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Datasets:
manavgoel4
/
molmo_act2_boxcutter_tray

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robot-learning
imitation-learning
Libraries:
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pandas
Polars
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action
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observation.state
list
timestamp
float32
0
30.7
frame_index
int64
0
307
episode_index
int64
0
49
index
int64
0
10.2k
task_index
int64
0
0
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
43
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4.4
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4.5
45
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4.6
46
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46
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4.7
47
0
47
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4.8
48
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4.9
49
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5
50
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50
0
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[ -3.0709075927734375, -60.94807434082031, -53.014015197753906, -4.447873592376709, -8.86296272277832, -10.808255195617676, -15.004777908325195 ]
5.1
51
0
51
0
[ -6.199999809265137, -70.80000305175781, -61.79999923706055, -1.2000000476837158, -10.800000190734863, -12.5, -36 ]
[ -3.5298964977264404, -63.11193084716797, -54.849971771240234, -4.316734313964844, -9.212722778320312, -10.808255195617676, -25.277545928955078 ]
5.2
52
0
52
0
[ -5.900000095367432, -73.69999694824219, -64.69999694824219, 1, -11.100000381469727, -13.800000190734863, -30.599998474121094 ]
[ -3.8358888626098633, -65.45059204101562, -56.9264030456543, -3.9670286178588867, -10.065130233764648, -11.201674461364746, -31.288223266601562 ]
5.3
53
0
53
0
[ -5.199999809265137, -76.30000305175781, -67, 3.200000047683716, -11.699999809265137, -14.899999618530273, -28.80000114440918 ]
[ -4.141881465911865, -67.98600769042969, -59.28697204589844, -3.355043649673462, -10.239983558654785, -11.245387077331543, -33.18974685668945 ]
5.4
54
0
54
0
[ -4.400000095367432, -79, -68.9000015258789, 4.800000190734863, -11.899999618530273, -15.699999809265137, -28.19999885559082 ]
[ -4.294877529144287, -70.49957275390625, -59.41810989379883, -2.1092171669006348, -10.589689254760742, -12.16336441040039, -32.44662094116211 ]
5.5
55
0
55
0
[ -3.5999999046325684, -81.5999984741211, -70.4000015258789, 6.5, -12.699999809265137, -16.700000762939453, -28.80000114440918 ]
[ -4.316734313964844, -73.07865142822266, -63.83319854736328, -0.0764981210231781, -10.61154556274414, -13.1688232421875, -30.93851661682129 ]
5.6
56
0
56
0
[ -3, -83.4000015258789, -71.4000015258789, 7.400000095367432, -13.5, -16.899999618530273, -29.400001525878906 ]
[ -4.316734313964844, -75.72335815429688, -63.96434020996094, 1.7813133001327515, -11.157960891723633, -14.23979663848877, -29.801918029785156 ]
5.7
57
0
57
0
[ -2.4000000953674316, -85.0999984741211, -72.0999984741211, 8.100000381469727, -13.699999809265137, -17.600000381469727, -34.19999694824219 ]
[ -4.141881465911865, -78.06206512451172, -67.54887390136719, 3.28947377204895, -11.90108585357666, -14.873638153076172, -29.408498764038086 ]
5.8
58
0
58
0
[ -2.0999999046325684, -87.19999694824219, -73.30000305175781, 9, -13.600000381469727, -18.200000762939453, -49.80000305175781 ]
[ -3.9888851642608643, -80.24772644042969, -68.99140930175781, 4.819436073303223, -12.141508102416992, -15.726046562194824, -29.408498764038086 ]
5.9
59
0
59
0
[ -2.5, -89.19999694824219, -74.80000305175781, 9.800000190734863, -14.199999809265137, -18.399999618530273, -55.19999694824219 ]
[ -3.7266058921813965, -82.36787414550781, -70.30286407470703, 6.152743816375732, -12.840973854064941, -16.447368621826172, -31.135225296020508 ]
