Hugging Face's logo

Datasets:
piuslim373
/
so101-transfer-capsule5

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
list
observation.state
list
timestamp
float32
0
9.37
frame_index
int64
0
281
episode_index
int64
0
79
index
int64
0
16.3k
task_index
int64
0
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 4.099560737609863, -95.16949462890625, 99.18441009521484, 62.13675308227539, 9.952606201171875, 1.8766756057739258 ]
0
0
0
0
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 4.099560737609863, -95.16949462890625, 99.18441009521484, 62.13675308227539, 9.952606201171875, 1.8766756057739258 ]
0.033333
1
0
1
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 4.099560737609863, -95.25423431396484, 99.18441009521484, 62.478633880615234, 9.741969108581543, 1.8766756057739258 ]
0.066667
2
0
2
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 2.4890189170837402, -95.4237289428711, 99.18441009521484, 64.1025619506836, 8.530805587768555, 1.8766756057739258 ]
0.1
3
0
3
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 0.14641287922859192, -95.4237289428711, 99.18441009521484, 65.29914855957031, 6.740389823913574, 1.8766756057739258 ]
0.133333
4
0
4
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ -0.21961933374404907, -95.50847625732422, 99.18441009521484, 65.8974380493164, 5.055292129516602, 1.8766756057739258 ]
0.166667
5
0
5
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ 0.21961933374404907, -95.59322357177734, 99.18441009521484, 66.15384674072266, 4.107424736022949, 1.8766756057739258 ]
0.2
6
0
6
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ -0.43923866748809814, -95.4237289428711, 99.18441009521484, 66.32478332519531, 3.686150550842285, 1.8766756057739258 ]
0.233333
7
0
7
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ -1.1713030338287354, -95.33898162841797, 99.18441009521484, 66.4102554321289, 3.42285418510437, 1.8766756057739258 ]
0.266667
8
0
8
0
[ -1.1005135774612427, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.601839780807495, 1.3093289136886597 ]
[ -0.8784773349761963, -95.4237289428711, 99.18441009521484, 66.4957275390625, 3.264876365661621, 1.8766756057739258 ]
0.3
9
0
9
0
[ -0.8804108500480652, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.5492773056030273, 1.3093289136886597 ]
[ -0.5856515169143677, -95.4237289428711, 99.18441009521484, 66.4957275390625, 3.212216854095459, 1.8766756057739258 ]
0.333333
10
0
10
0
[ -0.8804108500480652, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.5492773056030273, 1.3093289136886597 ]
[ -1.0980966091156006, -95.4237289428711, 99.18441009521484, 66.4957275390625, 3.05423903465271, 1.8766756057739258 ]
0.366667
11
0
11
0
[ -0.8804108500480652, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.5492773056030273, 1.3093289136886597 ]
[ -1.3177160024642944, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.948920488357544, 1.8766756057739258 ]
0.4
12
0
12
0
[ -0.9537784457206726, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.5492773056030273, 1.3911620378494263 ]
[ -1.0980966091156006, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.433333
13
0
13
0
[ -1.1005135774612427, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.601839780807495, 1.3911620378494263 ]
[ -0.8784773349761963, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.466667
14
0
14
0
[ -1.17388117313385, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.654402017593384, 1.3911620378494263 ]
