Hugging Face's logo

Datasets:
nik658
/
xarm_lift_datasett

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
observation.state
sequence
action
sequence
timestamp
float32
0
25.3
next.reward
float32
-0
-0
next.done
bool
2 classes
frame_index
int64
0
379
episode_index
int64
0
3
index
int64
0
973
task_index
int64
0
0
[ -2.011549949645996, -0.49457284808158875, -0.6732797026634216, 0.0519302673637867 ]
[ 0, -0.0482177734375, 0, 0 ]
0
-0.002837
true
0
0
0
0
[ -2.011550188064575, -0.4948040544986725, -0.6732859015464783, 0.052041713148355484 ]
[ 0, -0.0482177734375, 0, 0 ]
0.066667
-0.002838
true
1
0
1
0
[ -2.0115506649017334, -0.4950352609157562, -0.6732920408248901, 0.05215325579047203 ]
[ 0, -0.0482177734375, 0, 0 ]
0.133333
-0.002838
true
2
0
2
0
[ -2.0115511417388916, -0.49526649713516235, -0.673298180103302, 0.052264902740716934 ]
[ 0, -0.0482177734375, 0, 0 ]
0.2
-0.002839
true
3
0
3
0
[ -2.0115513801574707, -0.4954977035522461, -0.6733043193817139, 0.052376653999090195 ]
[ 0, -0.0482177734375, 0, 0 ]
0.266667
-0.00284
true
4
0
4
0
[ -2.011551856994629, -0.4957289397716522, -0.6733104586601257, 0.052488502115011215 ]
[ 0, -0.0482177734375, 0, 0 ]
0.333333
-0.00284
true
5
0
5
0
[ -2.011552095413208, -0.49596017599105835, -0.6733165979385376, 0.052600450813770294 ]
[ 0, -0.0482177734375, 0, 0 ]
0.4
-0.002841
true
6
0
6
0
[ -2.011552572250366, -0.4961914122104645, -0.6733227372169495, 0.05271250009536743 ]
[ 0, -0.0482177734375, 0, 0 ]
0.466667
-0.002842
true
7
0
7
0
[ -2.0115530490875244, -0.496422678232193, -0.6733288168907166, 0.052824653685092926 ]
[ 0, -0.0482177734375, 0, 0 ]
0.533333
-0.002842
true
8
0
8
0
[ -2.0115532875061035, -0.4966539144515991, -0.6733349561691284, 0.05293690413236618 ]
[ 0, -0.0482177734375, 0, 0 ]
0.6
-0.002843
true
9
0
9
0
[ -2.0115537643432617, -0.49688515067100525, -0.6733410954475403, 0.05304925888776779 ]
[ 0, -0.0482177734375, 0, 0 ]
0.666667
-0.002843
true
10
0
10
0
[ -2.011554002761841, -0.49711641669273376, -0.6733471751213074, 0.05316171050071716 ]
[ 0, -0.0482177734375, 0, 0 ]
0.733333
-0.002844
true
11
0
11
0
[ -2.011554479598999, -0.4973476827144623, -0.6733533143997192, 0.05327426642179489 ]
[ 0, -0.0482177734375, 0, 0 ]
0.8
-0.002845
true
12
0
12
0
[ -2.011554718017578, -0.4975789487361908, -0.6733593940734863, 0.05338691920042038 ]
[ 0, -0.0482177734375, 0, 0 ]
0.866667
-0.002845
true
13
0
13
0
[ -2.0115551948547363, -0.4978102147579193, -0.6733655333518982, 0.053499676287174225 ]
[ 0, -0.0482177734375, 0, 0 ]
0.933333
-0.002846
true
14
0
14
0
[ -2.0115554332733154, -0.4980414807796478, -0.6733716130256653, 0.05361253023147583 ]
[ 0, -0.0482177734375, 0, 0 ]
1
-0.002847
true
15
0
15
0
[ -2.0115559101104736, -0.49827274680137634, -0.6733777523040771, 0.053725484758615494 ]
[ 0, -0.0482177734375, 0, 0 ]
1.066667
-0.002847
true
16
0
16
0
[ -2.0115561485290527, -0.49850401282310486, -0.6733838319778442, 0.053838543593883514 ]
[ 0, -0.0482177734375, 0, 0 ]
1.133333
-0.002848
true
17
0
17
0
[ -2.011556625366211, -0.49873530864715576, -0.6733899116516113, 0.053951699286699295 ]
[ 0, -0.0482177734375, 0, 0 ]
1.2
-0.002849
true
18
0
18
0
