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Datasets:
ulasZoi
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Cubes_MatchingCup_10fps_20260708_112052

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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pandas
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License:
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observation.state
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float32
0
19.9
frame_index
int64
0
199
episode_index
int64
0
49
index
int64
0
8.15k
task_index
int64
0
0
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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0
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[ -22.549449920654297, 13.934065818786621, -72, 100.26373291015625, -9.538461685180664, 30.0878963470459 ]
5.7
57
0
57
0
[ -16.483516693115234, 12.747252464294434, -59.16483688354492, 83.16483306884766, -6.8131866455078125, 1.1867088079452515 ]
[ -19.736263275146484, 11.648351669311523, -67.69230651855469, 97.71428680419922, -7.780219554901123, 30.0878963470459 ]
5.8
58
0
58
0
[ -16.659339904785156, 16.879121780395508, -55.736263275146484, 75.16483306884766, -6.549450397491455, 1.1867088079452515 ]
[ -17.9780216217041, 12.967033386230469, -61.978023529052734, 91.9120864868164, -7.516483306884766, 30.0878963470459 ]
5.9
59
0
59
0
[ -16.659339904785156, 22.241758346557617, -55.03296661376953, 68.57142639160156, -6.8131866455078125, 1.1867088079452515 ]
[ -17.010988235473633, 15.780220031738281, -57.31867980957031, 82.06593322753906, -6.989010810852051, 30.0878963470459 ]
6
60
0
60
0
[ -16.74725341796875, 26.72527503967285, -55.03296661376953, 64.79120635986328, -6.8131866455078125, 1.1867088079452515 ]
[ -17.27472496032715, 20.351648330688477, -55.20878982543945, 74.94505310058594, -6.989010810852051, 30.0878963470459 ]
6.1
61
0
61
0
[ -17.36263656616211, 30.41758155822754, -55.03296661376953, 62.5054931640625, -6.549450397491455, 1.1867088079452515 ]
[ -17.27472496032715, 25.450550079345703, -54.85714340209961, 68.87911987304688, -6.989010810852051, 30.0878963470459 ]
6.2
62
0
62
0
[ -17.36263656616211, 33.58241653442383, -55.03296661376953, 60.39560317993164, -6.549450397491455, 1.1867088079452515 ]
[ -17.27472496032715, 29.758241653442383, -54.85714340209961, 65.18681335449219, -6.989010810852051, 30.0878963470459 ]
6.3
63
0
63
0
[ -17.538461685180664, 36.74725341796875, -55.03296661376953, 58.10988998413086, -6.461538314819336, 1.1867088079452515 ]
[ -17.36263656616211, 33.36263656616211, -54.769229888916016, 62.72527313232422, -6.989010810852051, 30.0878963470459 ]
6.4
64
0
64
0
[ -17.538461685180664, 39.47252655029297, -55.03296661376953, 55.56044006347656, -6.461538314819336, 1.1867088079452515 ]
[ -17.36263656616211, 36.70329666137695, -54.85714340209961, 60.43955993652344, -6.989010810852051, 30.0878963470459 ]
6.5
65
0
65
0
[ -17.538461685180664, 41.67033004760742, -55.03296661376953, 53.36263656616211, -6.461538314819336, 1.1867088079452515 ]
[ -17.36263656616211, 39.78022003173828, -54.68132019042969, 57.978023529052734, -6.989010810852051, 30.0878963470459 ]
6.6
66
0
66
0
[ -17.538461685180664, 43.25274658203125, -55.03296661376953, 51.516483306884766, -6.461538314819336, 1.503164529800415 ]
[ -17.36263656616211, 42.241756439208984, -54.68132019042969, 55.42856979370117, -6.989010810852051, 30.0878963470459 ]
6.7
67
0
67
0
[ -17.538461685180664, 43.78022003173828, -55.03296661376953, 50.63736343383789, -6.373626232147217, 5.300632953643799 ]
[ -17.36263656616211, 44.087913513183594, -54.68132019042969, 53.31867980957031, -6.989010810852051, 30.0878963470459 ]
6.8
68
0
68
0
[ -18.065933227539062, 43.78022003173828, -55.03296661376953, 50.81318664550781, -6.373626232147217, 23.338607788085938 ]
[ -17.36263656616211, 44.879119873046875, -54.593406677246094, 52.263736724853516, -6.989010810852051, 30.0878963470459 ]
6.9
69
0
69
0
[ -18.85714340209961, 43.78022003173828, -55.03296661376953, 50.901100158691406, -3.8241758346557617, 44.4620246887207 ]
[ -17.450550079345703, 44.879119873046875, -54.593406677246094, 52.087913513183594, -6.8131866455078125, 30.0878963470459 ]
