Hugging Face's logo

Datasets:
jliu6718
/
so101-put_dish

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
8.33
frame_index
int64
0
250
episode_index
int64
0
99
index
int64
0
15.1k
task_index
int64
0
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0
0
0
0
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.033333
1
0
1
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.066667
2
0
2
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.1
3
0
3
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.133333
4
0
4
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.166667
5
0
5
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.2
6
0
6
0
[ -7.054263591766357, -92.90294647216797, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.233333
7
0
7
0
[ -6.899224758148193, -92.81744384765625, 99.90516662597656, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.266667
8
0
8
0
[ -6.899224758148193, -92.81744384765625, 99.81033325195312, 55.20560073852539, -1.0747435092926025, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.3
9
0
9
0
[ -7.054263591766357, -92.90294647216797, 98.95684814453125, 55.20560073852539, -1.0747435092926025, 6.221889019012451 ]
[ -6.640625, -93.3133316040039, 99.18367004394531, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.333333
10
0
10
0
[ -7.1317830085754395, -92.64643096923828, 97.43954467773438, 55.643043518066406, -0.9770395755767822, 6.071963787078857 ]
[ -6.640625, -93.3133316040039, 99.09297180175781, 56.27459716796875, -1.3919414281845093, 5.8085808753967285 ]
0.366667
11
0
11
0
[ -6.821705341339111, -90.85079193115234, 93.36178588867188, 59.8425178527832, -0.9770395755767822, 6.221889019012451 ]
[ -6.640625, -93.22760772705078, 98.82086181640625, 56.27459716796875, -1.2942613363265991, 5.8085808753967285 ]
0.4
12
0
12
0
[ -6.744185924530029, -84.77982330322266, 83.68894958496094, 65.87926483154297, -0.9770395755767822, 6.371814250946045 ]
[ -6.640625, -91.59880065917969, 97.2789077758789, 58.111061096191406, -1.2942613363265991, 5.8085808753967285 ]
0.433333
13
0
13
0
[ -5.581395149230957, -73.15091705322266, 72.6884765625, 68.3289566040039, -0.9770395755767822, 6.446776390075684 ]
[ -6.640625, -88.34119415283203, 93.3786849975586, 61.78399658203125, -1.2942613363265991, 6.006600856781006 ]
0.466667
14
0
14
0
[ -4.651162624359131, -59.127830505371094, 63.39497375488281, 68.50393676757812, -0.9770395755767822, 6.446776390075684 ]
[ -6.25, -83.36904907226562, 84.85260772705078, 65.98163604736328, -1.2942613363265991, 6.006600856781006 ]
0.5
15
0
15
0
[ -4.496124267578125, -45.446773529052734, 53.24798583984375, 68.50393676757812, -0.9770395755767822, 6.5217390060424805 ]
[ -5.390625, -72.05315399169922, 73.51473999023438, 67.55574798583984, -1.2942613363265991, 6.006600856781006 ]
0.533333
16
0
16
0
[ -4.418604850769043, -37.8366813659668, 44.713134765625, 68.59142303466797, -0.9770395755767822, 7.34632682800293 ]
[ -5, -57.22246170043945, 63.71882247924805, 67.81809997558594, -1.2942613363265991, 6.006600856781006 ]
0.566667
17
0
17
0
[ -4.341085433959961, -36.810604095458984, 42.24750900268555, 68.59142303466797, -0.9770395755767822, 12.668665885925293 ]
[ -5, -44.4492073059082, 53.74149703979492, 68.16790771484375, -1.2942613363265991, 6.798679828643799 ]
0.6
18
0
18
0