6
60
0
60
0
[ -2.5, -91.5999984741211, -76.5, 10.899999618530273, -14.800000190734863, -19, -67.80000305175781 ]
[ -3.595466136932373, -84.4661636352539, -70.3684310913086, 6.699158668518066, -13.234393119812012, -17.212350845336914, -38.52286911010742 ]
6.1
61
0
61
0
[ -2.700000047683716, -94, -78.19999694824219, 12.199999809265137, -15.600000381469727, -19.200000762939453, -76.19999694824219 ]
[ -3.442470073699951, -86.62996673583984, -71.76725769042969, 7.813845634460449, -13.64966869354248, -17.27791976928711, -45.60451889038086 ]
6.2
62
0
62
0
[ -3.200000047683716, -96.0999984741211, -80, 13.5, -17, -19.200000762939453, -87.60000610351562 ]
[ -3.355043649673462, -88.90310668945312, -74.69609832763672, 9.278292655944824, -13.693382263183594, -18.327035903930664, -54.67511749267578 ]
6.3
63
0
63
0
[ -3.5, -97.69999694824219, -81.5, 14.600000381469727, -18, -19.5, -102.60000610351562 ]
[ -3.3331868648529053, -91.06690979003906, -74.78352355957031, 9.912134170532227, -14.54578971862793, -18.698598861694336, -63.76763153076172 ]
6.4
64
0
64
0
[ -3.4000000953674316, -99.4000015258789, -82.80000305175781, 15.600000381469727, -18.600000381469727, -20.299999237060547, -123 ]
[ -3.3331868648529053, -93.14334106445312, -77.88721466064453, 10.851968765258789, -15.20148754119873, -18.720455169677734, -73.64698028564453 ]
6.5
65
0
65
0
[ -2.9000000953674316, -101.0999984741211, -83.69999694824219, 16.399999618530273, -18.899999618530273, -21.200000762939453, -138 ]
[ -3.3331868648529053, -95.044921875, -79.39532470703125, 12.556838035583496, -16.206945419311523, -18.939022064208984, -85.71199035644531 ]
6.6
66
0
66
0
[ -2.700000047683716, -102.69999694824219, -84.80000305175781, 16.700000762939453, -19.399999618530273, -21.799999237060547, -145.20001220703125 ]
[ -3.3331868648529053, -96.92459106445312, -80.72863006591797, 13.56224250793457, -16.928213119506836, -19.39801025390625, -99.70043182373047 ]
6.7
67
0
67
0
[ -2.200000047683716, -105.0999984741211, -86.5999984741211, 17.899999618530273, -19.600000381469727, -23.399999618530273, -157.20001220703125 ]
[ -3.2239038944244385, -98.67317199707031, -81.95259857177734, 13.802664756774902, -17.955474853515625, -20.22861671447754, -114.5194320678711 ]
6.8
68
0
68
0
[ -1.7999999523162842, -107.80000305175781, -88.5, 19, -20.600000381469727, -25, -163.79998779296875 ]
[ -3.1146209239959717, -100.61841583251953, -83.37327575683594, 15.507479667663574, -18.130327224731445, -20.687604904174805, -127.34947967529297 ]
6.9
69
0
69
0
[ -2, -110.5, -90.19999694824219, 19.700000762939453, -22.5, -26.399999618530273, -169.79998779296875 ]
[ -2.9616246223449707, -102.82598114013672, -83.43885040283203, 16.338085174560547, -18.82973861694336, -21.78043556213379, -139.69862365722656 ]
7
70
0
70
0
[ -1.899999976158142, -113.4000015258789, -93, 21.200000762939453, -23.299999237060547, -27.5, -180.60000610351562 ]
[ -2.8304851055145264, -105.14278411865234, -85.01258087158203, 16.797075271606445, -19.57286262512207, -22.851408004760742, -149.99325561523438 ]
7.1
71
0
71
0
[ -1.2000000476837158, -116.19999694824219, -96, 23.600000381469727, -23.5, -28.899999618530273, -193.20001220703125 ]
[ -2.7212018966674805, -107.67820739746094, -88.46597290039062, 17.234207153320312, -20.119333267211914, -24.1191463470459, -158.27700805664062 ]
7.2
72
0
72
0
[ -1, -118.0999984741211, -97.80000305175781, 25.100000381469727, -23.899999618530273, -30.100000381469727, -200.40000915527344 ]
[ -2.546349048614502, -110.2791976928711, -90.73905944824219, 19.245014190673828, -21.496299743652344, -25.321260452270508, -167.65365600585938 ]
7.3
73
0
73
0
[ -1.2999999523162842, -119.9000015258789, -100.4000015258789, 26.899999618530273, -24.399999618530273, -31, -202.79998779296875 ]
