076226234436 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.95258331298828, -2.149487018585205, 2.255154609680176 ]
0.566667
17
0
17
0
[ -12.261348724365234, -99.57929992675781, 94.23942565917969, 70.93870544433594, -1.9628647565841675, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 71.12345123291016, -2.149487018585205, 2.255154609680176 ]
0.6
18
0
18
0
[ -11.837080955505371, -99.57929992675781, 93.69937133789062, 69.99571228027344, -2.122015953063965, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 71.2088851928711, -2.149487018585205, 2.255154609680176 ]
0.633333
19
0
19
0
[ -11.667373657226562, -99.57929992675781, 93.15931701660156, 67.85254669189453, -2.0159151554107666, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 71.2088851928711, -2.149487018585205, 2.255154609680176 ]
0.666667
20
0
20
0
[ -11.582520484924316, -99.57929992675781, 92.16921997070312, 65.79511260986328, -1.9628647565841675, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 71.12345123291016, -2.149487018585205, 2.255154609680176 ]
0.7
21
0
21
0
[ -11.582520484924316, -99.57929992675781, 90.81908416748047, 64.25203704833984, -1.9628647565841675, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.49422454833984, 70.26911926269531, -2.149487018585205, 2.255154609680176 ]
0.733333
22
0
22
0
[ -11.582520484924316, -99.57929992675781, 89.19892120361328, 63.05186462402344, -1.9628647565841675, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 96.23770904541016, 68.98760986328125, -2.149487018585205, 2.255154609680176 ]
0.766667
23
0
23
0
[ -11.582520484924316, -99.57929992675781, 87.12871551513672, 62.10887145996094, -1.9628647565841675, 1.195814609527588 ]
[ -12.37169075012207, -99.09203338623047, 95.55365753173828, 67.70610809326172, -2.149487018585205, 2.255154609680176 ]
0.8
24
0
24
0
[ -11.582520484924316, -99.57929992675781, 84.7884750366211, 61.42306137084961, -1.9098143577575684, 1.2705531120300293 ]
[ -12.37169075012207, -99.09203338623047, 94.44207000732422, 66.33917236328125, -2.149487018585205, 2.255154609680176 ]
0.833333
25
0
25
0
[ -11.667373657226562, -99.57929992675781, 82.17821502685547, 60.9087028503418, -1.9098143577575684, 1.2705531120300293 ]
[ -12.37169075012207, -99.09203338623047, 93.07396697998047, 65.2285385131836, -2.149487018585205, 2.255154609680176 ]
0.866667
26
0
26
0
[ -11.667373657226562, -99.57929992675781, 79.47795104980469, 60.5657958984375, -1.9098143577575684, 1.2705531120300293 ]
[ -12.37169075012207, -99.09203338623047, 91.4493408203125, 64.20333099365234, -2.149487018585205, 2.255154609680176 ]
0.9
27
0
27
0
[ -11.667373657226562, -99.57929992675781, 76.86768341064453, 60.737247467041016, -1.9098143577575684, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 89.56819152832031, 63.43442916870117, -2.149487018585205, 2.255154609680176 ]
0.933333
28
0
28
0
[ -11.667373657226562, -99.57929992675781, 74.2574234008789, 60.9087028503418, -1.9098143577575684, 1.3452914953231812 ]
[ -12.37169075012207, -99.09203338623047, 87.34501647949219, 62.75096130371094, -2.149487018585205, 2.255154609680176 ]
0.966667
29
0
29
0
[ -11.667373657226562, -99.57929992675781, 71.82717895507812, 60.9087028503418, -1.9098143577575684, 1.2705531120300293 ]
[ -12.37169075012207, -99.09203338623047, 85.03633880615234, 62.40922546386719, -2.149487018585205, 2.255154609680176 ]
1
30
0
30
0
[ -11.582520484924316, -99.57929992675781, 69.2169189453125, 60.99442672729492, -1.9098143577575684, 0.9715994000434875 ]
[ -12.37169075012207, -99.09203338623047, 82.55664825439453, 62.23836135864258, -2.149487018585205, 2.255154609680176 ]
