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Datasets:
plzsay
/
pick_place_with_text

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
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Auto-converted to Parquet Duplicate
action
listlengths
6
6
observation.state
listlengths
6
6
timestamp
float32
0
7.8
frame_index
int64
0
234
episode_index
int64
0
99
index
int64
0
22.3k
task_index
int64
0
0
language_instruction
stringclasses
4 values
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7395668029785156, 0.9923664331436157 ]
[ -15.45253849029541, -98.19678497314453, 99.364501953125, 71.21526336669922, 16.461658477783203, 2.6063101291656494 ]
0
0
0
0
0
Grab the red block
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7395668029785156, 0.9923664331436157 ]
[ -15.45253849029541, -98.19678497314453, 99.364501953125, 71.21526336669922, 16.461658477783203, 2.6063101291656494 ]
0.033333
1
0
1
0
Grasp the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7395668029785156, 0.9923664331436157 ]
[ -13.612950325012207, -98.19678497314453, 99.364501953125, 69.14143371582031, 14.315624237060547, 2.6063101291656494 ]
0.066667
2
0
2
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -11.258277893066406, -98.19678497314453, 99.364501953125, 66.40398406982422, 10.494634628295898, 2.6063101291656494 ]
0.1
3
0
3
0
Grab the red block
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -9.492273330688477, -98.19678497314453, 99.364501953125, 64.57901000976562, 6.464276313781738, 2.6063101291656494 ]
0.133333
4
0
4
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -8.314937591552734, -98.19678497314453, 99.364501953125, 63.334716796875, 3.00968337059021, 2.4005486965179443 ]
0.166667
5
0
5
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -7.947020053863525, -98.19678497314453, 99.364501953125, 62.505184173583984, 1.0730174779891968, 2.2633745670318604 ]
0.2
6
0
6
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -7.7998528480529785, -98.19678497314453, 99.364501953125, 62.00746536254883, 0.39256739616394043, 2.2633745670318604 ]
0.233333
7
0
7
0
Grasp the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -7.579102516174316, -98.19678497314453, 99.364501953125, 61.59270095825195, 0.13085579872131348, 2.2633745670318604 ]
0.266667
8
0
8
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -7.284768104553223, -98.19678497314453, 99.364501953125, 61.260887145996094, 0.026171158999204636, 2.2633745670318604 ]
0.3
9
0
9
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -6.990434169769287, -98.19678497314453, 99.364501953125, 61.0949821472168, 0.026171158999204636, 2.2633745670318604 ]
0.333333
10
0
10
0
Pick up the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -6.84326696395874, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.366667
11
0
11
0
Grab the red block
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -6.84326696395874, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.4
12
0
12
0
Lift the red cube
[ -6.5833024978637695, -98.41004180908203, 99.3687973022461, 59.881004333496094, -0.7923930287361145, 0.9923664331436157 ]
[ -6.84326696395874, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.433333
13
0
13
0
Pick up the red cube
[ -6.509746074676514, -98.41004180908203, 99.3687973022461, 59.79600524902344, -0.7923930287361145, 0.9923664331436157 ]
[ -6.990434169769287, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.466667