[ -3.7984495162963867, -36.72509765625, 42.24750900268555, 68.59142303466797, -0.9770395755767822, 23.088455200195312 ]
[ -5, -38.53407669067383, 47.39229202270508, 68.16790771484375, -1.2942613363265991, 9.438943862915039 ]
0.633333
19
0
19
0
[ -2.8682169914245605, -36.639591217041016, 42.342342376708984, 68.50393676757812, -0.9770395755767822, 35.232383728027344 ]
[ -4.53125, -36.990997314453125, 45.75963592529297, 68.16790771484375, -1.2942613363265991, 15.1815185546875 ]
0.666667
20
0
20
0
[ -2.7906975746154785, -36.639591217041016, 42.342342376708984, 68.50393676757812, -0.9281876087188721, 45.27736282348633 ]
[ -3.75, -36.81954574584961, 45.39682388305664, 68.16790771484375, -1.2942613363265991, 24.8184814453125 ]
0.7
21
0
21
0
[ -2.7906975746154785, -36.46857452392578, 42.152679443359375, 68.50393676757812, -0.9281876087188721, 50.29985046386719 ]
[ -3.28125, -36.73381805419922, 45.39682388305664, 68.16790771484375, -1.2942613363265991, 36.43564224243164 ]
0.733333
22
0
22
0
[ -1.1627906560897827, -36.29756164550781, 42.05784606933594, 68.50393676757812, -0.9281876087188721, 50.44977569580078 ]
[ -3.28125, -36.5623664855957, 45.306121826171875, 68.16790771484375, -1.2942613363265991, 45.5445556640625 ]
0.766667
23
0
23
0
[ 0.4651162922382355, -34.672935485839844, 39.118064880371094, 68.59142303466797, -0.8793356418609619, 50.44977569580078 ]
[ -2.03125, -36.39091110229492, 45.21541976928711, 68.16790771484375, -1.2942613363265991, 48.910892486572266 ]
0.8
24
0
24
0
[ 0.7751938104629517, -29.20051383972168, 34.66097640991211, 70.25371551513672, -0.8793356418609619, 50.44977569580078 ]
[ -0.78125, -34.933563232421875, 43.3106575012207, 68.16790771484375, -1.196581244468689, 49.768978118896484 ]
0.833333
25
0
25
0
[ 1.0852713584899902, -23.12954330444336, 27.358938217163086, 73.92826080322266, -0.8793356418609619, 50.44977569580078 ]
[ 0.078125, -32.10458755493164, 39.86394500732422, 69.30476379394531, -1.196581244468689, 49.9009895324707 ]
0.866667
26
0
26
0
[ 2.8682169914245605, -17.229585647583008, 18.539592742919922, 77.42781829833984, -0.8793356418609619, 50.44977569580078 ]
[ 0.46875, -26.618087768554688, 34.78458023071289, 71.92829132080078, -1.196581244468689, 49.9009895324707 ]
0.9
27
0
27
0
[ 3.4108526706695557, -10.73108196258545, 11.142722129821777, 79.00262451171875, -0.8793356418609619, 50.44977569580078 ]
[ 1.71875, -20.36005210876465, 27.800453186035156, 75.25141906738281, -1.196581244468689, 49.9009895324707 ]
0.933333
28
0
28
0
[ 3.7984495162963867, -4.831124305725098, 6.590801239013672, 78.74015808105469, -0.8793356418609619, 50.44977569580078 ]
[ 2.65625, -14.444920539855957, 18.54875373840332, 77.52513885498047, -1.196581244468689, 49.9009895324707 ]
0.966667
29
0
29
0
[ 4.961240291595459, -0.21376655995845795, 2.8923659324645996, 78.56517791748047, -0.8793356418609619, 50.44977569580078 ]
[ 3.046875, -7.586798191070557, 12.380952835083008, 77.96239471435547, -1.196581244468689, 49.9009895324707 ]
1
30
0
30
0
[ 6.046511650085449, 3.548525094985962, -0.3319108486175537, 78.47769165039062, -0.8793356418609619, 50.44977569580078 ]
[ 3.828125, -2.4432060718536377, 8.117914199829102, 77.96239471435547, -1.196581244468689, 49.9009895324707 ]
1.033333
31
0
31
0
[ 6.744185924530029, 7.90936279296875, -2.5130393505096436, 78.39019775390625, -0.8793356418609619, 50.44977569580078 ]