[ -1.0248901844024658, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.5
15
0
15
0
[ -1.17388117313385, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.654402017593384, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.533333
16
0
16
0
[ -1.17388117313385, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.654402017593384, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.566667
17
0
17
0
[ -1.3206162452697754, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7069644927978516, 1.3093289136886597 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.6
18
0
18
0
[ -1.3939838409423828, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3093289136886597 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.633333
19
0
19
0
[ -1.4673514366149902, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.666667
20
0
20
0
[ -1.4673514366149902, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.7
21
0
21
0
[ -1.5407190322875977, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.733333
22
0
22
0
[ -1.5407190322875977, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.766667
23
0
23
0
[ -1.5407190322875977, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.7595269680023193, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.8
24
0
24
0
[ -1.5407190322875977, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.654402017593384, 1.3911620378494263 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.833333
25
0
25
0
[ -1.4673514366149902, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.601839780807495, 1.3093289136886597 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.866667
26
0
26
0
[ -1.3206162452697754, -95.7081527709961, 99.45380401611328, 66.66666412353516, 2.5492773056030273, 1.1456629037857056 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.9
27
0
27
0
[ -1.2472487688064575, -95.7081527709961, 99.45380401611328, 66.05744171142578, 2.4967148303985596, 0.9001636505126953 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.933333
28
0
28
0
[ -0.8070433139801025, -95.7081527709961, 99.3627700805664, 65.4482192993164, 2.444152355194092, 0.7364975214004517 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
0.966667
29
0
29
0
[ -0.6603081226348877, -95.47405242919922, 98.72553253173828, 64.3167953491211, 2.444152355194092, 0.6546644568443298 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
1
30
0
30
0
[ -0.07336757332086563, -95.23995208740234, 98.08830261230469, 62.75021743774414, 2.5492773056030273, 0.6546644568443298 ]
[ -1.1713030338287354, -95.4237289428711, 99.18441009521484, 66.4957275390625, 2.896261215209961, 1.8766756057739258 ]
1.033333
31
0
31
0
[ 1.1005135774612427, -94.38158416748047, 96.54074096679688, 60.922542572021484, 2.444152355194092, 0.6546644568443298 ]
[ -1.1713030338287354, -95.33898162841797, 99.18441009521484, 66.32478332519531, 2.790942668914795, 1.8766756057739258 ]
1.066667
32
0
32
0
[ 2.127659559249878, -92.50878143310547, 94.53800964355469, 58.746734619140625, 2.444152355194092, 0.6546644568443298 ]
[ -1.1713030338287354, -95.33898162841797, 99.18441009521484, 65.55555725097656, 2.738283395767212, 1.809651494026184 ]
1.1
33
0
33
0
[ 2.494497537612915, -89.93367004394531, 92.44424438476562, 56.657962799072266, 2.654402017593384, 0.6546644568443298 ]
[ -0.732064425945282, -95.33898162841797, 99.18441009521484, 64.44444274902344, 2.738283395767212, 1.809651494026184 ]
