Hugging Face's logo

Datasets:
rads2
/
so101_pick_cube_v2.0

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
29.7
frame_index
int64
0
446
episode_index
int64
0
14
index
int64
0
4.83k
task_index
int64
0
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -5.007587432861328, 17.99163246154785, 18.568233489990234, 82.38993835449219, -17.35966682434082, 21.946565628051758 ]
0
0
0
0
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -5.007587432861328, 17.740585327148438, 18.657718658447266, 82.22222137451172, -17.20374298095703, 22.07379150390625 ]
0.066667
1
0
1
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -8.952959060668945, 12.217573165893555, 25.100671768188477, 77.86163330078125, -14.189188957214355, 25.82697296142578 ]
0.133333
2
0
2
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -18.664644241333008, 1.0041841268539429, 37.270694732666016, 71.48847198486328, -10.395009994506836, 33.078880310058594 ]
0.2
3
0
3
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -25.796661376953125, -14.728033065795898, 55.525726318359375, 70.9014663696289, -8.419958114624023, 40.07633590698242 ]
0.266667
4
0
4
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -27.08649444580078, -32.30125427246094, 73.60179138183594, 69.39203643798828, -7.7442827224731445, 47.328243255615234 ]
0.333333
5
0
5
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -27.389984130859375, -51.88284683227539, 84.69798278808594, 68.4696044921875, -8.004158020019531, 54.58015441894531 ]
0.4
6
0
6
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -28.831562042236328, -70.29288482666016, 89.08277130126953, 68.21803283691406, -7.536382675170898, 61.57761001586914 ]
0.466667
7
0
7
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -28.376327514648438, -86.1087875366211, 92.93064880371094, 68.55345916748047, -7.588357448577881, 65.64885711669922 ]
0.533333
8
0
8
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -28.67981719970703, -93.97489166259766, 94.7203598022461, 69.30817413330078, -7.380457401275635, 67.23918914794922 ]
0.6
9
0
9
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -28.603944778442383, -97.48954010009766, 94.98881530761719, 69.22431945800781, -7.380457401275635, 67.93893432617188 ]
0.666667
10
0
10
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.32636260986328, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.1933822631836 ]
0.733333
11
0
11
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -28.983308792114258, -98.9121322631836, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
0.8
12
0
12
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
0.866667
13
0
13
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
0.933333
14
0
14
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1
15
0
15
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.066667
16
0
16
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.133333
17
0
17
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.2
18
0
18
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.266667
19
0
19
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.333333
20
0
20
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.4
21
0
21
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.466667
22
0
22
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.533333
23
0
23
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.6
24
0
24
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.666667
25
0
25
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.733333
26
0
26
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.8
27
0
27
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.866667
28
0
28
0
[ -28.78126335144043, -99.75041961669922, 94.97080993652344, 68.72603607177734, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
1.933333
29
0
29
0
[ -28.78126335144043, -99.75041961669922, 94.61158752441406, 68.2147445678711, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 69.22431945800781, -7.380457401275635, 68.38422393798828 ]
2
30
0
30
0
[ -28.78126335144043, -99.75041961669922, 94.43196868896484, 65.06178283691406, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 68.97274780273438, -7.380457401275635, 68.38422393798828 ]
2.066667
31
0
31
0