7
70
0
70
0
[ -19.648351669311523, 43.868133544921875, -54.769229888916016, 50.901100158691406, -1.274725317955017, 49.12974548339844 ]
[ -17.9780216217041, 44.879119873046875, -54.593406677246094, 52.087913513183594, -4.9670329093933105, 31.507776260375977 ]
7.1
71
0
71
0
[ -19.560440063476562, 43.340660095214844, -55.03296661376953, 50.901100158691406, -1.186813235282898, 42.563289642333984 ]
[ -18.94505500793457, 44.79121017456055, -54.593406677246094, 52.087913513183594, -2.5934066772460938, 41.64976501464844 ]
7.2
72
0
72
0
[ -19.384614944458008, 43.16483688354492, -55.912086486816406, 50.901100158691406, -1.186813235282898, 31.408227920532227 ]
[ -19.296703338623047, 44.79121017456055, -54.5054931640625, 52.087913513183594, -1.7142857313156128, 46.24746322631836 ]
7.3
73
0
73
0
[ -17.80219841003418, 42.989009857177734, -58.10988998413086, 50.989009857177734, -1.274725317955017, 14.556962013244629 ]
[ -19.120878219604492, 44.79121017456055, -54.5054931640625, 52.087913513183594, -1.5384615659713745, 38.877620697021484 ]
7.4
74
0
74
0
[ -16.131868362426758, 42.901100158691406, -61.626373291015625, 54.153846740722656, -1.3626374006271362, 0.5537974834442139 ]
[ -18.94505500793457, 44.879119873046875, -55.120880126953125, 52.087913513183594, -1.5384615659713745, 29.073698043823242 ]
7.5
75
0
75
0
[ -15.076923370361328, 42.901100158691406, -69.45054626464844, 63.120880126953125, -1.3626374006271362, 3.24367094039917 ]
[ -17.80219841003418, 44.879119873046875, -57.4945068359375, 53.406593322753906, -1.5384615659713745, 17.579444885253906 ]
7.6
76
0
76
0
[ -14.637362480163574, 42.901100158691406, -80.35164642333984, 75.07691955566406, -1.3626374006271362, 1.344936728477478 ]
[ -16.395605087280273, 44.879119873046875, -61.71428680419922, 57.098899841308594, -1.5384615659713745, 6.558485507965088 ]
7.7
77
0
77
0
[ -14.725275039672852, 42.901100158691406, -92.83516693115234, 88, -1.3626374006271362, 1.2658227682113647 ]
[ -15.516483306884766, 44.879119873046875, -70.24176025390625, 66.5054931640625, -1.5384615659713745, 3.9891819953918457 ]
7.8
78
0
78
0
[ -14.813186645507812, 40.087913513183594, -96.17582702636719, 97.4945068359375, -1.274725317955017, 1.2658227682113647 ]
[ -15.252747535705566, 44.79121017456055, -80.87911987304688, 78.10989379882812, -1.5384615659713745, 1.9607843160629272 ]
7.9
79
0
79
0
[ -13.05494499206543, 33.14285659790039, -93.97801971435547, 100.74725341796875, -0.8351648449897766, 1.2658227682113647 ]
[ -15.252747535705566, 43.56044006347656, -89.67032623291016, 90.24176025390625, -1.5384615659713745, 1.622718095779419 ]
8
80
0
80
0
[ -9.362637519836426, 26.10988998413086, -90.54945373535156, 100.74725341796875, -0.9230769276618958, 1.2658227682113647 ]
[ -14.637362480163574, 40.74725341796875, -90.37362670898438, 97.89010620117188, -1.0989011526107788, 1.4198782444000244 ]
8.1
81
0
81
0
[ -6.1978020668029785, 17.406593322753906, -82.63735961914062, 100.83516693115234, -0.8351648449897766, 1.2658227682113647 ]
[ -12.087912559509277, 34.41758346557617, -89.4945068359375, 100, -1.0109890699386597, 1.4198782444000244 ]
8.2
82
0
82
0
[ -3.384615421295166, 6.329670429229736, -70.5054931640625, 100.65933990478516, -0.8351648449897766, 1.2658227682113647 ]
[ -8.659340858459473, 26.593406677246094, -86.76923370361328, 100.17582702636719, -1.186813235282898, 1.3522650003433228 ]
8.3
83
0
83
0
[ -0.1318681389093399, -4.483516693115234, -55.912086486816406, 100.57142639160156, -0.8351648449897766, 1.2658227682113647 ]
[ -5.5824174880981445, 17.186813354492188, -78.4175796508789, 100.26373291015625, -1.186813235282898, 1.3522650003433228 ]
8.4
84
0
84
0
[ 4.9670329093933105, -13.802197456359863, -40.96703338623047, 100.3956069946289, -0.8351648449897766, 1.2658227682113647 ]
[ -2.4175825119018555, 5.758241653442383, -66.72527313232422, 100.26373291015625, -1.186813235282898, 1.3522650003433228 ]
8.5
85
0
85
0
[ 11.296703338623047, -20.30769157409668, -26.549449920654297, 100.13186645507812, -0.7472527623176575, 1.2658227682113647 ]
[ 1.3626374006271362, -5.318681240081787, -52.57143020629883, 100.26373291015625, -1.0989011526107788, 1.3522650003433228 ]