[ 5.15625, 2.528932809829712, 4.036281108856201, 77.96239471435547, -1.196581244468689, 49.9009895324707 ]
1.066667
32
0
32
0
[ 7.3643412590026855, 11.500640869140625, -3.935514450073242, 76.3779525756836, -0.8793356418609619, 50.44977569580078 ]
[ 6.015625, 6.043720722198486, 1.315192699432373, 77.96239471435547, -1.196581244468689, 49.9009895324707 ]
1.1
33
0
33
0
[ 7.6744184494018555, 14.23685359954834, -3.7458510398864746, 72.87838745117188, -0.8793356418609619, 50.44977569580078 ]
[ 6.640625, 10.415773391723633, -0.40816327929496765, 77.26278686523438, -1.196581244468689, 49.9009895324707 ]
1.133333
34
0
34
0
[ 7.8294572830200195, 16.973066329956055, -3.651019334793091, 70.77865600585938, -0.8793356418609619, 50.44977569580078 ]
[ 7.109375, 13.673381805419922, -0.7709750533103943, 74.81417083740234, -1.196581244468689, 49.9009895324707 ]
1.166667
35
0
35
0
[ 7.8294572830200195, 19.025224685668945, -3.651019334793091, 70.51618194580078, -0.8793356418609619, 50.44977569580078 ]
[ 7.1875, 16.588083267211914, -1.043083906173706, 72.27809143066406, -1.196581244468689, 49.9009895324707 ]
1.2
36
0
36
0
[ 7.8294572830200195, 20.478837966918945, -3.935514450073242, 70.42869567871094, -0.8793356418609619, 50.44977569580078 ]
[ 7.1875, 18.902700424194336, -1.043083906173706, 71.4035873413086, -1.196581244468689, 49.9009895324707 ]
1.233333
37
0
37
0
[ 8.372093200683594, 20.99187660217285, -3.556187868118286, 68.85388946533203, -0.8793356418609619, 50.44977569580078 ]
[ 7.265625, 20.531503677368164, -1.043083906173706, 71.22868347167969, -1.196581244468689, 49.9009895324707 ]
1.266667
38
0
38
0
[ 8.449612617492676, 22.1889705657959, -3.556187868118286, 67.62904357910156, -0.8793356418609619, 50.44977569580078 ]
[ 7.65625, 21.217317581176758, -1.043083906173706, 69.91692352294922, -1.196581244468689, 49.9009895324707 ]
1.3
39
0
39
0
[ 8.759690284729004, 23.642581939697266, -3.8406827449798584, 67.0166244506836, -0.8793356418609619, 50.44977569580078 ]
[ 7.8125, 22.331762313842773, -1.043083906173706, 68.60515594482422, -1.196581244468689, 49.9009895324707 ]
1.333333
40
0
40
0
[ 9.069766998291016, 23.72808837890625, -3.556187868118286, 66.31671142578125, -0.8793356418609619, 50.44977569580078 ]
[ 8.203125, 23.874839782714844, -1.2244898080825806, 67.90555572509766, -1.196581244468689, 49.9009895324707 ]
1.366667
41
0
41
0
[ 9.069766998291016, 23.72808837890625, -3.4613561630249023, 66.31671142578125, -0.8793356418609619, 50.44977569580078 ]
[ 8.515625, 24.217744827270508, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 49.9009895324707 ]
1.4
42
0
42
0
[ 9.069766998291016, 23.72808837890625, -3.4613561630249023, 66.31671142578125, -0.8793356418609619, 50.44977569580078 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 49.9009895324707 ]
1.433333
43
0
43
0
[ 9.069766998291016, 23.72808837890625, -3.4613561630249023, 66.31671142578125, -0.8793356418609619, 50.374813079833984 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 49.9009895324707 ]
1.466667
44
0
44
0
[ 9.069766998291016, 23.72808837890625, -3.3665244579315186, 66.31671142578125, -0.9281876087188721, 47.00149917602539 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 49.9009895324707 ]
1.5
45
0
45
0
[ 9.069766998291016, 23.72808837890625, -3.3665244579315186, 66.31671142578125, -0.9281876087188721, 36.656673431396484 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 48.38283920288086 ]
