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Datasets:
villekuosmanen
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eval_insert_colorful_rings

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
10K - 100K
Tags:
LeRobot
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observation.state
listlengths
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float32
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12.8
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episode_index
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17.5k
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[ 27.296703338623047, -11.20879077911377, 52.0439567565918, 54.94505310058594, -1.4505494832992554, 30.00678825378418 ]
2.85
57
0
57
1
[ 27.39259147644043, -8.489645957946777, 50.01912307739258, 54.4694938659668, -0.7468132972717285, 30.112255096435547 ]
[ 27.296703338623047, -10.329669952392578, 51.516483306884766, 55.03296661376953, -1.4505494832992554, 30.00678825378418 ]
2.9
58
0
58
1
[ 27.36903190612793, -6.8923492431640625, 49.810638427734375, 54.567283630371094, -0.840194046497345, 30.135059356689453 ]
[ 27.296703338623047, -9.714285850524902, 50.901100158691406, 55.03296661376953, -1.274725317955017, 30.00678825378418 ]
2.95
59
0
59
1
[ 27.458290100097656, -6.079146862030029, 49.410743713378906, 54.610713958740234, -1.0222564935684204, 30.41400718688965 ]
[ 27.384614944458008, -9.01098918914795, 50.46154022216797, 55.03296661376953, -1.0989011526107788, 30.00678825378418 ]
3
60
0
60
1
[ 27.28314971923828, -6.220673561096191, 49.439327239990234, 54.54789352416992, -0.9961526393890381, 30.100435256958008 ]
[ 27.47252655029297, -8.131868362426758, 49.67033004760742, 55.03296661376953, -1.0989011526107788, 30.00678825378418 ]
3.05
61
0
61
1
[ 27.485883712768555, -6.30909538269043, 49.62290573120117, 54.34553909301758, -0.9880175590515137, 30.325830459594727 ]
[ 27.47252655029297, -7.868131637573242, 49.406593322753906, 55.03296661376953, -1.0989011526107788, 30.074678421020508 ]
3.1
62
0
62
1
[ 27.155864715576172, -5.8442769050598145, 49.28053283691406, 54.44740676879883, -0.9376885294914246, 30.122676849365234 ]
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3.15
63
0
63
1
[ 27.648494720458984, -5.399255752563477, 49.072181701660156, 54.431312561035156, -1.1798683404922485, 30.425546646118164 ]
[ 27.47252655029297, -7.692307472229004, 49.406593322753906, 55.03296661376953, -1.0989011526107788, 30.074678421020508 ]
3.2
64
0
64
1
[ 27.14150047302246, -5.56198263168335, 49.18282699584961, 54.546043395996094, -0.922065258026123, 29.976144790649414 ]
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3.25
65
0
65
1
[ 27.02570152282715, -4.993408679962158, 49.137672424316406, 54.58787155151367, -1.0849448442459106, 30.188695907592773 ]
[ 27.560440063476562, -7.516483306884766, 49.31867980957031, 55.03296661376953, -1.0989011526107788, 30.142566680908203 ]
3.3
66
0
66
1
[ 27.46808624267578, -5.363702297210693, 49.51256561279297, 54.283302307128906, -1.1089931726455688, 29.669286727905273 ]
[ 27.560440063476562, -7.340659141540527, 49.31867980957031, 55.03296661376953, -1.0109890699386597, 30.074678421020508 ]
3.35
67
0
67
1
[ 27.465576171875, -6.386075973510742, 48.9078369140625, 54.49828338623047, -0.9156275987625122, 28.520505905151367 ]
[ 27.560440063476562, -7.340659141540527, 49.31867980957031, 55.120880126953125, -1.0109890699386597, 29.938899993896484 ]
3.4
68
0
68
1
[ 27.41071891784668, -6.1556715965271, 48.876068115234375, 54.294368743896484, -1.036616325378418, 25.865985870361328 ]
[ 27.560440063476562, -7.340659141540527, 49.230770111083984, 55.120880126953125, -1.0109890699386597, 29.395790100097656 ]
3.45
69
0
69
1
[ 27.081111907958984, -6.372774600982666, 48.58707809448242, 54.37289810180664, -1.1947455406188965, 21.73744773864746 ]
[ 27.560440063476562, -7.252747058868408, 49.05494689941406, 55.120880126953125, -1.0109890699386597, 28.377460479736328 ]
