Hugging Face's logo

Datasets:
kentaterasaki
/
ball_in_cup_dataset_50_316lab

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
listlengths
6
6
observation.state
listlengths
6
6
timestamp
float32
0
15
frame_index
int64
0
451
episode_index
int64
0
49
index
int64
0
15k
task_index
int64
0
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 1.217730164527893, -93.62068939208984, 96.0891342163086, 53.488372802734375, -1.5918958187103271, 47.555259704589844 ]
0
0
0
0
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 1.217730164527893, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.5918958187103271, 47.555259704589844 ]
0.033333
1
0
1
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 1.3151485919952393, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.7848528623580933, 47.555259704589844 ]
0.066667
2
0
2
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 3.9454457759857178, -93.79310607910156, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.1
3
0
3
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 3.9454457759857178, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.133333
4
0
4
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 5.017048358917236, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.166667
5
0
5
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.2
6
0
6
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.822211265563965, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.233333
7
0
7
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.266667
8
0
8
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.3
9
0
9
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.333333
10
0
10
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.366667
11
0
11
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.4
12
0
12
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.433333
13
0
13
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.466667
14
0
14
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.5
15
0
15
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.533333
16
0
16
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.566667
17
0
17
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.6
18
0
18
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.633333
19
0
19
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.666667
20
0
20
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.7
21
0
21
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.733333
22
0
22
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.766667
23
0
23
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.8
24
0
24
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.73722457885742 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.833333
25
0
25
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.73722457885742 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.866667
26
0
26
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.445255279541016 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.9
27
0
27
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.933333
28
0
28
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.250225067138672, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
0.966667
29
0
29
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1
30
0
30
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.070207118988037, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.033333
31
0
31
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.070207118988037, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.066667
32
0
32
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.070207118988037, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.1
33
0
33
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.133333
34
0
34
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -1.9801980257034302, 47.445255279541016 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.166667
35
0
35
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.070207118988037, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.2
36
0
36
0