1.533333
46
0
46
0
[ 9.069766998291016, 23.72808837890625, -3.3665244579315186, 66.49169158935547, -0.9281876087188721, 24.062969207763672 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 44.88448715209961 ]
1.566667
47
0
47
0
[ 8.99224853515625, 23.813594818115234, -3.3665244579315186, 66.57917785644531, -0.9281876087188721, 13.718140602111816 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 36.03960418701172 ]
1.6
48
0
48
0
[ 8.99224853515625, 24.07011604309082, -3.3665244579315186, 66.66666412353516, -0.9281876087188721, 5.022488594055176 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 25.412540435791016 ]
1.633333
49
0
49
0
[ 8.99224853515625, 25.01068878173828, -3.3665244579315186, 66.57917785644531, -0.9281876087188721, 1.7241379022598267 ]
[ 8.515625, 24.3034725189209, -1.2244898080825806, 67.03104400634766, -1.196581244468689, 13.663366317749023 ]
1.666667
50
0
50
0
[ 8.99224853515625, 25.01068878173828, -3.3665244579315186, 66.57917785644531, -0.9281876087188721, 2.0239880084991455 ]
[ 8.59375, 24.98928451538086, -1.4965986013412476, 67.03104400634766, -1.196581244468689, 5.94059419631958 ]
1.7
51
0
51
0
[ 8.99224853515625, 25.01068878173828, -3.3665244579315186, 66.57917785644531, -0.9281876087188721, 2.0239880084991455 ]
[ 8.671875, 25.075010299682617, -1.5873016119003296, 67.03104400634766, -1.196581244468689, 4.884488582611084 ]
1.733333
52
0
52
0
[ 8.99224853515625, 24.583154678344727, -3.556187868118286, 66.66666412353516, -0.9281876087188721, 2.0239880084991455 ]
[ 8.671875, 25.075010299682617, -1.5873016119003296, 67.03104400634766, -1.196581244468689, 4.554455280303955 ]
1.766667
53
0
53
0
[ 8.99224853515625, 23.12954330444336, -3.935514450073242, 66.84164428710938, -0.9281876087188721, 2.0239880084991455 ]
[ 8.671875, 25.075010299682617, -1.5873016119003296, 67.03104400634766, -1.196581244468689, 4.554455280303955 ]
1.8
54
0
54
0
[ 8.837209701538086, 19.367250442504883, -3.556187868118286, 67.54155731201172, -0.9770395755767822, 2.0239880084991455 ]
[ 8.75, 24.98928451538086, -1.8594104051589966, 67.03104400634766, -1.196581244468689, 4.554455280303955 ]
1.833333
55
0
55
0
[ 8.527132034301758, 15.946986198425293, -4.314841270446777, 73.31583404541016, -0.9770395755767822, 2.0239880084991455 ]
[ 8.671875, 23.617660522460938, -1.8594104051589966, 67.03104400634766, -1.196581244468689, 4.488448619842529 ]
1.866667
56
0
56
0
[ 8.449612617492676, 12.86874771118164, -7.728781223297119, 79.0901107788086, -0.9770395755767822, 2.0239880084991455 ]
[ 8.671875, 21.388769149780273, -1.9501134157180786, 70.0043716430664, -1.196581244468689, 4.158415794372559 ]
1.9
57
0
57
0
[ 8.139534950256348, 12.355707168579102, -13.039355278015137, 84.9518814086914, -0.9770395755767822, 2.0239880084991455 ]
[ 8.671875, 18.816974639892578, -3.582766532897949, 74.63926696777344, -1.196581244468689, 4.092409133911133 ]
1.933333
58
0
58
0
[ 6.046511650085449, 12.78324031829834, -18.91891860961914, 89.85126495361328, -1.0747435092926025, 2.0239880084991455 ]
[ 8.671875, 16.845264434814453, -7.482993125915527, 79.97376251220703, -1.196581244468689, 4.092409133911133 ]
1.966667
59
0
59
0
[ 4.496124267578125, 12.86874771118164, -23.28117561340332, 91.95100402832031, -1.1235954761505127, 2.0239880084991455 ]