1.033333
31
0
31
0
[ -11.582520484924316, -99.57929992675781, 66.51665496826172, 61.1658821105957, -1.9098143577575684, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 79.99144744873047, 62.15292739868164, -2.149487018585205, 2.255154609680176 ]
1.066667
32
0
32
0
[ -11.582520484924316, -99.3268814086914, 63.90639114379883, 61.08015441894531, -1.9098143577575684, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 77.51175689697266, 62.15292739868164, -2.149487018585205, 2.255154609680176 ]
1.1
33
0
33
0
[ -11.582520484924316, -99.15859985351562, 61.74617385864258, 60.651519775390625, -1.9098143577575684, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 74.9465560913086, 62.15292739868164, -2.149487018585205, 2.255154609680176 ]
1.133333
34
0
34
0
[ -11.582520484924316, -98.99032592773438, 60.03600311279297, 60.308616638183594, -1.9098143577575684, 0.8968609571456909 ]
[ -12.37169075012207, -99.09203338623047, 72.29585266113281, 62.15292739868164, -2.149487018585205, 2.255154609680176 ]
1.166667
35
0
35
0
[ -11.582520484924316, -98.23307037353516, 58.59585952758789, 60.13716125488281, -1.8567639589309692, 0.8221225738525391 ]
[ -12.37169075012207, -99.09203338623047, 69.816162109375, 61.89662551879883, -2.149487018585205, 2.255154609680176 ]
1.2
36
0
36
0
[ -11.582520484924316, -96.80269622802734, 57.425743103027344, 60.13716125488281, -1.5915119647979736, 0.8221225738525391 ]
[ -12.37169075012207, -99.09203338623047, 67.4219741821289, 61.640323638916016, -2.149487018585205, 2.255154609680176 ]
1.233333
37
0
37
0
[ -11.497666358947754, -94.78334045410156, 56.34563446044922, 60.13716125488281, -0.7957559823989868, 0.8221225738525391 ]
[ -12.37169075012207, -99.09203338623047, 65.19879913330078, 61.46945571899414, -2.149487018585205, 2.255154609680176 ]
1.266667
38
0
38
0
[ -11.497666358947754, -92.00672912597656, 54.90549087524414, 60.2228889465332, 0.15915119647979736, 0.8221225738525391 ]
[ -12.37169075012207, -98.92694854736328, 63.317657470703125, 61.38402557373047, -2.149487018585205, 2.255154609680176 ]
1.3
39
0
39
0
[ -11.497666358947754, -88.8094253540039, 53.555355072021484, 60.308616638183594, 1.2201591730117798, 0.8221225738525391 ]
[ -12.37169075012207, -97.77135467529297, 61.77853775024414, 61.38402557373047, -1.7098191976547241, 2.255154609680176 ]
1.333333
40
0
40
0
[ -11.497666358947754, -85.27555847167969, 51.9351921081543, 60.39434051513672, 2.1750662326812744, 0.8221225738525391 ]
[ -12.37169075012207, -96.3681411743164, 60.239418029785156, 61.38402557373047, -1.0747435092926025, 2.255154609680176 ]
1.366667
41
0
41
0
[ -10.903691291809082, -81.74169158935547, 50.045005798339844, 60.48006820678711, 3.2891247272491455, 0.8221225738525391 ]
[ -12.37169075012207, -94.55220794677734, 58.61479187011719, 61.38402557373047, -0.34196385741233826, 2.255154609680176 ]
1.4
42
0
42
0
[ -9.800594329833984, -78.29196166992188, 47.974796295166016, 60.39434051513672, 4.562334060668945, 0.7473841309547424 ]
[ -12.37169075012207, -92.15847778320312, 57.0756721496582, 61.38402557373047, 0.5373717546463013, 2.255154609680176 ]
1.433333
43
0
43
0
[ -8.442935943603516, -74.92637634277344, 45.994598388671875, 59.79425811767578, 5.198938846588135, 0.7473841309547424 ]
[ -12.15559196472168, -89.51712799072266, 55.53655242919922, 61.38402557373047, 1.4167073965072632, 2.255154609680176 ]
1.466667
44
0
44
0
[ -7.000424385070801, -71.560791015625, 43.92439270019531, 59.19417190551758, 5.251989364624023, 0.7473841309547424 ]