[ 5.268340587615967, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.1602160930633545, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.233333
37
0
37
0
[ 5.5637617111206055, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.4302430152893066, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.266667
38
0
38
0
[ 5.662235260009766, -93.9619140625, 95.61443328857422, 53.585269927978516, -2.4302430152893066, 47.37226104736328 ]
[ 4.724792957305908, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.3
39
0
39
0
[ 5.465288162231445, -93.9619140625, 95.24897003173828, 53.488372802734375, -1.9801980257034302, 47.37226104736328 ]
[ 4.9196295738220215, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.333333
40
0
40
0
[ 6.154603481292725, -93.9619140625, 94.88350677490234, 53.488372802734375, -1.8001800775527954, 47.37226104736328 ]
[ 5.21188497543335, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.366667
41
0
41
0
[ 6.351551055908203, -93.9619140625, 94.33531188964844, 53.585269927978516, -1.7101709842681885, 47.37226104736328 ]
[ 5.21188497543335, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.4
42
0
42
0
[ 7.5332350730896, -93.8690185546875, 93.23892211914062, 53.585269927978516, -1.7101709842681885, 47.37226104736328 ]
[ 5.504140377044678, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.433333
43
0
43
0
[ 8.51797103881836, -93.40454864501953, 91.5943374633789, 53.585269927978516, -1.7101709842681885, 47.37226104736328 ]
[ 5.8938140869140625, -93.62068939208984, 96.27103424072266, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.466667
44
0
44
0
[ 9.108813285827637, -92.9400863647461, 90.0411148071289, 53.972869873046875, -1.7101709842681885, 47.37226104736328 ]
[ 6.380906105041504, -93.62068939208984, 96.18008422851562, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.5
45
0
45
0
[ 9.207286834716797, -92.9400863647461, 88.30516052246094, 56.2015495300293, -1.7101709842681885, 47.37226104736328 ]
[ 7.452508449554443, -93.53448486328125, 95.27057647705078, 53.488372802734375, -1.9778099060058594, 47.555259704589844 ]
1.533333
46
0
46
0
[ 8.911866188049316, -92.9400863647461, 85.92964935302734, 58.914730072021484, -1.8001800775527954, 47.37226104736328 ]
[ 8.32927417755127, -93.87931060791016, 93.72441864013672, 53.76197052001953, -1.9778099060058594, 47.555259704589844 ]
1.566667
47
0
47
0
[ 8.911866188049316, -92.9400863647461, 82.64047241210938, 61.531005859375, -2.4302430152893066, 47.37226104736328 ]
[ 8.621529579162598, -93.18965148925781, 92.08731079101562, 54.856361389160156, -1.9778099060058594, 47.555259704589844 ]
1.6
48
0
48
0
[ 8.714919090270996, -92.9400863647461, 79.44266510009766, 63.75968933105469, -2.520251989364624, 47.37226104736328 ]
[ 8.718947410583496, -92.75862121582031, 90.17735290527344, 57.045143127441406, -1.9778099060058594, 47.555259704589844 ]
1.633333
49
0
49
0
[ 9.010339736938477, -92.8471908569336, 76.79305267333984, 65.21318054199219, -2.520251989364624, 47.37226104736328 ]
[ 8.718947410583496, -93.53448486328125, 87.90359497070312, 59.32512664794922, -1.9778099060058594, 47.555259704589844 ]
1.666667
50
0
50
0
[ 9.207286834716797, -92.7542953491211, 74.5089111328125, 66.27906799316406, -2.4302430152893066, 47.37226104736328 ]
[ 8.718947410583496, -93.36206817626953, 84.99317932128906, 61.69630813598633, -2.170767068862915, 47.555259704589844 ]
1.7
51
0
51
0
[ 9.207286834716797, -90.24617004394531, 72.22476196289062, 67.15116119384766, -2.4302430152893066, 47.37226104736328 ]
[ 8.816366195678711, -93.27586364746094, 81.53706359863281, 63.88508987426758, -2.170767068862915, 47.555259704589844 ]
1.733333
52
0
52
0
[ 9.404233932495117, -85.32280731201172, 69.3010482788086, 67.15116119384766, -2.4302430152893066, 47.37226104736328 ]
[ 8.816366195678711, -93.10344696044922, 78.80854797363281, 65.43547821044922, -2.170767068862915, 47.555259704589844 ]
1.766667
53
0
53
0
[ 10.192023277282715, -78.16999816894531, 65.372314453125, 67.15116119384766, -2.4302430152893066, 47.37226104736328 ]
[ 8.816366195678711, -92.67241668701172, 76.62574005126953, 66.52986907958984, -2.170767068862915, 47.555259704589844 ]
1.8
54
0