1.133333
34
0
34
0
[ 3.008070468902588, -86.57823181152344, 90.25944519042969, 54.65622329711914, 2.7595269680023193, 0.6546644568443298 ]
[ 0.21961933374404907, -95.16949462890625, 98.82192993164062, 62.905982971191406, 2.738283395767212, 1.809651494026184 ]
1.166667
35
0
35
0
[ 3.3015406131744385, -82.59851837158203, 87.52845001220703, 53.26370620727539, 2.7595269680023193, 0.6546644568443298 ]
[ 1.3909224271774292, -93.55931854248047, 97.64385986328125, 61.11111068725586, 2.738283395767212, 1.809651494026184 ]
1.2
36
0
36
0
[ 3.9618489742279053, -78.07257080078125, 84.34228515625, 52.48041915893555, 2.812089443206787, 0.6546644568443298 ]
[ 2.0497803688049316, -91.52542114257812, 96.19393157958984, 59.14529800415039, 2.738283395767212, 1.809651494026184 ]
1.233333
37
0
37
0
[ 4.768892288208008, -73.39055633544922, 80.88301849365234, 51.69712829589844, 2.812089443206787, 0.6546644568443298 ]
[ 2.4158124923706055, -88.98304748535156, 94.38151550292969, 57.17948532104492, 2.738283395767212, 1.809651494026184 ]
1.266667
38
0
38
0
[ 5.575935363769531, -68.39640808105469, 77.33272552490234, 51.3489990234375, 2.812089443206787, 0.6546644568443298 ]
[ 2.4890189170837402, -85.84745788574219, 91.93475341796875, 55.64102554321289, 2.738283395767212, 1.809651494026184 ]
1.3
39
0
39
0
[ 6.382978916168213, -63.40226364135742, 73.50933074951172, 51.261966705322266, 2.812089443206787, 0.6546644568443298 ]
[ 3.221083402633667, -82.28813934326172, 89.39736938476562, 54.61538314819336, 2.738283395767212, 1.809651494026184 ]
1.333333
40
0
40
0
[ 7.336757183074951, -58.40811538696289, 69.6859359741211, 51.17493438720703, 2.812089443206787, 0.6546644568443298 ]
[ 4.245973587036133, -78.2203369140625, 86.49750518798828, 53.5042724609375, 2.738283395767212, 1.809651494026184 ]
1.366667
41
0
41
0
[ 8.363903045654297, -53.25790023803711, 65.4073715209961, 51.6100959777832, 2.812089443206787, 0.6546644568443298 ]
[ 4.9780378341674805, -73.89830780029297, 83.14453887939453, 52.905982971191406, 2.738283395767212, 1.809651494026184 ]
1.4
42
0
42
0
[ 9.46441650390625, -48.49785232543945, 60.946746826171875, 51.95822525024414, 2.812089443206787, 0.6546644568443298 ]
[ 5.563689708709717, -69.06779479980469, 79.7009506225586, 52.56410217285156, 2.738283395767212, 1.809651494026184 ]
1.433333
43
0
43
0
[ 10.858400344848633, -43.89387512207031, 56.577152252197266, 52.045257568359375, 2.812089443206787, 0.6546644568443298 ]
[ 6.22254753112793, -64.40677642822266, 76.16674041748047, 52.39316177368164, 2.738283395767212, 1.809651494026184 ]
1.466667
44
0
44
0
[ 12.545854568481445, -39.68006134033203, 52.025489807128906, 52.045257568359375, 2.864651679992676, 0.6546644568443298 ]
[ 7.247437953948975, -59.49152374267578, 72.17942810058594, 52.39316177368164, 2.738283395767212, 1.809651494026184 ]
1.5
45
0
45
0
[ 14.159941673278809, -35.622318267822266, 47.38279342651367, 52.219322204589844, 3.442838430404663, 0.6546644568443298 ]
[ 8.638360023498535, -54.49152374267578, 68.2827377319336, 52.39316177368164, 2.738283395767212, 1.809651494026184 ]
1.533333
46
0
46
0
[ 15.553925514221191, -31.564573287963867, 43.37733459472656, 52.219322204589844, 4.914586067199707, 0.6546644568443298 ]
[ 9.663249969482422, -49.66101837158203, 64.11418151855469, 52.39316177368164, 2.738283395767212, 1.809651494026184 ]
1.566667
47
0
47
0
[ 16.581071853637695, -27.896995544433594, 39.91807174682617, 52.219322204589844, 7.385019779205322, 1.1456629037857056 ]