[ -11.399243354797363, -86.46306610107422, 53.826419830322266, 61.38402557373047, 2.393746852874756, 2.255154609680176 ]
1.5
45
0
45
0
[ -5.473059177398682, -68.02692413330078, 41.67416763305664, 57.822547912597656, 5.039787769317627, 0.7473841309547424 ]
[ -10.426795959472656, -83.32645416259766, 52.03078079223633, 61.38402557373047, 3.321934461593628, 2.255154609680176 ]
1.533333
46
0
46
0
[ -4.030547142028809, -64.49305725097656, 39.6939697265625, 56.62237548828125, 4.562334060668945, 0.8968609571456909 ]
[ -9.346299171447754, -80.18984985351562, 50.23514175415039, 61.04228973388672, 3.957010269165039, 2.255154609680176 ]
1.566667
47
0
47
0
[ -2.7577428817749023, -60.79091262817383, 37.71377182006836, 55.507930755615234, 4.24403190612793, 1.2705531120300293 ]
[ -8.049702644348145, -76.80561065673828, 48.43950271606445, 60.358821868896484, 4.20127010345459, 2.255154609680176 ]
1.6
48
0
48
0
[ -1.4849385023117065, -57.0046272277832, 35.6435661315918, 54.564937591552734, 4.031830310821533, 1.3452914953231812 ]
[ -6.753106594085693, -73.42137908935547, 46.38734436035156, 59.3336181640625, 4.2501220703125, 2.255154609680176 ]
1.633333
49
0
49
0
[ -0.4666949510574341, -53.05006408691406, 33.663368225097656, 53.96485137939453, 3.9787797927856445, 1.3452914953231812 ]
[ -5.3484601974487305, -69.87206268310547, 44.420692443847656, 58.39384841918945, 4.15241813659668, 2.255154609680176 ]
1.666667
50
0
50
0
[ 0.4666949510574341, -48.92721939086914, 31.41314125061035, 53.36476516723633, 3.501326322555542, 1.5695067644119263 ]
[ -4.051863670349121, -66.24019622802734, 42.368534088134766, 57.36864471435547, 4.15241813659668, 2.255154609680176 ]
1.7
51
0
51
0
[ 1.315231204032898, -44.72023391723633, 29.16291618347168, 53.0218620300293, 2.7055702209472656, 2.5411062240600586 ]
[ -2.755267381668091, -62.60833740234375, 40.487388610839844, 56.51430892944336, 4.15241813659668, 2.255154609680176 ]
1.733333
52
0
52
0
[ 2.078913927078247, -40.51325225830078, 26.642663955688477, 52.678955078125, 1.8037135601043701, 4.260089874267578 ]
[ -1.7828201055526733, -58.72884750366211, 38.43523025512695, 55.74540710449219, 4.005862236022949, 2.255154609680176 ]
1.766667
53
0
53
0
[ 2.5880355834960938, -36.39040756225586, 23.852384567260742, 52.59322738647461, 1.0610079765319824, 6.352765083312988 ]
[ -0.8103727698326111, -54.436649322509766, 36.29756164550781, 55.14737319946289, 3.615046501159668, 2.3840205669403076 ]
1.8
54
0
54
0
[ 2.8425965309143066, -32.604122161865234, 21.152114868164062, 52.59322738647461, 0.4774535894393921, 8.445441246032715 ]
[ 0.05402485281229019, -50.47461700439453, 34.24540328979492, 54.63477325439453, 2.9311187267303467, 3.028350591659546 ]
1.833333
55
0
55
0
[ 2.8425965309143066, -29.154396057128906, 18.361835479736328, 52.59322738647461, 0.10610079765319824, 10.3139009475708 ]
[ 0.8103727698326111, -46.347503662109375, 31.851219177246094, 54.207603454589844, 2.2960429191589355, 4.123711109161377 ]
1.866667
56
0
56
0
[ 2.7577428817749023, -26.041229248046875, 15.841584205627441, 52.59322738647461, -0.15915119647979736, 11.883408546447754 ]
[ 1.3506213426589966, -42.055301666259766, 29.37152671813965, 54.03673553466797, 1.7098191976547241, 5.219072341918945 ]
1.9
57
0
57
0
[ 2.7577428817749023, -23.09634017944336, 13.141314506530762, 52.59322738647461, -0.37135279178619385, 13.004484176635742 ]
[ 1.7828201055526733, -37.845645904541016, 27.062847137451172, 53.865867614746094, 1.1235954761505127, 6.701030731201172 ]
1.933333
58
0
58
0
[ 2.7577428817749023, -20.40386962890625, 10.621062278747559, 52.764678955078125, -0.5835543870925903, 13.976083755493164 ]