[ 7.578125, 16.588083267211914, -12.925169944763184, 85.92041778564453, -1.196581244468689, 4.092409133911133 ]
2
60
0
60
0
[ 1.9379844665527344, 13.125267028808594, -23.755334854125977, 91.6010513305664, -1.1724474430084229, 2.0239880084991455 ]
[ 5.546875, 16.588083267211914, -18.185941696166992, 89.94315338134766, -1.196581244468689, 4.092409133911133 ]
2.033333
61
0
61
0
[ 0.07751937955617905, 15.946986198425293, -24.03982925415039, 91.51355743408203, -1.1724474430084229, 2.0239880084991455 ]
[ 3.671875, 16.502357482910156, -20.362812042236328, 90.55531311035156, -1.196581244468689, 4.092409133911133 ]
2.066667
62
0
62
0
[ -1.5503876209259033, 17.82813262939453, -24.03982925415039, 90.11373901367188, -1.1724474430084229, 2.0239880084991455 ]
[ 1.40625, 16.845264434814453, -20.725624084472656, 90.64276123046875, -1.196581244468689, 4.092409133911133 ]
2.1
63
0
63
0
[ -2.8682169914245605, 19.709278106689453, -23.944997787475586, 86.3517074584961, -1.1724474430084229, 2.0239880084991455 ]
[ -0.3125, 18.045434951782227, -20.997732162475586, 90.46786499023438, -1.196581244468689, 4.092409133911133 ]
2.133333
64
0
64
0
[ -3.8759689331054688, 22.274477005004883, -23.944997787475586, 84.68941497802734, -1.1724474430084229, 2.0239880084991455 ]
[ -1.796875, 19.674240112304688, -21.088436126708984, 88.106689453125, -1.196581244468689, 4.092409133911133 ]
2.166667
65
0
65
0
[ -4.031007766723633, 25.18170166015625, -23.944997787475586, 82.76465606689453, -1.1724474430084229, 2.0239880084991455 ]
[ -3.046875, 21.90312957763672, -21.360544204711914, 85.83296966552734, -1.196581244468689, 4.092409133911133 ]
2.2
66
0
66
0
[ -4.263566017150879, 27.661394119262695, -23.85016632080078, 79.52755737304688, -1.1724474430084229, 2.0239880084991455 ]
[ -3.515625, 24.732105255126953, -21.541950225830078, 83.90904998779297, -1.196581244468689, 4.092409133911133 ]
2.233333
67
0
67
0
[ -5.116279125213623, 30.14108657836914, -23.85016632080078, 77.86526489257812, -1.1724474430084229, 2.0239880084991455 ]
[ -3.59375, 27.475353240966797, -21.541950225830078, 81.28553009033203, -1.196581244468689, 4.092409133911133 ]
2.266667
68
0
68
0
[ -5.116279125213623, 30.910646438598633, -23.755334854125977, 78.12773132324219, -1.1724474430084229, 2.0239880084991455 ]
[ -4.140625, 29.961423873901367, -21.723356246948242, 79.18670654296875, -1.196581244468689, 4.092409133911133 ]
2.3
69
0
69
0
[ -5.116279125213623, 30.910646438598633, -23.47083854675293, 78.3027114868164, -1.1724474430084229, 2.0239880084991455 ]
[ -4.53125, 31.418773651123047, -21.723356246948242, 78.83690643310547, -1.196581244468689, 4.092409133911133 ]
2.333333
70
0
70
0
[ -5.116279125213623, 30.910646438598633, -23.376007080078125, 78.3027114868164, -1.1724474430084229, 2.0989506244659424 ]
[ -4.53125, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 4.092409133911133 ]
2.366667
71
0
71
0
[ -5.193798542022705, 30.996152877807617, -23.28117561340332, 78.3027114868164, -1.1235954761505127, 2.248875617980957 ]
[ -4.53125, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 4.092409133911133 ]
2.4
72
0
72
0
[ -5.271317958831787, 30.825138092041016, -23.28117561340332, 78.39019775390625, -1.1235954761505127, 5.1724138259887695 ]
[ -4.53125, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 4.092409133911133 ]