[ -28.78126335144043, -99.75041961669922, 94.52178192138672, 59.7784423828125, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 67.9664535522461, -7.380457401275635, 68.38422393798828 ]
2.133333
32
0
32
0
[ -28.78126335144043, -99.75041961669922, 95.06062316894531, 55.688114166259766, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -98.99581909179688, 95.16778564453125, 65.61844635009766, -7.380457401275635, 68.38422393798828 ]
2.2
33
0
33
0
[ -28.701866149902344, -99.75041961669922, 95.06062316894531, 53.72816467285156, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -99.07949829101562, 95.43624114990234, 60.75471878051758, -7.380457401275635, 68.38422393798828 ]
2.266667
34
0
34
0
[ -28.304882049560547, -99.75041961669922, 95.06062316894531, 53.21687316894531, -7.482993125915527, 68.60557556152344 ]
[ -29.059181213378906, -99.07949829101562, 95.52572631835938, 57.31656265258789, -7.380457401275635, 68.38422393798828 ]
2.333333
35
0
35
0
[ -27.272727966308594, -99.75041961669922, 94.79119873046875, 53.38730239868164, -7.482993125915527, 68.60557556152344 ]
[ -28.831562042236328, -99.07949829101562, 95.52572631835938, 55.22012710571289, -7.380457401275635, 68.38422393798828 ]
2.4
36
0
36
0
[ -26.240571975708008, -99.75041961669922, 94.43196868896484, 53.38730239868164, -7.482993125915527, 68.60557556152344 ]
[ -28.30045509338379, -99.07949829101562, 95.52572631835938, 54.63312530517578, -7.380457401275635, 68.38422393798828 ]
2.466667
37
0
37
0
[ -25.526002883911133, -99.75041961669922, 94.25235748291016, 53.131656646728516, -7.482993125915527, 68.60557556152344 ]
[ -27.238239288330078, -99.07949829101562, 95.52572631835938, 54.29769515991211, -7.380457401275635, 68.38422393798828 ]
2.533333
38
0
38
0
[ -24.732036590576172, -99.75041961669922, 93.35428619384766, 53.131656646728516, -7.482993125915527, 68.60557556152344 ]
[ -26.555387496948242, -99.07949829101562, 95.52572631835938, 54.12997817993164, -7.380457401275635, 68.38422393798828 ]
2.6
39
0
39
0
[ -23.46169090270996, -99.75041961669922, 92.36640930175781, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -25.56904411315918, -99.07949829101562, 95.52572631835938, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
2.666667
40
0
40
0
[ -22.270742416381836, -99.75041961669922, 91.19892120361328, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -24.88619041442871, -99.07949829101562, 95.16778564453125, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
2.733333
41
0
41
0
[ -21.159189224243164, -99.75041961669922, 90.03143310546875, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -23.520484924316406, -99.07949829101562, 94.63087463378906, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
2.8
42
0
42
0
[ -20.12703514099121, -99.75041961669922, 89.5823974609375, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -22.610015869140625, -99.07949829101562, 94.09395599365234, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
2.866667
43
0
43
0
[ -19.01548194885254, -99.75041961669922, 89.5823974609375, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -21.24431037902832, -99.07949829101562, 93.109619140625, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
2.933333
44
0
44
0
[ -18.300912857055664, -99.66722106933594, 89.76200866699219, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -20.485584259033203, -99.07949829101562, 92.75167846679688, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
3
45
0
45
0
[ -18.142120361328125, -99.41764068603516, 89.85182189941406, 53.046443939208984, -7.482993125915527, 68.60557556152344 ]
[ -19.1198787689209, -99.07949829101562, 92.75167846679688, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
3.066667
46
0
46
0
[ -18.142120361328125, -98.585693359375, 89.9416275024414, 53.47251892089844, -7.482993125915527, 68.60557556152344 ]
[ -19.04400634765625, -99.07949829101562, 92.75167846679688, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
3.133333
47
0
47
0
[ -18.221515655517578, -98.50249481201172, 89.9416275024414, 53.813377380371094, -7.482993125915527, 68.60557556152344 ]
[ -18.36115264892578, -98.99581909179688, 92.75167846679688, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
3.2
48
0
48
0
[ -18.221515655517578, -98.50249481201172, 89.85182189941406, 54.58031463623047, -7.482993125915527, 68.60557556152344 ]