[ -2.01155686378479, -0.49896660447120667, -0.6733959913253784, 0.054064955562353134 ]
[ 0, -0.0482177734375, 0, 0 ]
1.266667
-0.002849
true
19
0
19
0
[ -2.0115573406219482, -0.49919790029525757, -0.6734020709991455, 0.05417831242084503 ]
[ 0, -0.0482177734375, 0, 0 ]
1.333333
-0.00285
true
20
0
20
0
[ -2.0115575790405273, -0.49942919611930847, -0.6734081506729126, 0.05429176986217499 ]
[ 0, -0.0482177734375, 0, 0 ]
1.4
-0.002851
true
21
0
21
0
[ -2.0115580558776855, -0.4996604919433594, -0.6734142303466797, 0.054405324161052704 ]
[ 0, -0.0482177734375, 0, 0 ]
1.466667
-0.002851
true
22
0
22
0
[ -2.0115582942962646, -0.4998917877674103, -0.6734203100204468, 0.05451898276805878 ]
[ 0, -0.0482177734375, 0, 0 ]
1.533333
-0.002852
true
23
0
23
0
[ -2.011558771133423, -0.5001230835914612, -0.6734263896942139, 0.05463273823261261 ]
[ 0, -0.0482177734375, 0, 0 ]
1.6
-0.002853
true
24
0
24
0
[ -2.011559009552002, -0.5003544092178345, -0.673432469367981, 0.0547465942800045 ]
[ 0, -0.0482177734375, 0, 0 ]
1.666667
-0.002853
true
25
0
25
0
[ -2.011559247970581, -0.5005857348442078, -0.673438549041748, 0.05486055091023445 ]
[ 0, -0.0482177734375, 0, 0 ]
1.733333
-0.002854
true
26
0
26
0
[ -2.0115597248077393, -0.5008170008659363, -0.6734446287155151, 0.05497460439801216 ]
[ 0, -0.0482177734375, 0, 0 ]
1.8
-0.002855
true
27
0
27
0
[ -2.0115599632263184, -0.5010483264923096, -0.6734506487846375, 0.05508875846862793 ]
[ 0, -0.0482177734375, 0, 0 ]
1.866667
-0.002855
true
28
0
28
0
[ -2.0115604400634766, -0.5012796521186829, -0.6734567284584045, 0.05520301312208176 ]
[ 0, -0.0482177734375, 0, 0 ]
1.933333
-0.002856
true
29
0
29
0
[ -2.0115606784820557, -0.5015109777450562, -0.6734627485275269, 0.05531736835837364 ]
[ 0, -0.0482177734375, 0, 0 ]
2
-0.002857
true
30
0
30
0
[ -2.011561155319214, -0.5017423629760742, -0.673468828201294, 0.05543182045221329 ]
[ 0, -0.0482177734375, 0, 0 ]
2.066667
-0.002857
true
31
0
31
0
[ -2.011561393737793, -0.5019736886024475, -0.6734748482704163, 0.05554637685418129 ]
[ 0, -0.0482177734375, 0, 0 ]
2.133333
-0.002858
true
32
0
32
0
[ -2.011561632156372, -0.5022050142288208, -0.6734809279441833, 0.055661026388406754 ]
[ 0, -0.0482177734375, 0, 0 ]
2.2
-0.002859
true
33
0
33
0
[ -2.0115621089935303, -0.5024363398551941, -0.6734869480133057, 0.055775780230760574 ]
[ 0, -0.0482177734375, 0, 0 ]
2.266667
-0.00286
true
34
0
34
0
[ -2.0115623474121094, -0.5026677250862122, -0.673492968082428, 0.055890630930662155 ]
[ 0, -0.0482177734375, 0, 0 ]
2.333333
-0.00286
true
35
0
35
0
[ -2.0115625858306885, -0.5028990507125854, -0.6734989881515503, 0.056005578488111496 ]
[ 0, -0.0482177734375, 0, 0 ]
2.4
-0.002861
true
36
0
36
0
[ -2.0115630626678467, -0.5031304359436035, -0.6735050082206726, 0.056120630353689194 ]
[ 0, -0.0482177734375, 0, 0 ]
2.466667
-0.002862
true
37
0
37
0
[ -2.011563301086426, -0.5033617615699768, -0.6735110878944397, 0.05623577535152435 ]
[ 0, -0.0482177734375, 0, 0 ]
2.533333
-0.002862
true
38
0
38
0
[ -2.011563539505005, -0.5035931468009949, -0.673517107963562, 0.05635102465748787 ]
[ 0, -0.0482177734375, 0, 0 ]
2.6
-0.002863
true
39
0
39
0
[ -2.011564016342163, -0.5038245320320129, -0.6735231280326843, 0.056466370820999146 ]