2.433333
73
0
73
0
[ -6.046511650085449, 30.73963165283203, -23.28117561340332, 78.39019775390625, -1.1235954761505127, 12.968515396118164 ]
[ -4.6875, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 4.95049524307251 ]
2.466667
74
0
74
0
[ -6.124031066894531, 30.73963165283203, -23.28117561340332, 78.39019775390625, -1.1235954761505127, 21.889055252075195 ]
[ -5.078125, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 7.656765460968018 ]
2.5
75
0
75
0
[ -6.124031066894531, 30.654125213623047, -23.28117561340332, 78.39019775390625, -1.1235954761505127, 27.361318588256836 ]
[ -5.625, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 15.511550903320312 ]
2.533333
76
0
76
0
[ -6.201550483703613, 30.483112335205078, -23.28117561340332, 78.39019775390625, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 23.036304473876953 ]
2.566667
77
0
77
0
[ -6.201550483703613, 30.397605895996094, -23.28117561340332, 78.56517791748047, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 26.60066032409668 ]
2.6
78
0
78
0
[ -6.201550483703613, 27.661394119262695, -23.09151268005371, 79.79002380371094, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 31.504501342773438, -21.723356246948242, 78.83690643310547, -1.196581244468689, 27.524751663208008 ]
2.633333
79
0
79
0
[ -6.201550483703613, 22.78751564025879, -23.09151268005371, 84.77690124511719, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 31.33304786682129, -21.723356246948242, 79.09925842285156, -1.196581244468689, 27.7227725982666 ]
2.666667
80
0
80
0
[ -6.201550483703613, 17.315092086791992, -22.996681213378906, 88.45144653320312, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 29.532791137695312, -21.632652282714844, 81.8976821899414, -1.196581244468689, 27.7227725982666 ]
2.7
81
0
81
0
[ -6.201550483703613, 14.065839767456055, -22.996681213378906, 89.85126495361328, -1.1724474430084229, 28.110944747924805 ]
[ -5.625, 24.90355682373047, -21.632652282714844, 85.92041778564453, -1.196581244468689, 27.7227725982666 ]
2.733333
82
0
82
0
[ -6.201550483703613, 12.697733879089355, -22.996681213378906, 90.72615814208984, -1.1724474430084229, 28.035982131958008 ]
[ -5.625, 20.1885986328125, -21.723356246948242, 88.45648956298828, -1.196581244468689, 27.7227725982666 ]
2.766667
83
0
83
0
[ -6.201550483703613, 10.560068130493164, -22.9018497467041, 92.21347045898438, -1.1724474430084229, 28.035982131958008 ]
[ -5.625, 17.445348739624023, -21.723356246948242, 89.85570526123047, -1.196581244468689, 27.7227725982666 ]
2.8
84
0
84
0
[ -6.201550483703613, 7.738349914550781, -22.9018497467041, 94.05074310302734, -1.1724474430084229, 28.035982131958008 ]
[ -5.625, 15.645092010498047, -21.723356246948242, 91.16746520996094, -1.196581244468689, 27.7227725982666 ]
2.833333
85
0
85
0
[ -6.201550483703613, 4.318084716796875, -21.005216598510742, 94.83814239501953, -1.1724474430084229, 28.035982131958008 ]
[ -5.625, 13.073296546936035, -21.632652282714844, 93.00393676757812, -1.196581244468689, 27.7227725982666 ]
2.866667
86
0
86
0
[ -6.201550483703613, -1.7528858184814453, -13.323850631713867, 94.05074310302734, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, 9.558507919311523, -20.90703010559082, 94.14079284667969, -1.196581244468689, 27.7227725982666 ]
2.9
87
0
87
0