14
0
14
0
Grab the red block
[ -6.289076805114746, -98.41004180908203, 99.3687973022461, 59.541011810302734, -0.7923930287361145, 0.9923664331436157 ]
[ -7.0640177726745605, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.5
15
0
15
0
Grab the red block
[ -5.259286403656006, -98.41004180908203, 99.3687973022461, 59.37101745605469, -0.7923930287361145, 0.9923664331436157 ]
[ -6.990434169769287, -98.19678497314453, 99.364501953125, 60.929073333740234, 0.026171158999204636, 2.2633745670318604 ]
0.533333
16
0
16
0
Grab the red block
[ -3.346818685531616, -98.41004180908203, 99.3687973022461, 59.201019287109375, -0.8452192544937134, 0.9923664331436157 ]
[ -6.990434169769287, -98.19678497314453, 99.364501953125, 60.84612274169922, 0.026171158999204636, 2.2633745670318604 ]
0.566667
17
0
17
0
Pick up the red cube
[ -0.845899224281311, -98.49372100830078, 99.3687973022461, 59.11602020263672, -0.8452192544937134, 0.9923664331436157 ]
[ -6.622516632080078, -98.19678497314453, 99.364501953125, 60.680213928222656, 0.026171158999204636, 2.2633745670318604 ]
0.6
18
0
18
0
Grab the red block
[ 2.0963590145111084, -98.49372100830078, 99.3687973022461, 59.11602020263672, -0.8980454206466675, 0.9923664331436157 ]
[ -5.739514350891113, -98.19678497314453, 99.364501953125, 60.43135452270508, 0.026171158999204636, 2.2633745670318604 ]
0.633333
19
0
19
0
Grab the red block
[ 5.479955673217773, -98.49372100830078, 99.0982894897461, 59.11602020263672, -0.8980454206466675, 0.9923664331436157 ]
[ -4.4885945320129395, -98.19678497314453, 99.364501953125, 60.34840393066406, 0.026171158999204636, 2.2633745670318604 ]
0.666667
20
0
20
0
Lift the red cube
[ 9.010665893554688, -98.49372100830078, 98.9179458618164, 58.94602584838867, -0.9508716464042664, 0.9923664331436157 ]
[ -2.8697571754455566, -98.19678497314453, 99.364501953125, 60.26544952392578, 0.026171158999204636, 2.2633745670318604 ]
0.7
21
0
21
0
Lift the red cube
[ 12.541375160217285, -98.49372100830078, 98.9179458618164, 57.92605209350586, -1.2150026559829712, 0.9923664331436157 ]
[ -0.7358351945877075, -98.19678497314453, 99.364501953125, 60.26544952392578, 0.026171158999204636, 2.2633745670318604 ]
0.733333
22
0
22
0
Grasp the red cube
[ 15.704302787780762, -98.41004180908203, 98.9179458618164, 56.311092376708984, -2.1130480766296387, 0.9923664331436157 ]
[ 1.6188373565673828, -98.19678497314453, 99.364501953125, 60.26544952392578, 0.026171158999204636, 2.2633745670318604 ]
0.766667
23
0
23
0
Pick up the red cube
[ 17.98455238342285, -98.41004180908203, 99.0982894897461, 54.95112609863281, -2.8526148796081543, 0.9923664331436157 ]
[ 4.415010929107666, -98.19678497314453, 99.364501953125, 59.93363571166992, 0.026171158999204636, 2.2633745670318604 ]
0.8
24
0
24
0
Pick up the red cube
[ 19.382125854492188, -98.32636260986328, 98.82777404785156, 54.61113357543945, -3.4337031841278076, 0.9923664331436157 ]
[ 7.358351707458496, -98.19678497314453, 99.364501953125, 59.02115249633789, -0.5495943427085876, 2.2633745670318604 ]
0.833333
25
0
25
0
Lift the red cube
[ 19.529237747192383, -98.15899658203125, 98.82777404785156, 54.61113357543945, -3.697834014892578, 0.9923664331436157 ]
[ 10.228109359741211, -98.19678497314453, 99.364501953125, 57.9427604675293, -1.5440983772277832, 2.2633745670318604 ]
0.866667
26
0
26
0
Lift the red cube