[ 2.2150189876556396, -33.80107116699219, 24.583154678344727, 53.78043746948242, 0.6839277148246765, 8.505154609680176 ]
1.966667
59
0
59
0
[ 2.7577428817749023, -17.627262115478516, 8.010801315307617, 53.0218620300293, -0.5835543870925903, 14.947683334350586 ]
[ 2.323068618774414, -30.004127502441406, 22.017955780029297, 53.78043746948242, 0.34196385741233826, 10.051546096801758 ]
2
60
0
60
0
[ 2.7577428817749023, -15.01893138885498, 5.490549087524414, 53.19331359863281, -0.5835543870925903, 15.919282913208008 ]
[ 2.4311182498931885, -26.45480728149414, 19.452756881713867, 53.78043746948242, 0.04885197803378105, 11.40463924407959 ]
2.033333
61
0
61
0
[ 2.7577428817749023, -12.410601615905762, 3.240324020385742, 53.2790412902832, -0.5835543870925903, 17.040359497070312 ]
[ 2.323068618774414, -23.070573806762695, 16.802051544189453, 53.78043746948242, -0.0977039560675621, 12.628866195678711 ]
2.066667
62
0
62
0
[ 2.7577428817749023, -9.802271842956543, 0.9900990128517151, 53.2790412902832, -0.5835543870925903, 18.310911178588867 ]
[ 2.2150189876556396, -19.9339656829834, 14.322360038757324, 53.78043746948242, -0.24425989389419556, 13.788660049438477 ]
2.1
63
0
63
0
[ 2.7577428817749023, -7.193942070007324, -1.260125994682312, 53.2790412902832, -0.5835543870925903, 19.730941772460938 ]
[ 2.106969118118286, -16.879901885986328, 11.757161140441895, 53.78043746948242, -0.2931118607521057, 14.884020805358887 ]
2.133333
64
0
64
0
[ 2.7577428817749023, -4.6697516441345215, -3.3303329944610596, 53.2790412902832, -0.5835543870925903, 21.30044937133789 ]
[ 2.106969118118286, -13.990920066833496, 9.36297607421875, 53.78043746948242, -0.3908158242702484, 16.043813705444336 ]
2.166667
65
0
65
0
[ 2.7577428817749023, -2.3979806900024414, -5.1305131912231445, 53.2790412902832, -0.5835543870925903, 22.94469451904297 ]
[ 2.106969118118286, -11.267024040222168, 6.968790054321289, 53.78043746948242, -0.3908158242702484, 17.332473754882812 ]
2.2
66
0
66
0
[ 2.7577428817749023, -0.2103491723537445, -6.750675201416016, 53.2790412902832, -0.5835543870925903, 24.663677215576172 ]
[ 2.106969118118286, -8.460585594177246, 4.574604511260986, 53.78043746948242, -0.3908158242702484, 18.62113380432129 ]
2.233333
67
0
67
0
[ 2.7577428817749023, 1.7248632907867432, -8.190818786621094, 53.2790412902832, -0.5835543870925903, 26.233182907104492 ]
[ 2.106969118118286, -5.736690044403076, 2.3514323234558105, 53.78043746948242, -0.3908158242702484, 20.038660049438477 ]
2.266667
68
0
68
0
[ 2.7577428817749023, 3.4917964935302734, -9.450944900512695, 53.2790412902832, -0.5835543870925903, 27.802690505981445 ]
[ 2.106969118118286, -3.1778786182403564, 0.29927319288253784, 53.78043746948242, -0.3908158242702484, 21.585052490234375 ]
2.3
69
0
69
0
[ 2.7577428817749023, 5.090450286865234, -10.711071014404297, 53.2790412902832, -0.5835543870925903, 29.073244094848633 ]
[ 2.106969118118286, -0.7841518521308899, -1.496366024017334, 53.78043746948242, -0.3908158242702484, 23.13144302368164 ]
2.333333
70
0
70
0
[ 2.672889232635498, 6.520824432373047, -12.061205863952637, 53.2790412902832, -0.5835543870925903, 30.11958122253418 ]
[ 2.106969118118286, 1.4444903135299683, -3.1209919452667236, 53.78043746948242, -0.3908158242702484, 24.67783546447754 ]
2.366667
71
0
71
0
[ 2.672889232635498, 7.867059230804443, -13.321331977844238, 53.2790412902832, -0.5835543870925903, 30.866966247558594 ]
[ 2.106969118118286, 3.5080478191375732, -4.660110950469971, 53.78043746948242, -0.3908158242702484, 26.224225997924805 ]
2.4
72
0