54
0
[ 12.063023567199707, -70.6456069946289, 60.986751556396484, 67.53875732421875, -2.4302430152893066, 47.37226104736328 ]
[ 8.816366195678711, -90, 73.89722442626953, 66.89466857910156, -2.170767068862915, 47.555259704589844 ]
1.833333
55
0
55
0
[ 14.9187593460083, -64.7004165649414, 56.69255447387695, 69.18604278564453, -2.4302430152893066, 47.37226104736328 ]
[ 9.498294830322266, -85.17241668701172, 71.07776641845703, 66.89466857910156, -2.170767068862915, 47.555259704589844 ]
1.866667
56
0
56
0
[ 18.85770606994629, -59.86994934082031, 51.941524505615234, 71.60852813720703, -2.4302430152893066, 47.37226104736328 ]
[ 10.569897651672363, -79.22413635253906, 67.34879302978516, 67.35066223144531, -2.170767068862915, 47.555259704589844 ]
1.9
57
0
57
0
[ 22.59970474243164, -56.061309814453125, 47.921424865722656, 73.83721160888672, -2.4302430152893066, 47.37226104736328 ]
[ 12.323429107666016, -72.1551742553711, 62.98317337036133, 68.35385131835938, -2.170767068862915, 47.555259704589844 ]
1.933333
58
0
58
0
[ 26.046281814575195, -52.53135299682617, 44.81498336791992, 75.968994140625, -2.4302430152893066, 47.37226104736328 ]
[ 14.953725814819336, -65.17241668701172, 59.16325759887695, 70.08663940429688, -2.170767068862915, 47.555259704589844 ]
1.966667
59
0
59
0
[ 29.591333389282227, -48.16535186767578, 41.98263931274414, 78.10077667236328, -2.520251989364624, 47.37226104736328 ]
[ 18.55820655822754, -60.86206817626953, 54.524784088134766, 72.00182342529297, -2.170767068862915, 47.555259704589844 ]
2
60
0
60
0
[ 32.64401626586914, -43.05620193481445, 39.60712814331055, 80.03875732421875, -2.520251989364624, 47.37226104736328 ]
[ 22.065269470214844, -56.465518951416016, 50.43201446533203, 74.37300872802734, -2.170767068862915, 47.555259704589844 ]
2.033333
61
0
61
0
[ 35.30280685424805, -38.318626403808594, 37.68844223022461, 82.26744079589844, -2.070207118988037, 47.37226104736328 ]
[ 25.47491455078125, -52.75862121582031, 47.43064880371094, 76.47058868408203, -2.170767068862915, 47.555259704589844 ]
2.066667
62
0
62
0
[ 38.0600700378418, -34.13841247558594, 36.317955017089844, 84.10852813720703, -1.8001800775527954, 47.37226104736328 ]
[ 28.787139892578125, -48.620689392089844, 44.24738693237305, 78.38577270507812, -2.170767068862915, 47.555259704589844 ]
2.1
63
0
63
0
[ 41.11275100708008, -31.723176956176758, 35.95248794555664, 84.88372039794922, -1.7101709842681885, 47.37226104736328 ]
[ 32.001949310302734, -42.844825744628906, 41.791725158691406, 80.39215850830078, -2.170767068862915, 47.555259704589844 ]
2.133333
64
0
64
0
[ 44.165435791015625, -30.422666549682617, 36.135223388671875, 84.98062133789062, -1.7101709842681885, 47.37226104736328 ]
[ 34.827083587646484, -38.18965530395508, 39.79081344604492, 82.39854431152344, -2.170767068862915, 47.555259704589844 ]
2.166667
65
0
65
0
[ 47.316593170166016, -29.400836944580078, 36.043853759765625, 84.98062133789062, -1.620162010192871, 47.37226104736328 ]
[ 37.45737838745117, -34.655174255371094, 38.79035949707031, 83.85772705078125, -2.170767068862915, 47.555259704589844 ]
2.2
66
0
66
0
[ 49.975379943847656, -29.30794334411621, 36.135223388671875, 84.49612426757812, -1.5301530361175537, 47.37226104736328 ]
[ 40.76960372924805, -31.810344696044922, 38.51750946044922, 84.49612426757812, -2.170767068862915, 47.555259704589844 ]
2.233333
67
0
67
0
[ 52.43722152709961, -29.21504783630371, 36.135223388671875, 84.30232238769531, -0.18001800775527954, 47.37226104736328 ]
[ 43.69215774536133, -30.258621215820312, 38.51750946044922, 84.76972198486328, -2.0742883682250977, 47.555259704589844 ]
2.266667
68
0
68
0
[ 54.702117919921875, -29.21504783630371, 35.95248794555664, 84.20542907714844, 3.870387077331543, 47.37226104736328 ]
[ 46.61471176147461, -29.482759475708008, 38.51750946044922, 84.76972198486328, -1.881331443786621, 47.555259704589844 ]
2.3
69
0
69
0
[ 56.47464370727539, -29.21504783630371, 35.95248794555664, 84.20542907714844, 6.30063009262085, 47.37226104736328 ]
[ 49.537261962890625, -29.224138259887695, 38.42655563354492, 84.76972198486328, -1.0130245685577393, 47.555259704589844 ]