[ 10.907759666442871, -45, 59.67376708984375, 52.39316177368164, 2.738283395767212, 1.809651494026184 ]
1.6
48
0
48
0
[ 16.947908401489258, -24.22941780090332, 37.005008697509766, 52.13228988647461, 10.013140678405762, 1.063829779624939 ]
[ 12.591507911682129, -40.59321975708008, 55.23334884643555, 52.39316177368164, 3.001579761505127, 1.809651494026184 ]
1.633333
49
0
49
0
[ 17.09464454650879, -20.639875411987305, 34.63814163208008, 52.045257568359375, 11.9579496383667, 0.7364975214004517 ]
[ 14.421669006347656, -36.27118682861328, 50.88355255126953, 52.39316177368164, 3.791469097137451, 1.809651494026184 ]
1.666667
50
0
50
0
[ 17.534849166870117, -17.206398010253906, 32.63541030883789, 51.69712829589844, 12.904073715209961, 0.6546644568443298 ]
[ 15.446558952331543, -31.94915199279785, 46.896240234375, 52.39316177368164, 5.476566791534424, 1.809651494026184 ]
1.7
51
0
51
0
[ 17.828319549560547, -13.850955963134766, 30.54164695739746, 51.3489990234375, 13.639947891235352, 0.6546644568443298 ]
[ 16.032211303710938, -28.05084800720215, 43.180789947509766, 52.39316177368164, 7.319642066955566, 1.809651494026184 ]
1.733333
52
0
52
0
[ 18.488628387451172, -10.417479515075684, 27.901683807373047, 51.3489990234375, 14.743758201599121, 0.6546644568443298 ]
[ 16.2518310546875, -24.237287521362305, 40.09968185424805, 52.39316177368164, 9.373353958129883, 1.809651494026184 ]
1.766667
53
0
53
0
[ 18.7820987701416, -7.062036514282227, 24.897586822509766, 51.95822525024414, 15.79500675201416, 1.2274959087371826 ]
[ 16.691068649291992, -20.423728942871094, 37.56230163574219, 52.39316177368164, 11.058451652526855, 1.809651494026184 ]
1.8
54
0
54
0
[ 19.002201080322266, -3.7065937519073486, 21.893491744995117, 52.219322204589844, 16.636005401611328, 1.2274959087371826 ]
[ 17.130308151245117, -16.779661178588867, 35.296783447265625, 52.22222137451172, 12.164297103881836, 1.809651494026184 ]
1.833333
55
0
55
0
[ 19.07556915283203, -0.27311745285987854, 18.52526092529297, 52.48041915893555, 17.582128524780273, 1.2274959087371826 ]
[ 17.86237144470215, -13.220338821411133, 32.66878128051758, 52.22222137451172, 13.112164497375488, 1.809651494026184 ]
1.866667
56
0
56
0
[ 19.002201080322266, 3.0042917728424072, 15.065999031066895, 52.91557693481445, 18.738502502441406, 1.2274959087371826 ]
[ 18.37481689453125, -9.661017417907715, 29.85953712463379, 52.22222137451172, 14.4286470413208, 1.809651494026184 ]
1.9
57
0
57
0
[ 18.488628387451172, 6.28170108795166, 11.515703201293945, 53.959964752197266, 19.947437286376953, 1.3093289136886597 ]
[ 18.740848541259766, -6.271186351776123, 27.050294876098633, 52.22222137451172, 15.218536376953125, 1.809651494026184 ]
1.933333
58
0
58
0
[ 17.68158531188965, 9.246975898742676, 8.056440353393555, 55.43951416015625, 21.47174835205078, 1.4729950428009033 ]
[ 18.814056396484375, -2.711864471435547, 23.969188690185547, 52.22222137451172, 16.37704086303711, 1.809651494026184 ]
1.966667
59
0
59
0
[ 16.287601470947266, 11.822083473205566, 4.597177982330322, 57.70235061645508, 22.94349479675293, 1.7184942960739136 ]
[ 18.740848541259766, 0.7627118825912476, 20.616220474243164, 52.478633880615234, 17.324907302856445, 1.809651494026184 ]
2
60
0
60
0
[ 14.966984748840332, 14.241124153137207, 1.046882152557373, 60.313316345214844, 23.626806259155273, 3.682487726211548 ]