3.5
70
0
70
1
[ 27.408893585205078, -7.192791938781738, 49.328311920166016, 55.00608444213867, -1.0431928634643555, 17.196462631225586 ]
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3.55
71
0
71
1
[ 27.504234313964844, -5.993917942047119, 49.132164001464844, 54.54304122924805, -0.826270580291748, 12.484075546264648 ]
[ 27.384614944458008, -7.340659141540527, 48.70329666137695, 55.120880126953125, -1.186813235282898, 22.606924057006836 ]
3.6
72
0
72
1
[ 27.709537506103516, -6.902828693389893, 48.809932708740234, 54.55352020263672, -0.661952555179596, 8.5276460647583 ]
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3.65
73
0
73
1
[ 27.458740234375, -6.381899833679199, 48.7219352722168, 54.23780059814453, -0.8955029249191284, 6.218316078186035 ]
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3.7
74
0
74
1
[ 27.378572463989258, -6.368474006652832, 48.484092712402344, 55.3828010559082, -0.693638801574707, 9.1984281539917 ]
[ 27.560440063476562, -7.4285712242126465, 48.61538314819336, 55.03296661376953, -0.9230769276618958, 17.854719161987305 ]
3.75
75
0
75
1
[ 27.377161026000977, -6.554507255554199, 48.44540786743164, 55.347816467285156, -0.7903661727905273, 9.14773941040039 ]
[ 27.560440063476562, -7.4285712242126465, 48.61538314819336, 54.94505310058594, -0.9230769276618958, 17.854719161987305 ]
3.8
76
0
76
1
[ 27.31635856628418, -6.359561443328857, 48.56138229370117, 55.41688537597656, -0.7418487071990967, 8.496541023254395 ]
[ 27.560440063476562, -7.4285712242126465, 48.61538314819336, 55.120880126953125, -0.9230769276618958, 17.854719161987305 ]
3.85
77
0
77
1
[ 27.357189178466797, -6.832149505615234, 48.68372344970703, 55.43400192260742, -0.6081848740577698, 7.425293922424316 ]
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3.9
78
0
78
1
[ 27.39483642578125, -6.763108730316162, 48.5837287902832, 55.52276611328125, -0.7292577624320984, 6.482461452484131 ]
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3.95
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0
79
1
[ 27.51123046875, -7.084918975830078, 48.37015914916992, 55.48309326171875, -0.7384141087532043, 6.392597198486328 ]
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4
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0
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[ 27.481809616088867, -6.850399971008301, 48.61974334716797, 55.40688705444336, -0.8076988458633423, 6.320537090301514 ]
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4.05
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0
81
1
[ 27.338708877563477, -7.225790500640869, 48.39851760864258, 55.66741943359375, -0.41658952832221985, 6.370110034942627 ]
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4.1
82
0
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1
[ 27.49660873413086, -7.93304967880249, 48.341712951660156, 55.88286590576172, 0.09171030670404434, 6.299628734588623 ]
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4.15
83
0
83
1
[ 27.779664993286133, -8.776337623596191, 48.47563934326172, 57.08028793334961, 1.6114870309829712, 6.306035041809082 ]
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4.2
84
0
84
1
[ 28.04944610595703, -11.390523910522461, 48.95747756958008, 58.12809371948242, 3.149966239929199, 6.907718181610107 ]
[ 27.648351669311523, -7.780219554901123, 48.43955993652344, 55.64834976196289, 0.21978022158145905, 17.854719161987305 ]
4.25
85
0
85
1
[ 28.505395889282227, -14.55981731414795, 48.76292419433594, 58.52363204956055, 4.277615070343018, 6.838041305541992 ]
[ 27.648351669311523, -8.571428298950195, 48.70329666137695, 56.61538314819336, 1.4505494832992554, 17.854719161987305 ]
4.3
86
0
86
1
[ 29.137554168701172, -17.830638885498047, 50.09801483154297, 59.169151306152344, 5.643196105957031, 6.806540489196777 ]
[ 27.736263275146484, -10.15384578704834, 49.31867980957031, 57.67033004760742, 2.5934066772460938, 17.854719161987305 ]