[ 19.529237747192383, -97.90795135498047, 98.37691497802734, 55.03612518310547, -3.697834014892578, 0.9923664331436157 ]
[ 13.024282455444336, -98.19678497314453, 99.364501953125, 57.19618225097656, -2.329233169555664, 2.2633745670318604 ]
0.9
27
0
27
0
Lift the red cube
[ 19.602794647216797, -97.74058532714844, 96.75382995605469, 55.80110549926758, -3.645007848739624, 0.9923664331436157 ]
[ 15.45253849029541, -98.19678497314453, 99.364501953125, 56.61551284790039, -2.747971773147583, 2.2633745670318604 ]
0.933333
28
0
28
0
Grab the red block
[ 19.82346534729004, -97.65690612792969, 94.40937805175781, 57.3310661315918, -3.169572114944458, 0.9923664331436157 ]
[ 16.85062599182129, -98.19678497314453, 99.364501953125, 56.36665344238281, -2.904998779296875, 2.2633745670318604 ]
0.966667
29
0
29
0
Grasp the red cube
[ 20.04413414001465, -97.65690612792969, 91.70423889160156, 59.201019287109375, -2.746962547302246, 0.9923664331436157 ]
[ 17.439292907714844, -98.19678497314453, 99.364501953125, 56.449607849121094, -2.957340955734253, 2.2633745670318604 ]
1
30
0
30
0
Grasp the red cube
[ 20.117691040039062, -97.5732192993164, 88.5482406616211, 62.17594528198242, -2.1658742427825928, 0.9923664331436157 ]
[ 17.880794525146484, -98.19678497314453, 99.27371978759766, 56.69846725463867, -2.957340955734253, 2.2633745670318604 ]
1.033333
31
0
31
0
Grasp the red cube
[ 20.117691040039062, -97.5732192993164, 85.57258605957031, 65.49085998535156, -1.637612223625183, 0.9923664331436157 ]
[ 18.61663055419922, -98.19678497314453, 99.00135803222656, 57.6109504699707, -2.957340955734253, 2.2633745670318604 ]
1.066667
32
0
32
0
Pick up the red cube
[ 20.117691040039062, -97.5732192993164, 83.31830596923828, 68.04080200195312, -1.0565240383148193, 0.9923664331436157 ]
[ 19.1317138671875, -98.19678497314453, 98.27507781982422, 58.93819808959961, -2.904998779296875, 2.2633745670318604 ]
1.1
33
0
33
0
Pick up the red cube
[ 20.117691040039062, -97.48954010009766, 81.87556457519531, 68.63578033447266, -0.3697834014892578, 0.9160305261611938 ]
[ 19.499631881713867, -98.19678497314453, 96.82251739501953, 60.76316833496094, -2.852656364440918, 2.2633745670318604 ]
1.133333
34
0
34
0
Lift the red cube
[ 19.82346534729004, -97.48954010009766, 81.69522094726562, 68.2107925415039, 0.10565240681171417, 0.8396946787834167 ]
[ 19.646799087524414, -98.19678497314453, 94.73445129394531, 62.836997985839844, -2.433917760848999, 2.2633745670318604 ]
1.166667
35
0
35
0
Lift the red cube
[ 19.602794647216797, -97.48954010009766, 82.32642364501953, 68.2107925415039, -0.10565240681171417, 0.8396946787834167 ]
[ 19.646799087524414, -98.19678497314453, 92.37403869628906, 64.91082763671875, -1.6487830877304077, 2.2633745670318604 ]
1.2
36
0
36
0
Grasp the red cube
[ 19.529237747192383, -97.5732192993164, 83.31830596923828, 68.2107925415039, -0.4226096272468567, 0.7633587718009949 ]
[ 19.499631881713867, -98.19678497314453, 90.1951904296875, 66.23807525634766, -1.0206751823425293, 2.1947872638702393 ]
1.233333
37
0
37
0
Lift the red cube
[ 19.4556827545166, -97.5732192993164, 84.22001647949219, 68.2107925415039, -0.7395668029785156, 0.7633587718009949 ]
[ 19.426048278808594, -98.19678497314453, 89.10576629638672, 66.90170288085938, -0.9683328866958618, 2.0576131343841553 ]
1.266667
38
0
38
0
Grasp the red cube
[ 19.23501205444336, -97.65690612792969, 85.30207061767578, 67.53081512451172, -2.3771791458129883, 0.7633587718009949 ]