72
0
[ 2.5880355834960938, 9.129154205322266, -14.58145809173584, 53.2790412902832, -0.5835543870925903, 31.31539535522461 ]
[ 2.106969118118286, 5.406520843505859, -6.1137237548828125, 53.78043746948242, -0.3908158242702484, 27.577320098876953 ]
2.433333
73
0
73
0
[ 2.1637675762176514, 10.47538948059082, -15.841584205627441, 53.2790412902832, -0.5835543870925903, 31.464872360229492 ]
[ 2.106969118118286, 7.139909267425537, -7.481829643249512, 53.78043746948242, -0.3908158242702484, 28.73711395263672 ]
2.466667
74
0
74
0
[ 1.4000848531723022, 11.569205284118652, -17.011701583862305, 53.36476516723633, -0.5835543870925903, 31.464872360229492 ]
[ 2.106969118118286, 8.708212852478027, -8.764429092407227, 53.78043746948242, -0.3908158242702484, 29.639175415039062 ]
2.5
75
0
75
0
[ 0.8061094880104065, 12.663021087646484, -18.18181800842285, 53.45049285888672, -0.5835543870925903, 31.464872360229492 ]
[ 2.106969118118286, 10.193974494934082, -10.132534980773926, 53.78043746948242, -0.3908158242702484, 30.219072341918945 ]
2.533333
76
0
76
0
[ 0.12728044390678406, 13.7568359375, -19.171916961669922, 53.87912368774414, -0.5305039882659912, 31.464872360229492 ]
[ 2.106969118118286, 11.597193717956543, -11.41513442993164, 53.78043746948242, -0.3908158242702484, 30.605670928955078 ]
2.566667
77
0
77
0
[ -0.3818413317203522, 14.850651741027832, -20.522052764892578, 54.650665283203125, -0.5305039882659912, 31.464872360229492 ]
[ 1.9989194869995117, 12.835328102111816, -12.697733879089355, 53.78043746948242, -0.3908158242702484, 30.92783546447754 ]
2.6
78
0
78
0
[ -1.0606703758239746, 16.028608322143555, -22.05220603942871, 55.33647537231445, -0.5305039882659912, 31.464872360229492 ]
[ 1.6747703552246094, 14.07346248626709, -13.809320449829102, 53.78043746948242, -0.3908158242702484, 31.05670166015625 ]
2.633333
79
0
79
0
[ -1.7394993305206299, 17.29070281982422, -23.942394256591797, 56.10801696777344, -0.5305039882659912, 31.464872360229492 ]
[ 1.1345218420028687, 15.146512985229492, -15.006413459777832, 53.95130157470703, -0.3908158242702484, 31.12113380432129 ]
2.666667
80
0
80
0
[ -2.1637675762176514, 18.80521583557129, -25.832582473754883, 56.708099365234375, -0.5305039882659912, 31.464872360229492 ]
[ 0.27012425661087036, 16.384647369384766, -16.37451934814453, 54.549339294433594, -0.3908158242702484, 31.12113380432129 ]
2.7
81
0
81
0
[ -2.5031819343566895, 20.65629005432129, -27.902790069580078, 57.22246170043945, -0.5305039882659912, 31.53961181640625 ]
[ -0.5942733883857727, 17.540239334106445, -17.82813262939453, 55.14737319946289, -0.3908158242702484, 31.12113380432129 ]
2.733333
82
0
82
0
[ -2.7577428817749023, 22.507362365722656, -30.15301513671875, 57.822547912597656, -0.5305039882659912, 31.53961181640625 ]
[ -1.3506213426589966, 18.860916137695312, -19.452756881713867, 55.830841064453125, -0.3908158242702484, 31.12113380432129 ]
2.766667
83
0
83
0
[ -2.927450180053711, 24.442575454711914, -32.40324020385742, 58.6798095703125, -0.4774535894393921, 31.53961181640625 ]
[ -1.9989194869995117, 20.346677780151367, -21.333904266357422, 56.42887496948242, -0.3908158242702484, 31.18556785583496 ]
2.8
84
0
84
0
[ -3.0971574783325195, 26.125368118286133, -34.8334846496582, 59.879981994628906, -0.5305039882659912, 31.53961181640625 ]
[ -2.4311182498931885, 21.99752426147461, -23.215049743652344, 56.94147872924805, -0.3908158242702484, 31.25 ]
2.833333
85
0
85
0
[ -3.182011127471924, 27.724021911621094, -37.26372528076172, 60.99442672729492, -0.5305039882659912, 31.53961181640625 ]