[ -2.349639654159546, -112.66156768798828, -90.89205932617188, 20.18490219116211, -22.239423751831055, -26.63265609741211, -178.16685485839844 ]
7.4
74
0
74
0
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[ -2.196643590927124, -114.91284942626953, -93.05591583251953, 21.671152114868164, -22.654699325561523, -27.856679916381836, -187.63087463378906 ]
7.5
75
0
75
0
[ -1.899999976158142, -124, -106, 30.700000762939453, -24.899999618530273, -32.5, -212.40000915527344 ]
[ -2.15293025970459, -116.9674301147461, -95.30720520019531, 23.988006591796875, -23.46344757080078, -29.233646392822266, -194.05682373046875 ]
7.6
76
0
76
0
[ -2.200000047683716, -126.69999694824219, -109.0999984741211, 32.70000076293945, -25.200000762939453, -33.20000076293945, -211.20001220703125 ]
[ -2.1092171669006348, -119.15308380126953, -97.75514221191406, 25.758392333984375, -24.1191463470459, -30.12976837158203, -199.32437133789062 ]
7.7
77
0
77
0
[ -2.4000000953674316, -129.1999969482422, -112.4000015258789, 34.70000076293945, -25.299999237060547, -33.900001525878906, -214.79998779296875 ]
[ -2.1092171669006348, -121.40437316894531, -100.35613250732422, 26.654512405395508, -24.359569549560547, -31.069656372070312, -204.78857421875 ]
7.8
78
0
78
0
[ -2.299999952316284, -132.39999389648438, -116, 37.099998474121094, -25, -35, -217.79998779296875 ]
[ -2.1092171669006348, -123.83051300048828, -103.00083923339844, 29.18993377685547, -24.534421920776367, -31.943920135498047, -207.45513916015625 ]
7.9
79
0
79
0
[ -2.200000047683716, -135.39999389648438, -120, 39.599998474121094, -25, -35.70000076293945, -216.59999084472656 ]
[ -2.1092171669006348, -126.36587524414062, -108.88031768798828, 30.851089477539062, -24.752988815307617, -32.46847915649414, -210.53697204589844 ]
8
80
0
80
0
[ -2, -138.3000030517578, -123.5, 41.599998474121094, -25, -36.099998474121094, -214.79998779296875 ]
[ -2.1092171669006348, -129.1417236328125, -112.18071746826172, 32.81818389892578, -24.993410110473633, -33.71430587768555, -213.6406707763672 ]
8.1
81
0
81
0
[ -1.7000000476837158, -140.60000610351562, -126.5999984741211, 43.400001525878906, -24.899999618530273, -36.5, -211.79998779296875 ]
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8.2
82
0
82
0
[ -1.5, -141.89999389648438, -128.89999389648438, 44.900001525878906, -24.899999618530273, -36.599998474121094, -210 ]
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8.3
83
0
83
0
[ -1.100000023841858, -143.3000030517578, -131.5, 46.400001525878906, -24.799999237060547, -36.599998474121094, -203.40000915527344 ]
[ -2.087360382080078, -136.8790740966797, -122.03821563720703, 39.35342025756836, -25.190120697021484, -35.24432373046875, -213.88108825683594 ]
8.4
84
0
84
0
[ -0.699999988079071, -144.60000610351562, -133.6999969482422, 47.70000076293945, -24.700000762939453, -36.599998474121094, -199.20001220703125 ]
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8.5
85
0
85
0
[ -0.4000000059604645, -145.89999389648438, -136, 49.099998474121094, -24.799999237060547, -36.400001525878906, -196.20001220703125 ]
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8.6
86
0
86
0
[ 0.30000001192092896, -147, -137.89999389648438, 50.29999923706055, -24.799999237060547, -36, -193.20001220703125 ]
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8.7
87
0
87
0
[ 1, -148, -139.1999969482422, 51.099998474121094, -24.700000762939453, -35.79999923706055, -189.60000610351562 ]
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8.8
88
0
88
0
[ 1.100000023841858, -149.3000030517578, -140.3000030517578, 51.79999923706055, -24.5, -35.79999923706055, -187.79998779296875 ]
[ -1.125615119934082, -145.00982666015625, -134.60598754882812, 47.374900817871094, -25.146406173706055, -36.665000915527344, -197.7943572998047 ]
8.9
89
0
89
0
[ 1.399999976158142, -150.60000610351562, -141.6999969482422, 52.5, -24.100000381469727, -36, -185.39999389648438 ]