[ 18.594436645507812, 4.152542591094971, 17.263254165649414, 53.162391662597656, 18.53607177734375, 1.809651494026184 ]
2.033333
61
0
61
0
[ 13.939838409423828, 16.113929748535156, -2.594446897506714, 63.620540618896484, 23.731931686401367, 8.183305740356445 ]
[ 18.301610946655273, 7.3728814125061035, 13.81966495513916, 54.18803405761719, 19.852554321289062, 1.809651494026184 ]
2.066667
62
0
62
0
[ 12.69258975982666, 17.67460060119629, -5.87164306640625, 67.1018295288086, 23.67936897277832, 14.811783790588379 ]
[ 17.496339797973633, 10.338982582092285, 10.466696739196777, 55.982906341552734, 21.221694946289062, 1.809651494026184 ]
2.1
63
0
63
0
[ 11.592076301574707, 19.001171112060547, -8.51160717010498, 70.67015075683594, 23.67936897277832, 22.667757034301758 ]
[ 16.2518310546875, 13.050847053527832, 7.113729000091553, 57.9487190246582, 22.22222137451172, 2.6809651851654053 ]
2.133333
64
0
64
0
[ 10.564929962158203, 20.24970817565918, -10.60537052154541, 73.80330657958984, 23.67936897277832, 29.050737380981445 ]
[ 14.787701606750488, 15.423728942871094, 3.39827823638916, 60.598289489746094, 22.696155548095703, 4.758713245391846 ]
2.166667
65
0
65
0
[ 9.46441650390625, 21.34217643737793, -12.06190299987793, 76.2402114868164, 23.67936897277832, 33.55155563354492 ]
[ 13.616397857666016, 17.372880935668945, -0.0453103743493557, 63.589744567871094, 22.95945167541504, 8.512063980102539 ]
2.2
66
0
66
0
[ 8.437271118164062, 22.278579711914062, -12.972234725952148, 77.98085021972656, 23.626806259155273, 34.86088562011719 ]
[ 12.737920761108398, 18.898305892944336, -3.217036724090576, 66.66666412353516, 23.117429733276367, 12.73458480834961 ]
2.233333
67
0
67
0
[ 7.630227565765381, 23.13694953918457, -13.518434524536133, 79.28633880615234, 23.469120025634766, 34.53355026245117 ]
[ 11.859443664550781, 20.25423812866211, -5.935659408569336, 69.4017105102539, 23.222749710083008, 17.15817642211914 ]
2.266667
68
0
68
0
[ 7.0432868003845215, 23.91728401184082, -13.882567405700684, 79.89556121826172, 22.733245849609375, 34.04255294799805 ]
[ 10.614933967590332, 21.779661178588867, -8.110557556152344, 73.16239166259766, 23.222749710083008, 22.184986114501953 ]
2.3
69
0
69
0
[ 6.749816417694092, 24.775653839111328, -14.428766250610352, 79.98259735107422, 21.89224624633789, 33.55155563354492 ]
[ 9.516837120056152, 22.627119064331055, -9.288626670837402, 75.47008514404297, 23.222749710083008, 26.005361557006836 ]
2.333333
70
0
70
0
[ 6.676448822021484, 25.555988311767578, -15.248065948486328, 79.98259735107422, 21.47174835205078, 33.142391204833984 ]
[ 8.345534324645996, 23.559322357177734, -10.285455703735352, 77.008544921875, 23.222749710083008, 29.557640075683594 ]
2.366667
71
0
71
0
[ 6.676448822021484, 26.64845848083496, -16.340463638305664, 80.06962585449219, 21.31406021118164, 32.651390075683594 ]
[ 7.540263652801514, 24.32203483581543, -11.010421752929688, 77.86325073242188, 23.01211166381836, 30.898122787475586 ]
2.4
72
0
72
0
[ 6.676448822021484, 27.97502899169922, -17.523897171020508, 80.15665435791016, 21.419185638427734, 32.242225646972656 ]
[ 7.17423152923584, 25.25423812866211, -11.735387802124023, 78.71794891357422, 22.538177490234375, 31.63538932800293 ]
2.433333
73
0
73
0
[ 6.676448822021484, 29.53569984436035, -18.889394760131836, 80.5047836303711, 21.419185638427734, 31.914894104003906 ]
[ 7.101025104522705, 26.101694107055664, -12.550973892211914, 78.97435760498047, 22.11690330505371, 31.970508575439453 ]