[ 0, -0.0482177734375, 0, 0 ]
2.666667
-0.002864
true
40
0
40
0
[ -2.011564254760742, -0.5040558576583862, -0.6735290884971619, 0.05658181384205818 ]
[ 0, -0.0482177734375, 0, 0 ]
2.733333
-0.002864
true
41
0
41
0
[ -2.0115644931793213, -0.5042872428894043, -0.6735351085662842, 0.056697357445955276 ]
[ 0, -0.0482177734375, 0, 0 ]
2.8
-0.002865
true
42
0
42
0
[ -2.0115649700164795, -0.5045186281204224, -0.6735411286354065, 0.05681299790740013 ]
[ 0, -0.0482177734375, 0, 0 ]
2.866667
-0.002866
true
43
0
43
0
[ -2.0115652084350586, -0.5047500133514404, -0.6735471487045288, 0.056928738951683044 ]
[ 0, -0.0482177734375, 0, 0 ]
2.933333
-0.002867
true
44
0
44
0
[ -2.0115654468536377, -0.5049813985824585, -0.6735531091690063, 0.057044580578804016 ]
[ 0, -0.0482177734375, 0, 0 ]
3
-0.002867
true
45
0
45
0
[ -2.011565685272217, -0.5052127838134766, -0.6735591292381287, 0.05716051906347275 ]
[ 0, -0.0482177734375, 0, 0 ]
3.066667
-0.002868
true
46
0
46
0
[ -2.011566162109375, -0.5054441690444946, -0.673565149307251, 0.05727655440568924 ]
[ 0, -0.0482177734375, 0, 0 ]
3.133333
-0.002869
true
47
0
47
0
[ -2.011566400527954, -0.5056756138801575, -0.6735711097717285, 0.05739269033074379 ]
[ 0, -0.0482177734375, 0, 0 ]
3.2
-0.002869
true
48
0
48
0
[ -2.011566638946533, -0.5059069991111755, -0.6735771298408508, 0.0575089231133461 ]
[ 0, -0.0482177734375, 0, 0 ]
3.266667
-0.00287
true
49
0
49
0
[ -2.0115671157836914, -0.5061383843421936, -0.6735830903053284, 0.05762525275349617 ]
[ 0, -0.0482177734375, 0, 0 ]
3.333333
-0.002871
true
50
0
50
0
[ -2.0115673542022705, -0.5063698291778564, -0.6735890507698059, 0.0577416829764843 ]
[ 0, -0.0482177734375, 0, 0 ]
3.4
-0.002872
true
51
0
51
0
[ -2.0115675926208496, -0.5066012144088745, -0.6735950708389282, 0.057858213782310486 ]
[ 0, -0.0482177734375, 0, 0 ]
3.466667
-0.002872
true
52
0
52
0
[ -2.0115678310394287, -0.5068326592445374, -0.6736010313034058, 0.057974837720394135 ]
[ 0, -0.0482177734375, 0, 0 ]
3.533333
-0.002873
true
53
0
53
0
[ -2.011568069458008, -0.5070640444755554, -0.6736069917678833, 0.05809156224131584 ]
[ 0, -0.0482177734375, 0, 0 ]
3.6
-0.002874
true
54
0
54
0
[ -2.011568546295166, -0.5072954893112183, -0.6736129522323608, 0.05820838361978531 ]
[ 0, -0.0482177734375, 0, 0 ]
3.666667
-0.002875
true
55
0
55
0
[ -2.011568784713745, -0.5075268745422363, -0.6736189126968384, 0.058325305581092834 ]
[ 0, -0.0482177734375, 0, 0 ]
3.733333
-0.002875
true
56
0
56
0
[ -2.011569023132324, -0.5077583193778992, -0.6736248731613159, 0.05844232439994812 ]
[ 0, -0.0482177734375, 0, 0 ]
3.8
-0.002876
true
57
0
57
0
[ -2.0115692615509033, -0.507989764213562, -0.6736308336257935, 0.058559440076351166 ]
[ 0, -0.0482177734375, 0, 0 ]
3.866667
-0.002877
true
58
0
58
0
[ -2.0115697383880615, -0.5082212090492249, -0.673636794090271, 0.05867665261030197 ]
[ 0, -0.0482177734375, 0, 0 ]
3.933333
-0.002878
true
59
0
59
0
[ -2.0115699768066406, -0.5084526538848877, -0.6736427545547485, 0.058793965727090836 ]
[ 0, -0.0482177734375, 0, 0 ]
4
-0.002878
true
60
0
60
0
[ -2.0115702152252197, -0.5086840987205505, -0.6736486554145813, 0.05891137197613716 ]