2.333333
70
0
70
0
[ 58.14869689941406, -29.21504783630371, 35.95248794555664, 84.01162719726562, 7.020701885223389, 47.37226104736328 ]
[ 51.972721099853516, -29.13793182373047, 38.33560562133789, 84.76972198486328, 0.3376748561859131, 47.555259704589844 ]
2.366667
71
0
71
0
[ 58.936485290527344, -29.122154235839844, 36.22658920288086, 82.55813598632812, 7.110711097717285, 47.37226104736328 ]
[ 54.01850891113281, -29.13793182373047, 38.33560562133789, 84.76972198486328, 3.5214664936065674, 47.555259704589844 ]
2.4
72
0
72
0
[ 59.330379486083984, -28.657686233520508, 36.774784088134766, 81.20155334472656, 7.200720310211182, 47.37226104736328 ]
[ 55.96687698364258, -29.13793182373047, 38.33560562133789, 84.49612426757812, 5.4510369300842285, 47.555259704589844 ]
2.433333
73
0
73
0
[ 60.610538482666016, -25.777984619140625, 36.86614990234375, 80.71705627441406, 7.200720310211182, 47.37226104736328 ]
[ 57.42815399169922, -29.13793182373047, 38.33560562133789, 83.5841293334961, 6.3193440437316895, 47.555259704589844 ]
2.466667
74
0
74
0
[ 62.481536865234375, -21.2261962890625, 36.043853759765625, 80.71705627441406, 7.200720310211182, 47.37226104736328 ]
[ 58.20750045776367, -28.879310607910156, 38.33560562133789, 82.48973846435547, 6.705257892608643, 47.555259704589844 ]
2.5
75
0
75
0
[ 64.45101165771484, -17.696237564086914, 36.043853759765625, 80.62015533447266, 7.200720310211182, 47.37226104736328 ]
[ 59.18168640136719, -27.672412872314453, 38.24465560913086, 81.57775115966797, 6.705257892608643, 47.555259704589844 ]
2.533333
76
0
76
0
[ 66.51895904541016, -15.373896598815918, 36.043853759765625, 79.06977081298828, 7.380738258361816, 47.37226104736328 ]
[ 60.5455436706543, -24.827587127685547, 38.33560562133789, 81.21295166015625, 6.705257892608643, 47.555259704589844 ]
2.566667
77
0
77
0
[ 67.50369262695312, -14.909428596496582, 36.135223388671875, 76.74418640136719, 8.370837211608887, 47.37226104736328 ]
[ 62.1042366027832, -20.86206817626953, 38.15370559692383, 81.12174987792969, 6.705257892608643, 47.555259704589844 ]
2.6
78
0
78
0
[ 68.2914810180664, -14.909428596496582, 36.22658920288086, 75.0969009399414, 11.161115646362305, 47.37226104736328 ]
[ 64.1500244140625, -17.413793563842773, 38.0627555847168, 80.02735900878906, 6.994693756103516, 47.555259704589844 ]
2.633333
79
0
79
0
[ 68.38995361328125, -14.444960594177246, 36.22658920288086, 74.031005859375, 13.411340713500977, 47.37226104736328 ]
[ 65.80613708496094, -15.344827651977539, 38.0627555847168, 78.65937042236328, 7.670043468475342, 47.555259704589844 ]
2.666667
80
0
80
0
[ 68.38995361328125, -14.259173393249512, 36.50068664550781, 73.06201171875, 14.22142219543457, 47.37226104736328 ]
[ 66.87773895263672, -15.086206436157227, 37.971805572509766, 76.83538818359375, 9.020742416381836, 47.555259704589844 ]
2.7
81
0
81
0
[ 68.38995361328125, -14.259173393249512, 36.5920524597168, 72.77131652832031, 14.22142219543457, 47.37226104736328 ]
[ 67.46224975585938, -14.568965911865234, 37.971805572509766, 75.28499603271484, 11.336227416992188, 47.555259704589844 ]
2.733333
82
0
82
0
[ 68.38995361328125, -14.444960594177246, 36.40932083129883, 72.09302520751953, 14.22142219543457, 47.37226104736328 ]
[ 67.5596694946289, -14.396552085876465, 37.971805572509766, 74.09941101074219, 12.879883766174316, 47.555259704589844 ]
2.766667
83
0
83
0
[ 68.38995361328125, -14.816534996032715, 36.40932083129883, 70.44573974609375, 14.311430931091309, 47.37226104736328 ]
[ 67.5596694946289, -14.137930870056152, 37.971805572509766, 73.46101379394531, 13.458755493164062, 47.555259704589844 ]
2.8
84
0
84
0
[ 68.38995361328125, -14.909428596496582, 36.68341827392578, 68.02325439453125, 14.22142219543457, 47.88321304321289 ]
[ 67.5596694946289, -14.137930870056152, 37.971805572509766, 72.73141479492188, 13.748190879821777, 47.555259704589844 ]
2.833333
85
0
85
0
[ 68.58690643310547, -14.816534996032715, 37.414344787597656, 64.43798828125, 14.311430931091309, 48.029197692871094 ]
[ 67.5596694946289, -14.137930870056152, 37.971805572509766, 71.63702392578125, 13.844669342041016, 47.555259704589844 ]