4.35
87
0
87
1
[ 29.669147491455078, -22.406902313232422, 50.878360748291016, 58.95878982543945, 6.108278274536133, 6.774550437927246 ]
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4.4
88
0
88
1
[ 30.349037170410156, -26.1579647064209, 51.77095031738281, 58.61818313598633, 6.9336323738098145, 6.111145973205566 ]
[ 28.703296661376953, -15.604395866394043, 50.46154022216797, 58.81318664550781, 5.142857074737549, 17.854719161987305 ]
4.45
89
0
89
1
[ 30.40700340270996, -30.130462646484375, 52.56321334838867, 58.417869567871094, 7.264313220977783, 5.735244274139404 ]
[ 29.230770111083984, -20, 51.25274658203125, 58.5494499206543, 5.758241653442383, 17.854719161987305 ]
4.5
90
0
90
1
[ 30.60094451904297, -34.034873962402344, 53.8596305847168, 58.33293151855469, 7.46452522277832, 5.739380359649658 ]
[ 29.758241653442383, -23.868131637573242, 52.131866455078125, 58.5494499206543, 6.285714149475098, 17.854719161987305 ]
4.55
91
0
91
1
[ 30.97060203552246, -37.509212493896484, 53.87979507446289, 58.003055572509766, 7.639490604400635, 4.805302619934082 ]
[ 29.846153259277344, -27.736263275146484, 53.010990142822266, 58.5494499206543, 6.901098728179932, 17.854719161987305 ]
4.6
92
0
92
1
[ 31.038944244384766, -40.917484283447266, 54.11772537231445, 57.93022537231445, 8.321492195129395, 4.6602959632873535 ]
[ 30.0219783782959, -31.604394912719727, 53.80219650268555, 58.63736343383789, 7.164834976196289, 17.854719161987305 ]
4.65
93
0
93
1
[ 31.2734375, -44.40447998046875, 54.00934982299805, 57.9263801574707, 9.08745288848877, 3.9734158515930176 ]
[ 30.373626708984375, -35.47252655029297, 54.06593322753906, 58.5494499206543, 7.604395389556885, 17.854719161987305 ]
4.7
94
0
94
1
[ 31.276134490966797, -47.7679557800293, 54.13038635253906, 57.76441192626953, 9.75498104095459, 3.3811213970184326 ]
[ 30.549449920654297, -38.989009857177734, 54.153846740722656, 58.5494499206543, 8.307692527770996, 17.854719161987305 ]
4.75
95
0
95
1
[ 30.946725845336914, -50.43035125732422, 52.61688995361328, 57.40373611450195, 10.103763580322266, 3.474247694015503 ]
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4.8
96
0
96
1
[ 30.968772888183594, -52.468597412109375, 52.053611755371094, 57.97747039794922, 10.592663764953613, 3.379544734954834 ]
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4.85
97
0
97
1
[ 30.718547821044922, -53.907325744628906, 50.60432434082031, 58.69521713256836, 10.813138008117676, 2.936937093734741 ]
[ 30.72527503967285, -48.92307662963867, 54.153846740722656, 58.10988998413086, 9.978021621704102, 17.854719161987305 ]
4.9
98
0
98
1
[ 30.153581619262695, -54.273258209228516, 47.46385192871094, 60.45015335083008, 10.853727340698242, 3.2917940616607666 ]
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4.95
99
0
99
1
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so-101",
    "total_episodes": 70,
    "total_frames": 17460,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:70"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
                768,
                1024,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 768,
                "video.width": 1024,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                768,
                1024,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 768,
                "video.width": 1024,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "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]

Episode success / failure labels

In addition to the standard LeRobot fields, this dataset includes a per-episode boolean success column in meta/episodes/*.parquet. success = true means the policy rollout achieved the task for that episode; success = false means it failed. 26 of the 70 episodes are successful. No other annotation fields are included.
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License:
apache-2.0
Number of rows:
17,460
Total file size:
745 MB