[ -18.664644241333008, -98.82845306396484, 92.75167846679688, 53.96226501464844, -7.380457401275635, 68.38422393798828 ]
3.266667
49
0
49
0
[ -18.221515655517578, -98.50249481201172, 89.76200866699219, 54.92117691040039, -7.482993125915527, 68.60557556152344 ]
[ -18.664644241333008, -98.82845306396484, 92.75167846679688, 54.213836669921875, -7.380457401275635, 68.38422393798828 ]
3.333333
50
0
50
0
[ -18.221515655517578, -98.50249481201172, 89.76200866699219, 55.00638961791992, -7.430664539337158, 68.60557556152344 ]
[ -18.664644241333008, -98.82845306396484, 92.75167846679688, 54.63312530517578, -7.380457401275635, 68.38422393798828 ]
3.4
51
0
51
0
[ -18.221515655517578, -98.25291442871094, 89.67220306396484, 55.00638961791992, -7.430664539337158, 68.60557556152344 ]
[ -18.664644241333008, -98.82845306396484, 92.75167846679688, 54.800838470458984, -7.380457401275635, 68.38422393798828 ]
3.466667
52
0
52
0
[ -18.221515655517578, -96.58901977539062, 89.31298065185547, 54.92117691040039, -7.430664539337158, 68.60557556152344 ]
[ -18.664644241333008, -98.66108703613281, 92.75167846679688, 54.800838470458984, -7.380457401275635, 68.38422393798828 ]
3.533333
53
0
53
0
[ -18.142120361328125, -93.09484100341797, 87.78626251220703, 54.92117691040039, -7.378335952758789, 68.60557556152344 ]
[ -18.664644241333008, -98.15899658203125, 92.57270812988281, 54.800838470458984, -7.380457401275635, 68.38422393798828 ]
3.6
54
0
54
0
[ -18.142120361328125, -88.01996612548828, 85.00224304199219, 54.92117691040039, -6.174777507781982, 68.60557556152344 ]
[ -18.664644241333008, -96.3179931640625, 91.76734161376953, 54.800838470458984, -7.380457401275635, 68.38422393798828 ]
3.666667
55
0
55
0
[ -18.142120361328125, -82.27953338623047, 81.76919555664062, 54.92117691040039, -4.23861837387085, 68.84461975097656 ]
[ -18.664644241333008, -93.38912200927734, 89.88814544677734, 54.800838470458984, -7.016632080078125, 68.38422393798828 ]
3.733333
56
0
56
0
[ -18.06272315979004, -76.955078125, 78.8055648803711, 54.92117691040039, -2.8257455825805664, 68.92430114746094 ]
[ -18.664644241333008, -88.70292663574219, 87.38255310058594, 54.88469696044922, -5.925156116485596, 68.5114517211914 ]
3.8
57
0
57
0
[ -17.506946563720703, -73.12812042236328, 76.56039428710938, 54.92117691040039, -2.407116651535034, 68.92430114746094 ]
[ -18.664644241333008, -83.09623718261719, 84.16107177734375, 54.88469696044922, -4.417879581451416, 68.7022933959961 ]
3.866667
58
0
58
0
[ -16.554187774658203, -70.54908752441406, 74.67445373535156, 54.92117691040039, -2.407116651535034, 68.92430114746094 ]
[ -18.36115264892578, -78.0753173828125, 81.47650909423828, 54.88469696044922, -3.274428367614746, 68.7022933959961 ]
3.933333
59
0
59
0
[ -15.760222434997559, -69.13477325439453, 73.41715240478516, 54.92117691040039, -2.407116651535034, 68.68525695800781 ]
[ -17.678300857543945, -74.14225769042969, 79.328857421875, 54.800838470458984, -2.806652784347534, 68.76589965820312 ]
4
60
0
60
0
[ -14.648670196533203, -68.55241394042969, 72.78850555419922, 54.92117691040039, -2.5641026496887207, 68.68525695800781 ]
[ -16.76782989501953, -71.38075256347656, 77.18120574951172, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.066667
61
0
61
0
[ -13.378324508666992, -68.4692153930664, 72.78850555419922, 54.92117691040039, -2.668759822845459, 68.68525695800781 ]
[ -15.857359886169434, -69.70711517333984, 76.01789855957031, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.133333
62
0
62
0
[ -11.949186325073242, -67.97004699707031, 72.78850555419922, 54.92117691040039, -2.721088409423828, 68.60557556152344 ]
[ -14.795144081115723, -68.95397186279297, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.2
63
0
63
0
[ -10.28185749053955, -67.88685607910156, 72.69869995117188, 54.92117691040039, -2.5117738246917725, 68.60557556152344 ]
[ -13.581183433532715, -68.4518814086914, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.266667
64
0
64
0
[ -8.93211555480957, -67.80365753173828, 72.69869995117188, 54.92117691040039, -2.4594452381134033, 68.60557556152344 ]
[ -12.139605522155762, -68.20083618164062, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.333333
65
0
65
0
[ -8.217546463012695, -67.80365753173828, 72.69869995117188, 54.92117691040039, -2.4594452381134033, 68.60557556152344 ]