[ 0, -0.0482177734375, 0, 0 ]
4.066667
-0.002879
true
61
0
61
0
[ -2.011570453643799, -0.5089155435562134, -0.6736546158790588, 0.059028878808021545 ]
[ 0, -0.0482177734375, 0, 0 ]
4.133333
-0.00288
true
62
0
62
0
[ -2.011570692062378, -0.5091469883918762, -0.6736605763435364, 0.05914648249745369 ]
[ 0, -0.0482177734375, 0, 0 ]
4.2
-0.002881
true
63
0
63
0
[ -2.011570930480957, -0.5093784332275391, -0.6736664772033691, 0.05926418676972389 ]
[ 0, -0.0482177734375, 0, 0 ]
4.266667
-0.002881
true
64
0
64
0
[ -2.0115714073181152, -0.5096099376678467, -0.6736724376678467, 0.059381984174251556 ]
[ 0, -0.0482177734375, 0, 0 ]
4.333333
-0.002882
true
65
0
65
0
[ -2.0115716457366943, -0.5098413825035095, -0.6736783385276794, 0.05949988216161728 ]
[ 0, -0.0482177734375, 0, 0 ]
4.4
-0.002883
true
66
0
66
0
[ -2.0115718841552734, -0.5100728273391724, -0.673684298992157, 0.05961787700653076 ]
[ 0, -0.0482177734375, 0, 0 ]
4.466667
-0.002884
true
67
0
67
0
[ -2.0115721225738525, -0.51030433177948, -0.6736901998519897, 0.059735964983701706 ]
[ 0, -0.0482177734375, 0, 0 ]
4.533333
-0.002884
true
68
0
68
0
[ -2.0115723609924316, -0.5105357766151428, -0.6736961007118225, 0.05985415354371071 ]
[ 0, -0.0482177734375, 0, 0 ]
4.6
-0.002885
true
69
0
69
0
[ -2.0115725994110107, -0.5107672810554504, -0.6737020015716553, 0.05997243896126747 ]
[ 0, -0.0482177734375, 0, 0 ]
4.666667
-0.002886
true
70
0
70
0
[ -2.01157283782959, -0.5109987258911133, -0.6737079620361328, 0.060090821236371994 ]
[ 0, -0.0482177734375, 0, 0 ]
4.733333
-0.002887
true
71
0
71
0
[ -2.011573076248169, -0.5112302303314209, -0.6737138628959656, 0.06020930036902428 ]
[ 0, -0.0482177734375, 0, 0 ]
4.8
-0.002887
true
72
0
72
0
[ -2.011573553085327, -0.5114617347717285, -0.6737197637557983, 0.06032787635922432 ]
[ 0, -0.0482177734375, 0, 0 ]
4.866667
-0.002888
true
73
0
73
0
[ -2.0115981101989746, -0.5413510799407959, -0.6744531989097595, 0.07641540467739105 ]
[ 0, -0.0482177734375, 0, 0 ]
0
-0.003003
true
0
1
74
0
[ -2.0115981101989746, -0.5415829420089722, -0.6744586825370789, 0.0765460804104805 ]
[ 0, -0.0482177734375, 0, 0 ]
0.066667
-0.003004
true
1
1
75
0
[ -2.0115983486175537, -0.5418148636817932, -0.6744641661643982, 0.07667684555053711 ]
[ 0, -0.0482177734375, 0, 0 ]
0.133333
-0.003005
true
2
1
76
0
[ -2.0115983486175537, -0.5420467257499695, -0.6744695901870728, 0.07680770009756088 ]
[ 0, -0.0482177734375, 0, 0 ]
0.2
-0.003006
true
3
1
77
0
[ -2.011598587036133, -0.5422786474227905, -0.6744750738143921, 0.07693863660097122 ]
[ 0, -0.0482177734375, 0, 0 ]
0.266667
-0.003007
true
4
1
78
0
[ -2.011598587036133, -0.5425105690956116, -0.6744805574417114, 0.07706966996192932 ]
[ 0, -0.0482177734375, 0, 0 ]
0.333333
-0.003008
true
5
1
79
0
[ -2.011598825454712, -0.5427424311637878, -0.674485981464386, 0.07720079272985458 ]
[ 0, -0.0482177734375, 0, 0 ]
0.4
-0.003009
true
6
1
80
0
[ -2.011598825454712, -0.5429743528366089, -0.6744914650917053, 0.07733200490474701 ]
[ 0, -0.0482177734375, 0, 0 ]
0.466667
-0.00301
true
7
1
81
0
[ -2.011599063873291, -0.5432062745094299, -0.6744968891143799, 0.077463299036026 ]
[ 0, -0.0482177734375, 0, 0 ]