[ 19.499631881713867, -98.1183853149414, 88.74262237548828, 67.39942169189453, -0.9683328866958618, 2.0576131343841553 ]
1.3
39
0
39
0
Grab the red block
[ 18.646560668945312, -97.65690612792969, 86.5644760131836, 65.74585723876953, -4.3317484855651855, 0.7633587718009949 ]
[ 19.426048278808594, -98.1183853149414, 88.83341217041016, 67.73123168945312, -0.9683328866958618, 2.0576131343841553 ]
1.333333
40
0
40
0
Grasp the red cube
[ 18.058109283447266, -97.74058532714844, 87.82687377929688, 64.13089752197266, -6.550448894500732, 0.7633587718009949 ]
[ 19.426048278808594, -98.1183853149414, 88.83341217041016, 67.73123168945312, -1.0730174779891968, 2.0576131343841553 ]
1.366667
41
0
41
0
Grasp the red cube
[ 17.763883590698242, -98.41004180908203, 88.99909973144531, 62.51593780517578, -9.138933181762695, 0.7633587718009949 ]
[ 19.426048278808594, -98.1183853149414, 88.83341217041016, 67.56532287597656, -2.172206163406372, 2.0576131343841553 ]
1.4
42
0
42
0
Grab the red block
[ 17.98455238342285, -98.41004180908203, 89.35978698730469, 61.15597152709961, -10.935023307800293, 0.7633587718009949 ]
[ 19.205297470092773, -98.1183853149414, 89.46890258789062, 66.73579406738281, -3.899502754211426, 2.0576131343841553 ]
1.433333
43
0
43
0
Lift the red cube
[ 18.058109283447266, -98.41004180908203, 89.99098205566406, 60.305992126464844, -11.463285446166992, 0.7633587718009949 ]
[ 18.763797760009766, -98.1183853149414, 90.46754455566406, 65.65740203857422, -6.045537948608398, 2.0576131343841553 ]
1.466667
44
0
44
0
Pick up the red cube
[ 18.13166618347168, -98.41004180908203, 90.80252838134766, 60.05099868774414, -10.459588050842285, 0.7633587718009949 ]
[ 18.175128936767578, -98.03998565673828, 91.46617889404297, 64.49606323242188, -8.243915557861328, 2.0576131343841553 ]
1.5
45
0
45
0
Grab the red block
[ 17.46965789794922, -98.32636260986328, 91.7944107055664, 59.541011810302734, -9.931325912475586, 0.7633587718009949 ]
[ 18.175128936767578, -97.96158599853516, 92.37403869628906, 63.417667388916016, -9.81418514251709, 2.0576131343841553 ]
1.533333
46
0
46
0
Pick up the red cube
[ 16.881206512451172, -98.32636260986328, 92.87646484375, 58.94602584838867, -9.667195320129395, 0.7633587718009949 ]
[ 18.3958797454834, -97.96158599853516, 93.19110107421875, 62.588138580322266, -10.180581092834473, 2.0576131343841553 ]
1.566667
47
0
47
0
Lift the red cube
[ 16.292755126953125, -98.41004180908203, 93.23715209960938, 58.26604461669922, -9.455889701843262, 0.7633587718009949 ]
[ 18.322296142578125, -97.96158599853516, 94.00817108154297, 61.92451095581055, -10.180581092834473, 2.0576131343841553 ]
1.6
48
0
48
0
Grab the red block
[ 15.998528480529785, -98.41004180908203, 93.05680847167969, 57.3310661315918, -9.297411918640137, 0.7633587718009949 ]
[ 17.660043716430664, -97.96158599853516, 94.91602325439453, 61.17793273925781, -10.180581092834473, 2.0576131343841553 ]
1.633333
49
0
49
0
Grab the red block
[ 15.924972534179688, -98.24267578125, 92.69612121582031, 56.90607833862305, -9.244585037231445, 0.7633587718009949 ]
[ 16.997793197631836, -97.80477905273438, 95.73309326171875, 60.51430892944336, -10.180581092834473, 2.0576131343841553 ]
1.666667
50
0
50
0
Grab the red block
[ 16.43986701965332, -97.5732192993164, 91.70423889160156, 56.99107360839844, -9.033280372619629, 0.7633587718009949 ]