8.6
86
0
86
0
[ 17.186813354492188, -22.85714340209961, -14.065934181213379, 97.4945068359375, 8.923076629638672, 1.2658227682113647 ]
[ 6.461538314819336, -14.461538314819336, -37.626373291015625, 100.26373291015625, -1.186813235282898, 1.3522650003433228 ]
8.7
87
0
87
0
[ 20.351648330688477, -22.769229888916016, -4.395604610443115, 95.47252655029297, 24.043956756591797, 1.2658227682113647 ]
[ 12.527472496032715, -19.91208839416504, -23.384614944458008, 98.94505310058594, 2.3296704292297363, 1.3522650003433228 ]
8.8
88
0
88
0
[ 22.813186645507812, -22.769229888916016, 3.4285714626312256, 91.95604705810547, 30.63736343383789, 1.2658227682113647 ]
[ 17.626373291015625, -21.05494499206543, -11.076923370361328, 97.010986328125, 12.615385055541992, 1.3522650003433228 ]
8.9
89
0
89
0
[ 24.74725341796875, -22.769229888916016, 9.142857551574707, 86.76923370361328, 36.35165023803711, 1.2658227682113647 ]
[ 20.879121780395508, -21.14285659790039, -1.494505524635315, 94.10989379882812, 24.923076629638672, 1.3522650003433228 ]
9
90
0
90
0
[ 25.626373291015625, -22.681318283081055, 14.593406677246094, 82.54945373535156, 40.83516311645508, 1.344936728477478 ]
[ 23.076923370361328, -21.230770111083984, 5.8021979331970215, 90.15384674072266, 31.78022003173828, 1.3522650003433228 ]
9.1
91
0
91
0
[ 25.714284896850586, -22.681318283081055, 19.16483497619629, 80.17582702636719, 44.43955993652344, 1.344936728477478 ]
[ 24.571428298950195, -21.230770111083984, 11.780220031738281, 85.5824203491211, 37.4945068359375, 1.3522650003433228 ]
9.2
92
0
92
0
[ 25.538461685180664, -21.098901748657227, 22.681318283081055, 76.57142639160156, 47.25274658203125, 1.344936728477478 ]
[ 25.098901748657227, -21.230770111083984, 17.14285659790039, 82.06593322753906, 41.978023529052734, 1.3522650003433228 ]
9.3
93
0
93
0
[ 25.626373291015625, -16.08791160583496, 23.384614944458008, 73.4945068359375, 48.131866455078125, 1.344936728477478 ]
[ 25.098901748657227, -20.703296661376953, 21.450550079345703, 78.72527313232422, 45.406593322753906, 1.3522650003433228 ]
9.4
94
0
94
0
[ 25.450550079345703, -9.758241653442383, 21.89011001586914, 73.14286041259766, 47.868133544921875, 1.344936728477478 ]
[ 25.098901748657227, -18.329669952392578, 23.120878219604492, 75.56044006347656, 47.25274658203125, 1.3522650003433228 ]
9.5
95
0
95
0
[ 26.41758155822754, -5.098901271820068, 19.69230842590332, 72.70330047607422, 47.868133544921875, 1.344936728477478 ]
[ 25.36263656616211, -13.142857551574707, 23.208791732788086, 74.06593322753906, 47.516483306884766, 1.3522650003433228 ]
9.6
96
0
96
0
[ 27.208791732788086, -4.219780445098877, 16.791208267211914, 75.16483306884766, 47.868133544921875, 1.344936728477478 ]
[ 25.450550079345703, -7.252747058868408, 22.505495071411133, 73.36264038085938, 47.516483306884766, 1.3522650003433228 ]
9.7
97
0
97
0
[ 27.03296661376953, -4.219780445098877, 16.08791160583496, 76.48351287841797, 47.868133544921875, 1.4240506887435913 ]
[ 26.241758346557617, -4.351648330688477, 20.571428298950195, 74.5934066772461, 47.516483306884766, 1.3522650003433228 ]
9.8
98
0
98
0
[ 25.80219841003418, -4.219780445098877, 16.615385055541992, 78.32967376708984, 47.78022003173828, 2.689873456954956 ]
[ 26.505495071411133, -4.175824165344238, 18.813186645507812, 75.73626708984375, 47.516483306884766, 1.3522650003433228 ]
9.9
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",
    "fps": 10,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "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.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "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": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
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        "task_index": {
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    },
    "total_episodes": 50,
    "total_frames": 8151,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:50"
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
8,151
Total file size:
27.7 MB

Models trained or fine-tuned on ulasZoi/Cubes_MatchingCup_10fps_20260708_112052