[ -6.124031066894531, -8.507909774780273, -4.12517786026001, 89.23884582519531, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, 4.757822513580322, -17.006803512573242, 94.14079284667969, -1.196581244468689, 27.7227725982666 ]
2.933333
88
0
88
0
[ -6.201550483703613, -15.690465927124023, 8.487434387207031, 82.67716217041016, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -0.9858551025390625, -9.478458404541016, 91.60472106933594, -1.196581244468689, 27.7227725982666 ]
2.966667
89
0
89
0
[ -6.201550483703613, -23.813594818115234, 23.660503387451172, 73.84076690673828, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -8.101157188415527, -0.04535147547721863, 87.05728149414062, -1.196581244468689, 27.7227725982666 ]
3
90
0
90
0
[ -6.201550483703613, -34.501922607421875, 42.05784606933594, 64.21697235107422, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -15.645092010498047, 13.19727897644043, 80.23611450195312, -1.196581244468689, 27.7227725982666 ]
3.033333
91
0
91
0
[ -6.201550483703613, -47.0713996887207, 60.55002212524414, 53.89326477050781, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -25.075010299682617, 28.34467124938965, 70.79142761230469, -1.196581244468689, 27.7227725982666 ]
3.066667
92
0
92
0
[ -6.201550483703613, -60.83796310424805, 77.3352279663086, 44.181976318359375, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -35.87655258178711, 45.850341796875, 61.8714485168457, -1.196581244468689, 27.7227725982666 ]
3.1
93
0
93
0
[ -6.201550483703613, -73.83496856689453, 90.3271713256836, 37.88276290893555, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -48.39262771606445, 63.446712493896484, 51.814605712890625, -1.196581244468689, 27.7227725982666 ]
3.133333
94
0
94
0
[ -6.124031066894531, -84.35228729248047, 99.4310073852539, 36.74540710449219, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -61.765968322753906, 79.59183502197266, 43.24442672729492, -1.196581244468689, 27.7227725982666 ]
3.166667
95
0
95
0
[ -6.201550483703613, -87.43052673339844, 100, 37.707786560058594, -1.1235954761505127, 28.035982131958008 ]
[ -5.625, -75.31076049804688, 93.28797912597656, 39.309139251708984, -1.196581244468689, 27.7227725982666 ]
3.2
96
0
96
0
[ -6.201550483703613, -87.34501647949219, 100, 37.7952766418457, -1.0747435092926025, 28.035982131958008 ]
[ -5.703125, -83.45478057861328, 98.63945770263672, 38.95933532714844, -1.196581244468689, 27.7227725982666 ]
3.233333
97
0
97
0
[ -6.201550483703613, -87.34501647949219, 100, 37.7952766418457, -1.0747435092926025, 28.035982131958008 ]
[ -5.703125, -85.68367004394531, 99.09297180175781, 38.871883392333984, -1.196581244468689, 27.7227725982666 ]
3.266667
98
0
98
0
[ -5.891472816467285, -87.85806274414062, 100, 37.88276290893555, -1.0747435092926025, 28.035982131958008 ]
[ -5.703125, -86.28375244140625, 99.09297180175781, 38.871883392333984, -1.196581244468689, 27.7227725982666 ]
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": 100,
    "total_frames": 15129,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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",
            "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
44
License:
apache-2.0
Size of downloaded dataset files:
779 kB
Size of the auto-converted Parquet files:
779 kB
Number of rows:
15,129

Models trained or fine-tuned on jliu6718/so101-put_dish