[ 16.556291580200195, -97.72637939453125, 96.00544738769531, 59.850685119628906, -10.180581092834473, 2.0576131343841553 ]
1.7
51
0
51
0
Pick up the red cube
[ 16.292755126953125, -97.5732192993164, 90.17132568359375, 58.60603332519531, -8.029582977294922, 0.7633587718009949 ]
[ 16.482707977294922, -97.72637939453125, 96.09622955322266, 59.10410690307617, -10.180581092834473, 2.0576131343841553 ]
1.733333
52
0
52
0
Grab the red block
[ 16.43986701965332, -97.5732192993164, 88.45806884765625, 60.47598648071289, -6.867406368255615, 0.7633587718009949 ]
[ 16.482707977294922, -97.72637939453125, 96.09622955322266, 58.77229309082031, -10.180581092834473, 2.0576131343841553 ]
1.766667
53
0
53
0
Pick up the red cube
[ 16.58698081970215, -97.48954010009766, 86.20378875732422, 62.85593032836914, -5.652403354644775, 0.7633587718009949 ]
[ 16.556291580200195, -97.72637939453125, 96.09622955322266, 58.77229309082031, -9.604815483093262, 2.0576131343841553 ]
1.8
54
0
54
0
Grasp the red cube
[ 16.21919822692871, -97.4058609008789, 84.0396728515625, 65.57585906982422, -4.648705959320068, 0.7633587718009949 ]
[ 16.556291580200195, -97.72637939453125, 95.91466522216797, 59.51887130737305, -8.45328426361084, 2.0576131343841553 ]
1.833333
55
0
55
0
Grasp the red cube
[ 16.660537719726562, -97.4058609008789, 81.96573638916016, 68.12579345703125, -3.9091389179229736, 0.7633587718009949 ]
[ 16.62987518310547, -97.72637939453125, 95.36994934082031, 60.59726333618164, -7.301753520965576, 2.0576131343841553 ]
1.866667
56
0
56
0
Grasp the red cube
[ 16.734092712402344, -97.23849487304688, 80.3426513671875, 69.82575225830078, -3.59218168258667, 0.7633587718009949 ]
[ 16.62987518310547, -97.72637939453125, 94.3713150024414, 62.00746536254883, -6.0978803634643555, 2.0576131343841553 ]
1.9
57
0
57
0
Lift the red cube
[ 16.734092712402344, -96.48535919189453, 79.35076904296875, 70.93072509765625, -3.59218168258667, 0.8396946787834167 ]
[ 16.556291580200195, -97.72637939453125, 92.82796478271484, 63.91538619995117, -5.2080607414245605, 2.0576131343841553 ]
1.933333
58
0
58
0
Lift the red cube
[ 16.807649612426758, -95.2301254272461, 78.71956634521484, 71.0157241821289, -3.8563127517700195, 0.9160305261611938 ]
[ 16.482707977294922, -97.72637939453125, 90.73989868164062, 65.82331085205078, -4.684637546539307, 2.0576131343841553 ]
1.966667
59
0
59
0
Grab the red block
[ 16.807649612426758, -93.64016723632812, 78.08837127685547, 70.5057373046875, -3.8034865856170654, 0.9160305261611938 ]
[ 16.482707977294922, -97.72637939453125, 88.74262237548828, 67.56532287597656, -4.579952716827393, 2.0576131343841553 ]
2
60
0
60
0
Lift the red cube
[ 16.807649612426758, -91.5481185913086, 77.99819946289062, 68.97577667236328, -3.9091389179229736, 1.14503812789917 ]
[ 16.482707977294922, -97.33438110351562, 86.92691802978516, 68.80962371826172, -4.579952716827393, 2.0576131343841553 ]
2.033333
61
0
61
0
Pick up the red cube
[ 16.881206512451172, -89.03765869140625, 77.99819946289062, 66.68083190917969, -3.8034865856170654, 1.4503816366195679 ]
[ 16.482707977294922, -96.31517028808594, 85.56513977050781, 69.39029693603516, -4.579952716827393, 2.0576131343841553 ]
2.066667
62
0
62
0
Lift the red cube
[ 16.881206512451172, -86.1087875366211, 77.5473403930664, 64.64088439941406, -3.645007848739624, 2.4427480697631836 ]
[ 16.482707977294922, -95.13916015625, 84.83885955810547, 69.39029693603516, -4.579952716827393, 2.0576131343841553 ]