[ -2.755267381668091, 23.730911254882812, -25.267208099365234, 57.62494659423828, -0.3908158242702484, 31.31443214416504 ]
2.866667
86
0
86
0
[ -3.0971574783325195, 29.07025718688965, -39.51395034790039, 62.02314758300781, -0.5305039882659912, 31.53961181640625 ]
[ -2.8633170127868652, 25.629384994506836, -27.319366455078125, 58.39384841918945, -0.3908158242702484, 31.37886619567871 ]
2.9
87
0
87
0
[ -2.8425965309143066, 30.248212814331055, -41.67416763305664, 62.79468536376953, -0.5305039882659912, 31.53961181640625 ]
[ -2.8633170127868652, 27.445316314697266, -29.542539596557617, 59.41905212402344, -0.3908158242702484, 31.37886619567871 ]
2.933333
88
0
88
0
[ -2.672889232635498, 31.34202766418457, -43.7443733215332, 63.394771575927734, -0.5305039882659912, 31.614349365234375 ]
[ -2.9713668823242188, 29.096160888671875, -31.680204391479492, 60.358821868896484, -0.3908158242702484, 31.37886619567871 ]
2.966667
89
0
89
0
[ -2.672889232635498, 32.26756286621094, -45.5445556640625, 63.823402404785156, -0.37135279178619385, 31.689088821411133 ]
[ -2.9713668823242188, 30.664464950561523, -33.81787109375, 61.29859161376953, -0.3908158242702484, 31.37886619567871 ]
3
90
0
90
0
[ -2.672889232635498, 33.19309997558594, -47.25472640991211, 64.25203704833984, -0.15915119647979736, 32.5859489440918 ]
[ -2.9713668823242188, 31.98514175415039, -35.955535888671875, 62.15292739868164, -0.3908158242702484, 31.37886619567871 ]
3.033333
91
0
91
0
[ -2.672889232635498, 34.03449630737305, -48.69486999511719, 64.68067169189453, -0.10610079765319824, 34.15545654296875 ]
[ -2.9713668823242188, 33.05819320678711, -38.09320068359375, 62.75096130371094, -0.3908158242702484, 31.37886619567871 ]
3.066667
92
0
92
0
[ -2.672889232635498, 34.96003341674805, -49.954994201660156, 64.93785095214844, -0.05305039882659912, 36.248130798339844 ]
[ -2.9713668823242188, 33.966156005859375, -40.05985641479492, 63.348995208740234, -0.3908158242702484, 31.636598587036133 ]
3.1
93
0
93
0
[ -2.672889232635498, 35.801429748535156, -50.76507568359375, 64.93785095214844, -0.05305039882659912, 38.19132995605469 ]
[ -2.9713668823242188, 34.79158020019531, -41.85549545288086, 63.86159896850586, -0.3908158242702484, 32.538658142089844 ]
3.133333
94
0
94
0
[ -2.672889232635498, 36.47454833984375, -51.395137786865234, 64.93785095214844, -0.05305039882659912, 39.98505401611328 ]
[ -2.9713668823242188, 35.699546813964844, -43.56562805175781, 64.20333099365234, -0.3908158242702484, 33.69845199584961 ]
3.166667
95
0
95
0
[ -2.672889232635498, 36.97938537597656, -51.9351921081543, 64.93785095214844, -0.21220159530639648, 40.9566535949707 ]
[ -2.9713668823242188, 36.6900520324707, -45.10474395751953, 64.45963287353516, -0.3908158242702484, 35.1159782409668 ]
3.2
96
0
96
0
[ -2.5880355834960938, 37.40008544921875, -52.295230865478516, 64.85211944580078, -0.2652519941329956, 41.40508270263672 ]
[ -2.9713668823242188, 37.43293380737305, -46.216331481933594, 64.71593475341797, -0.3908158242702484, 36.66237258911133 ]
3.233333
97
0
97
0
[ -2.5880355834960938, 37.73664093017578, -52.56525802612305, 64.85211944580078, -0.2652519941329956, 41.330345153808594 ]
[ -2.9713668823242188, 38.0932731628418, -47.0713996887207, 64.71593475341797, -0.3908158242702484, 38.14432907104492 ]
3.266667
98
0
98
0
[ -2.5880355834960938, 37.73664093017578, -52.47524642944336, 64.76639556884766, -0.3183023929595947, 41.330345153808594 ]
[ -2.9713668823242188, 38.67107009887695, -47.75545120239258, 64.71593475341797, -0.3908158242702484, 39.30412292480469 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