[ -10.698027610778809, -68.0334701538086, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.4
66
0
66
0
[ -8.138150215148926, -67.72046661376953, 72.69869995117188, 54.92117691040039, -2.668759822845459, 68.60557556152344 ]
[ -9.408194541931152, -67.94979095458984, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.466667
67
0
67
0
[ -8.05875301361084, -67.72046661376953, 72.69869995117188, 54.92117691040039, -2.721088409423828, 68.60557556152344 ]
[ -8.801214218139648, -67.8661117553711, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.533333
68
0
68
0
[ -7.820563793182373, -67.72046661376953, 72.69869995117188, 54.92117691040039, -2.721088409423828, 68.60557556152344 ]
[ -8.573596000671387, -67.8661117553711, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.6
69
0
69
0
[ -7.02659797668457, -67.72046661376953, 72.69869995117188, 55.00638961791992, -2.721088409423828, 68.60557556152344 ]
[ -8.497723579406738, -67.8661117553711, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.666667
70
0
70
0
[ -6.867804527282715, -65.22462463378906, 72.42927551269531, 55.00638961791992, -2.7734169960021973, 68.60557556152344 ]
[ -8.042489051818848, -67.8661117553711, 75.57047271728516, 54.800838470458984, -2.702702760696411, 68.76589965820312 ]
4.733333
71
0
71
0
[ -6.867804527282715, -61.98003387451172, 70.81275177001953, 55.00638961791992, -2.7734169960021973, 68.60557556152344 ]
[ -7.132018089294434, -67.8661117553711, 75.57047271728516, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
4.8
72
0
72
0
[ -6.867804527282715, -58.652244567871094, 68.83699798583984, 55.00638961791992, -2.7734169960021973, 68.60557556152344 ]
[ -7.4355082511901855, -66.77824401855469, 75.12303924560547, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
4.866667
73
0
73
0
[ -6.947201251983643, -55.490848541259766, 66.95105743408203, 55.00638961791992, -2.668759822845459, 68.60557556152344 ]
[ -7.132018089294434, -64.68619537353516, 74.31767272949219, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
4.933333
74
0
74
0
[ -7.10599422454834, -53.49417495727539, 65.60395050048828, 55.00638961791992, -2.4594452381134033, 68.60557556152344 ]
[ -7.207890510559082, -61.171546936035156, 72.52796173095703, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5
75
0
75
0
[ -7.185390949249268, -51.830284118652344, 64.43646240234375, 55.00638961791992, -2.407116651535034, 68.60557556152344 ]
[ -7.4355082511901855, -58.326358795166016, 70.7382583618164, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.066667
76
0
76
0
[ -7.264787673950195, -50.41597366333008, 62.999549865722656, 55.00638961791992, -2.407116651535034, 68.60557556152344 ]
[ -7.359635829925537, -55.39748764038086, 69.03803253173828, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.133333
77
0
77
0
[ -7.50297737121582, -49.500831604003906, 62.281097412109375, 54.7507438659668, -2.407116651535034, 68.60557556152344 ]
[ -7.359635829925537, -53.30543899536133, 67.69574737548828, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.2
78
0
78
0
[ -7.661770343780518, -48.83527374267578, 61.742252349853516, 54.324668884277344, -2.407116651535034, 68.60557556152344 ]
[ -7.359635829925537, -51.548118591308594, 66.35346984863281, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.266667
79
0
79
0
[ -8.535133361816406, -48.25291061401367, 60.933990478515625, 54.324668884277344, -2.354788064956665, 68.60557556152344 ]
[ -7.359635829925537, -50.209205627441406, 65.36912536621094, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
5.333333
80
0
80
0
[ -10.440650939941406, -47.58735275268555, 59.766502380371094, 54.49510192871094, -2.354788064956665, 68.60557556152344 ]
[ -7.359635829925537, -49.28870391845703, 64.65324401855469, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
5.4
81
0
81
0
[ -12.187376022338867, -46.755409240722656, 58.50920486450195, 54.835960388183594, -2.354788064956665, 68.60557556152344 ]
[ -7.587253570556641, -48.53556442260742, 63.93735885620117, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
5.466667
82
0
82
0
[ -13.457721710205078, -45.59068298339844, 57.70094299316406, 54.835960388183594, -2.354788064956665, 68.60557556152344 ]
[ -9.028831481933594, -47.949790954589844, 62.86353302001953, 54.88469696044922, -2.702702760696411, 68.76589965820312 ]
5.533333
83
0
83
0