2.1
63
0
63
0
Grasp the red cube
[ 17.46965789794922, -80.92050170898438, 76.19477081298828, 63.28091812133789, -3.697834014892578, 8.320611000061035 ]
[ 16.482707977294922, -93.02234649658203, 84.65728759765625, 68.47781372070312, -4.579952716827393, 2.0576131343841553 ]
2.133333
64
0
64
0
Pick up the red cube
[ 17.98455238342285, -77.23849487304688, 74.932373046875, 63.36591720581055, -3.697834014892578, 13.587786674499512 ]
[ 16.482707977294922, -91.06233215332031, 84.65728759765625, 67.39942169189453, -4.579952716827393, 2.0576131343841553 ]
2.166667
65
0
65
0
Lift the red cube
[ 18.058109283447266, -73.64016723632812, 73.66997528076172, 63.7909049987793, -3.9619650840759277, 17.48091697692871 ]
[ 16.482707977294922, -89.18070983886719, 84.47571563720703, 66.56988525390625, -4.579952716827393, 2.4691357612609863 ]
2.2
66
0
66
0
Lift the red cube
[ 18.205223083496094, -69.87447357177734, 72.04689025878906, 63.960899353027344, -4.014791488647461, 20.076335906982422 ]
[ 16.924209594726562, -86.82869720458984, 84.02178955078125, 65.82331085205078, -4.579952716827393, 3.9780521392822266 ]
2.233333
67
0
67
0
Lift the red cube
[ 18.499448776245117, -65.35565185546875, 69.43192291259766, 63.87590408325195, -3.9619650840759277, 20.534351348876953 ]
[ 17.36570930480957, -83.61426544189453, 83.02314758300781, 65.49150085449219, -4.579952716827393, 7.750342845916748 ]
2.266667
68
0
68
0
Lift the red cube
[ 18.57300567626953, -61.50627517700195, 66.81695556640625, 64.0458984375, -3.645007848739624, 20.534351348876953 ]
[ 17.733627319335938, -80.00784301757812, 81.66136932373047, 65.32559204101562, -4.579952716827393, 12.551440238952637 ]
2.3
69
0
69
0
Grasp the red cube
[ 18.57300567626953, -57.65690231323242, 64.29215240478516, 64.21589660644531, -3.59218168258667, 20.610687255859375 ]
[ 17.954378128051758, -76.55821228027344, 80.02723693847656, 65.07672882080078, -4.579952716827393, 16.392318725585938 ]
2.333333
70
0
70
0
Grab the red block
[ 18.57300567626953, -53.13807678222656, 61.94770050048828, 64.21589660644531, -3.59218168258667, 20.916030883789062 ]
[ 18.175128936767578, -72.71658325195312, 77.75760650634766, 65.07672882080078, -4.579952716827393, 18.93004035949707 ]
2.366667
71
0
71
0
Grasp the red cube
[ 18.57300567626953, -49.03765869140625, 59.60324478149414, 64.30089569091797, -3.59218168258667, 20.687023162841797 ]
[ 18.24871253967285, -68.95335388183594, 75.39718627929688, 65.07672882080078, -4.579952716827393, 19.890260696411133 ]
2.4
72
0
72
0
Lift the red cube
[ 18.646560668945312, -45.02091979980469, 57.79981994628906, 64.30089569091797, -3.59218168258667, 20.992366790771484 ]
[ 18.24871253967285, -64.95491790771484, 72.85519409179688, 64.99378204345703, -4.579952716827393, 20.301782608032227 ]
2.433333
73
0
73
0
Lift the red cube
[ 18.57300567626953, -41.171546936035156, 55.90622329711914, 64.5558853149414, -3.539355516433716, 21.068702697753906 ]
[ 18.175128936767578, -61.034889221191406, 70.13163757324219, 64.91082763671875, -4.579952716827393, 20.301782608032227 ]
2.466667
74
0
74
0
Grasp the red cube
[ 18.57300567626953, -37.65690231323242, 53.83228302001953, 65.32086944580078, -2.9582672119140625, 21.145038604736328 ]
[ 18.101545333862305, -56.80125427246094, 67.58965301513672, 64.91082763671875, -4.579952716827393, 20.301782608032227 ]
2.5
75
0
75
0
Grasp the red cube