0.533333
-0.003011
true
8
1
82
0
[ -2.01159930229187, -0.543438196182251, -0.6745023727416992, 0.07759469002485275 ]
[ 0, -0.0482177734375, 0, 0 ]
0.6
-0.003012
true
9
1
83
0
[ -2.01159930229187, -0.543670117855072, -0.6745077967643738, 0.07772616297006607 ]
[ 0, -0.0482177734375, 0, 0 ]
0.666667
-0.003013
true
10
1
84
0
[ -2.011599540710449, -0.5439020395278931, -0.6745132803916931, 0.07785772532224655 ]
[ 0, -0.0482177734375, 0, 0 ]
0.733333
-0.003014
true
11
1
85
0
[ -2.011599540710449, -0.5441339612007141, -0.6745187044143677, 0.07798938453197479 ]
[ 0, -0.0482177734375, 0, 0 ]
0.8
-0.003015
true
12
1
86
0
[ -2.0115997791290283, -0.5443658828735352, -0.6745241284370422, 0.0781211256980896 ]
[ 0, -0.0482177734375, 0, 0 ]
0.866667
-0.003016
true
13
1
87
0
[ -2.0115997791290283, -0.5445978045463562, -0.6745295524597168, 0.07825295627117157 ]
[ 0, -0.0482177734375, 0, 0 ]
0.933333
-0.003017
true
14
1
88
0
[ -2.0116000175476074, -0.5448297262191772, -0.6745349764823914, 0.0783848762512207 ]
[ 0, -0.0482177734375, 0, 0 ]
1
-0.003018
true
15
1
89
0
[ -2.0116000175476074, -0.5450616478919983, -0.6745404005050659, 0.0785168781876564 ]
[ 0, -0.0482177734375, 0, 0 ]
1.066667
-0.003019
true
16
1
90
0
[ -2.0116002559661865, -0.5452935695648193, -0.6745458245277405, 0.07864897698163986 ]
[ 0, -0.0482177734375, 0, 0 ]
1.133333
-0.00302
true
17
1
91
0
[ -2.0116002559661865, -0.5455254912376404, -0.674551248550415, 0.07878115773200989 ]
[ 0, -0.0482177734375, 0, 0 ]
1.2
-0.003021
true
18
1
92
0
[ -2.0116004943847656, -0.5457574725151062, -0.6745566725730896, 0.07891342788934708 ]
[ 0, -0.0482177734375, 0, 0 ]
1.266667
-0.003022
true
19
1
93
0
[ -2.0116004943847656, -0.5459893941879272, -0.6745620965957642, 0.07904579490423203 ]
[ 0, -0.0482177734375, 0, 0 ]
1.333333
-0.003023
true
20
1
94
0
[ -2.0116007328033447, -0.5462213158607483, -0.6745675206184387, 0.07917823642492294 ]
[ 0, -0.0482177734375, 0, 0 ]
1.4
-0.003024
true
21
1
95
0
[ -2.0116007328033447, -0.5464532971382141, -0.6745729446411133, 0.07931077480316162 ]
[ 0, -0.0482177734375, 0, 0 ]
1.466667
-0.003025
true
22
1
96
0
[ -2.011600971221924, -0.5466852188110352, -0.6745783686637878, 0.07944340258836746 ]
[ 0, -0.0482177734375, 0, 0 ]
1.533333
-0.003026
true
23
1
97
0
[ -2.011600971221924, -0.546917200088501, -0.6745837330818176, 0.07957611232995987 ]
[ 0, -0.0482177734375, 0, 0 ]
1.6
-0.003028
true
24
1
98
0
[ -2.011601209640503, -0.547149121761322, -0.6745891571044922, 0.07970891147851944 ]
[ 0, -0.0482177734375, 0, 0 ]
1.666667
-0.003029
true
25
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 3,
    "total_frames": 916,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "video",
            "shape": [
                680,
                680,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 680,
                "video.width": 680,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                28
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "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
3
License:
apache-2.0
Size of downloaded dataset files:
61.3 kB
Size of the auto-converted Parquet files:
61.3 kB
Number of rows:
672