2.866667
86
0
86
0
[ 69.4731674194336, -15.00232219696045, 38.876197814941406, 60.27131652832031, 14.311430931091309, 48.029197692871094 ]
[ 67.5596694946289, -14.137930870056152, 37.971805572509766, 70.08663940429688, 13.941147804260254, 47.62223815917969 ]
2.9
87
0
87
0
[ 70.06401062011719, -15.00232219696045, 39.51576232910156, 58.430233001708984, 14.58145809173584, 48.029197692871094 ]
[ 67.65708923339844, -14.137930870056152, 38.15370559692383, 67.62425994873047, 13.941147804260254, 47.82317352294922 ]
2.933333
88
0
88
0
[ 72.03347778320312, -14.816534996032715, 39.60712814331055, 58.33333206176758, 16.471647262573242, 47.59123992919922 ]
[ 68.33901977539062, -14.137930870056152, 38.881309509277344, 64.43228149414062, 13.941147804260254, 47.82317352294922 ]
2.966667
89
0
89
0
[ 72.62432098388672, -14.909428596496582, 39.972591400146484, 58.33333206176758, 20.972097396850586, 47.37226104736328 ]
[ 69.02094268798828, -14.051724433898926, 39.60891342163086, 60.966712951660156, 14.037626266479492, 47.82317352294922 ]
3
90
0
90
0
[ 72.72279357910156, -14.537854194641113, 40.70351791381836, 57.65503692626953, 23.49234962463379, 47.37226104736328 ]
[ 70.09254455566406, -14.137930870056152, 39.79081344604492, 59.68992233276367, 15.195368766784668, 47.756195068359375 ]
3.033333
91
0
91
0
[ 72.72279357910156, -14.259173393249512, 41.891273498535156, 57.26744079589844, 24.392438888549805, 47.37226104736328 ]
[ 71.3589859008789, -14.137930870056152, 40.15461730957031, 59.14272689819336, 17.12493896484375, 47.555259704589844 ]
3.066667
92
0
92
0
[ 72.42737579345703, -14.259173393249512, 43.26176452636719, 57.26744079589844, 24.392438888549805, 47.37226104736328 ]
[ 71.84607696533203, -14.137930870056152, 40.88221740722656, 58.50433349609375, 20.598167419433594, 47.488277435302734 ]
3.1
93
0
93
0
[ 71.5411148071289, -14.166279792785645, 44.17542266845703, 57.26744079589844, 24.302431106567383, 47.37226104736328 ]
[ 71.84607696533203, -14.051724433898926, 41.88267517089844, 57.865936279296875, 22.624216079711914, 47.488277435302734 ]
3.133333
94
0
94
0
[ 70.26095581054688, -14.166279792785645, 44.54088592529297, 57.26744079589844, 23.852384567260742, 47.37226104736328 ]
[ 71.84607696533203, -14.051724433898926, 43.15597915649414, 57.50114059448242, 23.39604377746582, 47.488277435302734 ]
3.166667
95
0
95
0
[ 69.37469482421875, -14.166279792785645, 44.54088592529297, 57.26744079589844, 23.58235740661621, 47.37226104736328 ]
[ 71.6512451171875, -13.879310607910156, 44.06548309326172, 57.31874084472656, 23.68548011779785, 47.488277435302734 ]
3.2
96
0
96
0
[ 68.19300842285156, -14.073386192321777, 44.54088592529297, 57.26744079589844, 23.49234962463379, 47.37226104736328 ]
[ 70.96931457519531, -13.879310607910156, 44.793087005615234, 57.68354034423828, 23.68548011779785, 47.42129898071289 ]
3.233333
97
0
97
0
[ 67.30674743652344, -13.330236434936523, 44.449520111083984, 57.26744079589844, 23.49234962463379, 47.37226104736328 ]
[ 69.89771270751953, -13.879310607910156, 44.9749870300293, 57.68354034423828, 23.589000701904297, 47.42129898071289 ]
3.266667
98
0
98
0
[ 66.81437683105469, -10.450533866882324, 43.627227783203125, 57.26744079589844, 23.402339935302734, 47.37226104736328 ]
[ 69.02094268798828, -13.879310607910156, 44.9749870300293, 57.68354034423828, 23.492523193359375, 47.42129898071289 ]
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": 50,
    "total_frames": 14974,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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"
            ],
            "fps": 30
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 30
        },
        "observation.images.shoulder": {
            "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.end_effector": {
            "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.base": {
            "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,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
12
License:
apache-2.0
Number of rows:
14,974
Total file size:
339 MB

Models trained or fine-tuned on kentaterasaki/ball_in_cup_dataset_50_316lab