[ 18.278778076171875, -34.05857849121094, 50.946800231933594, 66.00084686279297, -1.9545694589614868, 21.145038604736328 ]
[ 18.101545333862305, -51.78361511230469, 64.95687866210938, 64.91082763671875, -4.527610778808594, 20.301782608032227 ]
2.533333
76
0
76
0
Pick up the red cube
[ 18.205223083496094, -31.71548080444336, 48.60234451293945, 66.08584594726562, -1.1093502044677734, 21.145038604736328 ]
[ 18.322296142578125, -48.17718505859375, 63.141170501708984, 64.91082763671875, -4.21355676651001, 20.301782608032227 ]
2.566667
77
0
77
0
Grasp the red cube
[ 18.13166618347168, -28.87029266357422, 45.8972053527832, 66.17084503173828, 0.052826203405857086, 21.145038604736328 ]
[ 18.469463348388672, -44.41395568847656, 61.14389419555664, 65.15968322753906, -3.637791156768799, 20.301782608032227 ]
2.6
78
0
78
0
Lift the red cube
[ 18.058109283447266, -26.27614974975586, 43.823265075683594, 66.25584411621094, 0.8980454206466675, 21.145038604736328 ]
[ 18.469463348388672, -40.807525634765625, 58.96504592895508, 65.49150085449219, -2.643287181854248, 20.301782608032227 ]
2.633333
79
0
79
0
Grasp the red cube
[ 18.13166618347168, -23.514644622802734, 42.110008239746094, 66.25584411621094, 1.4263074398040771, 21.22137451171875 ]
[ 18.175128936767578, -37.27949905395508, 56.69541549682617, 65.7403564453125, -1.4917560815811157, 20.301782608032227 ]
2.666667
80
0
80
0
Grasp the red cube
[ 18.13166618347168, -20.753137588500977, 40.667266845703125, 66.25584411621094, 1.584786057472229, 21.297710418701172 ]
[ 18.02796173095703, -33.829872131347656, 54.24421310424805, 65.90626525878906, -0.4449097216129303, 20.301782608032227 ]
2.7
81
0
81
0
Pick up the red cube
[ 18.425891876220703, -17.99163246154785, 39.224525451660156, 66.25584411621094, 1.584786057472229, 21.297710418701172 ]
[ 18.02796173095703, -30.61544418334961, 51.79301071166992, 65.98921966552734, 0.39256739616394043, 20.301782608032227 ]
2.733333
82
0
82
0
Grasp the red cube
[ 18.499448776245117, -15.397489547729492, 37.87195587158203, 65.91585540771484, 1.373481273651123, 21.832061767578125 ]
[ 18.02796173095703, -27.55782127380371, 49.52337646484375, 65.98921966552734, 0.6019366383552551, 20.301782608032227 ]
2.766667
83
0
83
0
Lift the red cube
[ 18.57300567626953, -13.054393768310547, 35.79801559448242, 65.74585723876953, 1.162176489830017, 23.664121627807617 ]
[ 18.02796173095703, -24.578596115112305, 47.616886138916016, 65.98921966552734, 0.5495943427085876, 20.301782608032227 ]
2.8
84
0
84
0
Lift the red cube
[ 18.57300567626953, -10.878661155700684, 32.82236099243164, 65.83085632324219, 1.1093502044677734, 26.412214279174805 ]
[ 18.02796173095703, -21.59937286376953, 45.982749938964844, 65.98921966552734, 0.5495943427085876, 20.781892776489258 ]
2.833333
85
0
85
0
Grab the red block
[ 18.57300567626953, -9.205020904541016, 29.48602294921875, 66.25584411621094, 1.1093502044677734, 29.312976837158203 ]
[ 18.02796173095703, -18.77695083618164, 44.25783157348633, 65.98921966552734, 0.5495943427085876, 21.87928581237793 ]
2.866667
86
0
86
0
Pick up the red cube
[ 18.57300567626953, -7.698744773864746, 26.420198440551758, 66.59583282470703, 1.162176489830017, 31.526718139648438 ]
[ 18.02796173095703, -15.954527854919434, 42.44212341308594, 65.98921966552734, 0.5495943427085876, 23.86831283569336 ]
2.9
87
0
87
0
Grasp the red cube