[ -14.569273948669434, -44.00998306274414, 57.072296142578125, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -11.07738971710205, -47.112972259521484, 61.61073684692383, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.6
84
0
84
0
[ -15.998412132263184, -42.09650421142578, 56.26403045654297, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -12.139605522155762, -46.108787536621094, 60.53691101074219, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.666667
85
0
85
0
[ -17.506946563720703, -40.2662239074707, 55.09654235839844, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -13.429438591003418, -44.769874572753906, 60, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.733333
86
0
86
0
[ -19.17427635192871, -38.685523986816406, 53.8392448425293, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -15.174507141113281, -43.09623336791992, 59.19462966918945, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.8
87
0
87
0
[ -20.841604232788086, -37.27121353149414, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.84461975097656 ]
[ -15.857359886169434, -41.33891296386719, 58.210289001464844, 54.96855163574219, -2.702702760696411, 68.76589965820312 ]
5.866667
88
0
88
0
[ -22.350139617919922, -36.605655670166016, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.92430114746094 ]
[ -17.678300857543945, -39.58158874511719, 57.13646697998047, 54.96855163574219, -2.6507277488708496, 68.76589965820312 ]
5.933333
89
0
89
0
[ -23.699880599975586, -36.27287673950195, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.92430114746094 ]
[ -19.57511329650879, -38.075313568115234, 56.06264114379883, 54.96855163574219, -2.6507277488708496, 68.76589965820312 ]
6
90
0
90
0
[ -24.89082908630371, -36.18968200683594, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.68525695800781 ]
[ -20.789073944091797, -36.98744583129883, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.066667
91
0
91
0
[ -26.002382278442383, -36.18968200683594, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -22.382396697998047, -36.40167236328125, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.133333
92
0
92
0
[ -26.796348571777344, -36.18968200683594, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -24.051593780517578, -36.3179931640625, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.2
93
0
93
0
[ -27.590312957763672, -36.18968200683594, 53.030982971191406, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -24.658573150634766, -36.3179931640625, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.266667
94
0
94
0
[ -28.622468948364258, -36.18968200683594, 52.94117736816406, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -26.176023483276367, -36.3179931640625, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.333333
95
0
95
0
[ -29.972211837768555, -36.10649108886719, 52.222721099853516, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -26.934749603271484, -36.3179931640625, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.4
96
0
96
0
[ -31.16316032409668, -36.10649108886719, 51.23484420776367, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -27.465856552124023, -36.3179931640625, 55.79418182373047, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.466667
97
0
97
0
[ -32.35410690307617, -36.10649108886719, 50.516387939453125, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -29.210926055908203, -36.15062713623047, 55.34675598144531, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.533333
98
0
98
0
[ -33.30686950683594, -36.10649108886719, 50.42658233642578, 54.92117691040039, -2.354788064956665, 68.60557556152344 ]
[ -29.89377784729004, -36.15062713623047, 54.27293014526367, 54.88469696044922, -2.6507277488708496, 68.76589965820312 ]
6.6
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": 15,
    "total_frames": 4827,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 15,
    "splits": {
        "train": "0:15"
    },
    "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.left": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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": 15,
                "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
23
License:
apache-2.0
Size of downloaded dataset files:
218 kB
Size of the auto-converted Parquet files:
218 kB
Number of rows:
4,827