Knubotis Pick The Candle Dataset

A robotic manipulation dataset for candle picking tasks using a 6-DOF robot arm with multi-camera observations.

Dataset Description

This dataset contains 200 episodes of robotic manipulation demonstrations for picking candles of different colors. The robot performs 4 different tasks: picking mint, yellow, purple, and red candles.

Dataset Summary

  • Total Episodes: 200
  • Total Frames: 47,131
  • FPS: 30
  • Robot Type: so101_follower (6-DOF robot arm)
  • Tasks: 4 candle picking tasks (mint, yellow, purple, red)
  • Cameras: 3 cameras (left, right, down)

Data Structure

Each episode contains:

  • Observations:
    • 3 camera views (left_cam, right_cam, down_cam) as MP4 videos (480x640x3, H.264)
    • Robot state (6-DOF joint positions)
  • Actions: 6-DOF robot arm joint positions + gripper position
  • Metadata: Timestamps, frame indices, episode indices, task indices

Features

  • action: 6-DOF robot arm joint positions + gripper position (float32, shape: [6])
  • observation.state: Current robot state (float32, shape: [6])
  • observation.images.left_cam: Left camera video (video, shape: [480, 640, 3])
  • observation.images.right_cam: Right camera video (video, shape: [480, 640, 3])
  • observation.images.down_cam: Downward camera video (video, shape: [480, 640, 3])
  • timestamp: Timestamp for each frame (float32, shape: [1])
  • frame_index: Frame index within episode (int64, shape: [1])
  • episode_index: Episode index (int64, shape: [1])
  • index: Global frame index (int64, shape: [1])
  • task_index: Task index (int64, shape: [1])

Tasks

The dataset includes 4 different candle picking tasks:

  1. Task 0: Pick mint candle
  2. Task 1: Pick yellow candle
  3. Task 2: Pick purple candle
  4. Task 3: Pick red candle

Data Format

  • Episode Data: Stored as Parquet files in data/chunk-000/
  • Video Data: Stored as MP4 files in videos/chunk-000/
  • Metadata: JSONL files in meta/ directory

Usage 

from datasets import load_dataset

# Load the dataset
dataset = load_dataset("your-username/knubotis-pick-the-candle")

# Access training data
train_data = dataset["train"]

# Example: Get first episode
episode = train_data[0]
print(f"Episode {episode['episode_index']}: {episode['task']}")
print(f"Number of frames: {len(episode['action'])}")

Citation 

@dataset{knubotis_pick_the_candle_2024,
  title={Knubotis Pick The Candle Dataset},
  author={Your Name},
  year={2024},
  url={https://huggingface.co/datasets/your-username/knubotis-pick-the-candle}
}

License

MIT License

Acknowledgments

This dataset was created for robotic manipulation research and candle picking tasks.
Downloads last month
6
Number of rows:
47,131
Total file size:
3.52 MB