2.466667
74
0
74
0
[ 6.676448822021484, 31.096370697021484, -20.163860321044922, 80.93994903564453, 21.419185638427734, 31.587560653686523 ]
[ 7.247437953948975, 27.11864471435547, -13.547801971435547, 79.23076629638672, 21.906267166137695, 32.037532806396484 ]
2.5
75
0
75
0
[ 6.676448822021484, 32.579010009765625, -21.256258010864258, 81.20104217529297, 21.419185638427734, 31.42389488220215 ]
[ 7.247437953948975, 28.474576950073242, -14.816493034362793, 79.4017105102539, 21.800947189331055, 32.037532806396484 ]
2.533333
76
0
76
0
[ 6.896551609039307, 33.983612060546875, -22.62175750732422, 81.37510681152344, 21.47174835205078, 31.178396224975586 ]
[ 7.101025104522705, 29.830509185791016, -15.903942108154297, 79.82906341552734, 21.748289108276367, 32.037532806396484 ]
2.566667
77
0
77
0
[ 7.0432868003845215, 35.310184478759766, -24.078289031982422, 81.46214294433594, 21.47174835205078, 31.0965633392334 ]
[ 6.954611778259277, 31.440677642822266, -17.263254165649414, 80.17093658447266, 21.748289108276367, 32.037532806396484 ]
2.6
78
0
78
0
[ 7.116654396057129, 36.48068618774414, -25.44378662109375, 81.46214294433594, 21.47174835205078, 31.0965633392334 ]
[ 6.954611778259277, 32.79661178588867, -18.441322326660156, 80.5128173828125, 21.748289108276367, 31.903484344482422 ]
2.633333
79
0
79
0
[ 7.116654396057129, 37.573158264160156, -26.80928611755371, 81.46214294433594, 21.47174835205078, 31.0965633392334 ]
[ 6.954611778259277, 34.40678024291992, -19.71001434326172, 80.68376159667969, 21.748289108276367, 31.5683650970459 ]
2.666667
80
0
80
0
[ 6.896551609039307, 38.509559631347656, -28.083749771118164, 81.5491714477539, 21.47174835205078, 31.0965633392334 ]
[ 7.02781867980957, 35.76271057128906, -20.97870445251465, 80.85469818115234, 21.748289108276367, 31.434316635131836 ]
2.7
81
0
81
0
[ 6.749816417694092, 39.289894104003906, -28.812015533447266, 81.6362075805664, 21.47174835205078, 31.0965633392334 ]
[ 7.17423152923584, 37.033897399902344, -22.338014602661133, 80.85469818115234, 21.695629119873047, 31.434316635131836 ]
2.733333
82
0
82
0
[ 6.676448822021484, 39.99219512939453, -29.267183303833008, 81.6362075805664, 21.47174835205078, 31.0965633392334 ]
[ 7.17423152923584, 38.220340728759766, -23.787946701049805, 80.85469818115234, 21.695629119873047, 31.300268173217773 ]
2.766667
83
0
83
0
[ 6.676448822021484, 40.46039962768555, -29.540281295776367, 81.6362075805664, 21.47174835205078, 30.932897567749023 ]
[ 7.101025104522705, 39.15254211425781, -25.056638717651367, 80.94017028808594, 21.695629119873047, 31.300268173217773 ]
2.8
84
0
84
0
[ 6.676448822021484, 40.9286003112793, -29.540281295776367, 81.46214294433594, 21.47174835205078, 29.86906623840332 ]
[ 7.02781867980957, 39.830509185791016, -25.872224807739258, 80.94017028808594, 21.695629119873047, 31.300268173217773 ]
2.833333
85
0
85
0
[ 6.749816417694092, 41.31876754760742, -29.540281295776367, 81.37510681152344, 21.47174835205078, 27.495908737182617 ]
[ 7.02781867980957, 40.50847625732422, -26.50657081604004, 80.94017028808594, 21.695629119873047, 31.300268173217773 ]
2.866667
86
0
86
0
[ 6.823184013366699, 41.47483444213867, -29.540281295776367, 81.46214294433594, 21.47174835205078, 23.895254135131836 ]
[ 7.02781867980957, 41.1016960144043, -26.959672927856445, 80.94017028808594, 21.695629119873047, 31.233243942260742 ]
2.9
87
0
87
0
[ 6.896551609039307, 41.5528678894043, -29.35821533203125, 81.46214294433594, 21.47174835205078, 20.212766647338867 ]