[ -0.7977660894393921, -146.3212890625, -136.33265686035156, 48.92677688598633, -25.146406173706055, -36.665000915527344, -194.31910705566406 ]
9
90
0
90
0
[ 1.2999999523162842, -151.6999969482422, -143, 53.20000076293945, -23.700000762939453, -36.5, -184.79998779296875 ]
[ -0.5354868173599243, -147.654541015625, -136.4419403076172, 49.975894927978516, -25.124549865722656, -36.64314651489258, -191.6307373046875 ]
9.1
91
0
91
0
[ 0.8999999761581421, -152.10000610351562, -144, 53.79999923706055, -23.5, -37, -183.60000610351562 ]
[ -0.3387773931026459, -148.85670471191406, -139.54562377929688, 50.6753044128418, -24.86227035522461, -36.59943389892578, -188.8767547607422 ]
9.2
92
0
92
0
[ 0.4000000059604645, -152.5, -145.1999969482422, 54.70000076293945, -23.200000762939453, -37.599998474121094, -180.60000610351562 ]
[ -0.16392454504966736, -149.81838989257812, -140.90074157714844, 51.70256423950195, -24.425138473510742, -36.490150451660156, -187.25930786132812 ]
9.3
93
0
93
0
[ 0.4000000059604645, -152.89999389648438, -146.3000030517578, 55.5, -23.100000381469727, -37.900001525878906, -170.39999389648438 ]
[ -0.054641515016555786, -150.64894104003906, -142.2777557373047, 51.70256423950195, -24.315855026245117, -36.490150451660156, -185.75120544433594 ]
9.4
94
0
94
0
[ 0.4000000059604645, -153.5, -147, 56.099998474121094, -23, -38.099998474121094, -150.60000610351562 ]
[ -0.010928303003311157, -151.3046417236328, -143.50172424316406, 52.55502700805664, -24.29399871826172, -36.53386306762695, -183.69662475585938 ]
9.5
95
0
95
0
[ 0.4000000059604645, -154.10000610351562, -147.8000030517578, 56.599998474121094, -23.100000381469727, -38.20000076293945, -126.60000610351562 ]
[ 0.010928303003311157, -151.98219299316406, -143.56729125976562, 53.16701126098633, -24.250286102294922, -36.665000915527344, -178.232421875 ]
9.6
96
0
96
0
[ -0.30000001192092896, -154.3000030517578, -148.5, 56.900001525878906, -23.299999237060547, -38.099998474121094, -121.79999542236328 ]
[ 0.03278490900993347, -152.6160888671875, -145.6000213623047, 53.866424560546875, -23.87872314453125, -36.73057174682617, -167.0198211669922 ]
9.7
97
0
97
0
[ -0.4000000059604645, -154.6999969482422, -149, 57, -23.299999237060547, -38.099998474121094, -116.39999389648438 ]
[ 0.03278490900993347, -153.11880493164062, -146.4961395263672, 54.39098358154297, -23.85686683654785, -37.42998123168945, -152.6160888671875 ]
9.8
98
0
98
0
[ -0.4000000059604645, -155, -149.3000030517578, 57.400001525878906, -23.200000762939453, -38.20000076293945, -109.79999542236328 ]
[ 0.03278490900993347, -153.59963989257812, -147.26112365722656, 54.93739700317383, -23.835010528564453, -37.77974319458008, -139.69862365722656 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

LeRobot demonstration dataset for the Molmo ACT2 boxcutter tray task, collected with a seeed_b601_dm_follower robot at 10 FPS. The dataset contains 50 episodes and 10249 frames, with synchronized top and wrist camera observations and 7-DoF arm/gripper actions.

Important collection note: the observation.images.wrist and observation.images.top streams were swapped during data collection due to a collection-time labeling error. This dataset therefore requires post-processing to swap those two camera streams back before training or analysis.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "seeed_b601_dm_follower",
    "total_episodes": 50,
    "total_frames": 10249,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "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",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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}

Citation

BibTeX:

@software{lerobot,
  title = {LeRobot},
  author = {Hugging Face},
  year = {2024},
  url = {https://github.com/huggingface/lerobot}
}
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