[ 18.57300567626953, -6.276150703430176, 24.16591453552246, 67.44581604003906, 1.162176489830017, 32.51908493041992 ]
[ 18.02796173095703, -13.28890609741211, 40.354061126708984, 65.98921966552734, 0.5495943427085876, 26.13168716430664 ]
2.933333
88
0
88
0
Grasp the red cube
[ 18.646560668945312, -5.020920276641846, 22.36248779296875, 68.46578979492188, 1.1093502044677734, 32.671756744384766 ]
[ 18.02796173095703, -11.015288352966309, 37.81207275390625, 66.0721664428711, 0.5495943427085876, 28.73799705505371 ]
2.966667
89
0
89
0
Grab the red block
[ 18.646560668945312, -3.9330544471740723, 21.370603561401367, 68.80577850341797, 1.1093502044677734, 32.82442855834961 ]
[ 18.02796173095703, -8.976871490478516, 34.99773025512695, 66.32102966308594, 0.5495943427085876, 30.72702407836914 ]
3
90
0
90
0
Grab the red block
[ 19.01434326171875, -2.8451883792877197, 20.82957649230957, 68.89077758789062, 1.162176489830017, 33.1297721862793 ]
[ 18.02796173095703, -7.4088592529296875, 32.36495590209961, 66.4869384765625, 0.5495943427085876, 31.755830764770508 ]
3.033333
91
0
91
0
Pick up the red cube
[ 19.4556827545166, -1.9246861934661865, 20.649232864379883, 68.80577850341797, 1.373481273651123, 33.20610809326172 ]
[ 18.02796173095703, -5.840846538543701, 30.004539489746094, 67.15055847167969, 0.5495943427085876, 32.235939025878906 ]
3.066667
92
0
92
0
Grasp the red cube
[ 19.4556827545166, -1.0878660678863525, 20.28854751586914, 68.80577850341797, 1.4263074398040771, 33.20610809326172 ]
[ 18.101545333862305, -4.3512349128723145, 28.098047256469727, 67.64827728271484, 0.5495943427085876, 32.57887649536133 ]
3.1
93
0
93
0
Lift the red cube
[ 19.529237747192383, -0.5020920634269714, 20.19837760925293, 68.80577850341797, 1.4791336059570312, 33.20610809326172 ]
[ 18.3958797454834, -3.096824884414673, 27.008625030517578, 67.89714050292969, 0.7066212892532349, 32.784637451171875 ]
3.133333
94
0
94
0
Grasp the red cube
[ 19.382125854492188, -0.16736401617527008, 20.108205795288086, 68.72077941894531, 1.4791336059570312, 33.28244400024414 ]
[ 18.763797760009766, -1.920815348625183, 26.373126983642578, 68.14599609375, 0.6542789936065674, 32.784637451171875 ]
3.166667
95
0
95
0
Grab the red block
[ 19.23501205444336, -0.08368200808763504, 20.108205795288086, 68.72077941894531, 1.4263074398040771, 33.35877990722656 ]
[ 19.1317138671875, -0.9016072154045105, 26.373126983642578, 68.31190490722656, 0.5495943427085876, 32.784637451171875 ]
3.2
96
0
96
0
Grasp the red cube
[ 19.161457061767578, 0, 20.559062957763672, 68.63578033447266, 1.2678288221359253, 33.35877990722656 ]
[ 19.278881072998047, -0.1960015743970871, 26.373126983642578, 68.56076049804688, 0.5495943427085876, 32.784637451171875 ]
3.233333
97
0
97
0
Pick up the red cube
[ 18.499448776245117, 0, 21.10009002685547, 68.29579162597656, 1.1093502044677734, 33.35877990722656 ]
[ 19.278881072998047, 0.2744022011756897, 26.373126983642578, 68.72666931152344, 0.5495943427085876, 32.784637451171875 ]
3.266667
98
0
98
0
Pick up the red cube
[ 17.396100997924805, 0, 21.821460723876953, 67.53081512451172, 1.373481273651123, 33.35877990722656 ]
[ 19.1317138671875, 0.5096040964126587, 26.373126983642578, 68.72666931152344, 0.5495943427085876, 32.784637451171875 ]
3.3
99
0
99
0
Grab the red block
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 100,
    "total_frames": 22340,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
22,340