[ 7.101025104522705, 41.52542495727539, -27.050294876098633, 80.94017028808594, 21.695629119873047, 30.428955078125 ]
2.933333
88
0
88
0
[ 6.896551609039307, 41.5528678894043, -29.176149368286133, 81.46214294433594, 21.47174835205078, 17.59410858154297 ]
[ 7.17423152923584, 41.86440658569336, -27.140914916992188, 81.02564239501953, 21.695629119873047, 28.887399673461914 ]
2.966667
89
0
89
0
[ 6.896551609039307, 41.63090133666992, -29.085115432739258, 81.6362075805664, 21.47174835205078, 15.384614944458008 ]
[ 7.17423152923584, 41.949153900146484, -27.231536865234375, 80.94017028808594, 21.695629119873047, 26.541555404663086 ]
3
90
0
90
0
[ 6.896551609039307, 41.63090133666992, -28.994083404541016, 81.72323608398438, 21.47174835205078, 13.420621871948242 ]
[ 7.02781867980957, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 23.72654151916504 ]
3.033333
91
0
91
0
[ 6.823184013366699, 41.63090133666992, -28.90304946899414, 81.72323608398438, 21.47174835205078, 12.356792449951172 ]
[ 6.881405353546143, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 20.643430709838867 ]
3.066667
92
0
92
0
[ 6.896551609039307, 41.63090133666992, -28.90304946899414, 81.72323608398438, 21.47174835205078, 11.456628799438477 ]
[ 6.808198928833008, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 19.235925674438477 ]
3.1
93
0
93
0
[ 7.0432868003845215, 41.47483444213867, -29.085115432739258, 81.72323608398438, 21.47174835205078, 11.047463417053223 ]
[ 6.808198928833008, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 18.498659133911133 ]
3.133333
94
0
94
0
[ 7.190021991729736, 41.2407341003418, -29.35821533203125, 81.72323608398438, 21.47174835205078, 10.801963806152344 ]
[ 6.808198928833008, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 18.230562210083008 ]
3.166667
95
0
95
0
[ 7.263389587402344, 40.9286003112793, -29.722349166870117, 81.98433685302734, 21.47174835205078, 10.883796691894531 ]
[ 6.808198928833008, 41.949153900146484, -27.412776947021484, 80.94017028808594, 21.695629119873047, 18.096515655517578 ]
3.2
96
0
96
0
[ 7.336757183074951, 39.99219512939453, -30.177515029907227, 82.76762390136719, 21.47174835205078, 10.883796691894531 ]
[ 6.808198928833008, 41.949153900146484, -27.503398895263672, 80.94017028808594, 21.695629119873047, 18.029491424560547 ]
3.233333
97
0
97
0
[ 7.410124778747559, 38.27545928955078, -30.814746856689453, 84.2471694946289, 21.47174835205078, 10.883796691894531 ]
[ 6.808198928833008, 41.949153900146484, -27.77526092529297, 80.94017028808594, 21.695629119873047, 18.029491424560547 ]
3.266667
98
0
98
0
[ 7.483492374420166, 36.16855239868164, -31.451980590820312, 85.81375122070312, 21.419185638427734, 10.883796691894531 ]
[ 6.734992504119873, 41.949153900146484, -27.95650291442871, 81.19657897949219, 21.695629119873047, 18.029491424560547 ]
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": 80,
    "total_frames": 16251,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:80"
    },
    "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_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "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.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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
12
License:
apache-2.0
Size of downloaded dataset files:
964 kB
Size of the auto-converted Parquet files:
964 kB
Number of rows:
16,251