observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 14
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 87.6 | frame_index int64 0 2.63k | episode_index int64 0 99 | index int64 0 245k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 1.933333 | 58 | 0 | 58 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.09062957763672,
-0.3663003742694855,
29.600217819213867
] | [
-6.190125465393066,
-99.15433502197266,
99,
78.09062957763672,
-0.3663003742694855,
29.600217819213867
] | [
0.14244025945663452,
0.0032297486905008554,
0.026635007932782173,
3.109635591506958,
0.4822387099266052,
3.103468418121338
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3836506605148315,
-0.012271846644580364,
0
] | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3836506605148315,
-0.012271846644580364,
0
] | pick blue block | gripper_open | 0.986525 | [
-6.190125465393066,
-99.15433502197266,
99,
78.09062957763672,
-0.3663003742694855,
30
] | [
0.14244025945663452,
0.0032297486905008554,
0.026635007932782173,
3.109635591506958,
0.4822387099266052,
3.103468418121338
] | 30 | [
0,
0,
0
] | 1.966667 | 59 | 0 | 59 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.190132141113281,
-98.64933013916016,
99,
78.44258117675781,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.03067975863814354,
-1.8224126100540161,
1.5355147123336792,
1.3897864818572998,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2 | 60 | 0 | 60 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.226667881011963,
-98.6113052368164,
99,
78.41947174072266,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.03144029155373573,
-1.8217228651046753,
1.5355147123336792,
1.3893835544586182,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.033333 | 61 | 0 | 61 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.275279998779297,
-98.56072235107422,
98.97480010986328,
78.38871765136719,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.03245220705866814,
-1.820805311203003,
1.5350894927978516,
1.3888474702835083,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.066667 | 62 | 0 | 62 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.383021831512451,
-98.44860076904297,
98.8404312133789,
78.320556640625,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.03469497337937355,
-1.818771481513977,
1.5328222513198853,
1.3876591920852661,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.1 | 63 | 0 | 63 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.513640403747559,
-98.31267547607422,
98.67753601074219,
78.23792266845703,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.03741394355893135,
-1.8163059949874878,
1.5300735235214233,
1.386218547821045,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.133333 | 64 | 0 | 64 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.689349174499512,
-98.12982177734375,
98.45840454101562,
78.12676239013672,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.04107151925563812,
-1.8129891157150269,
1.5263760089874268,
1.3842805624008179,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.166667 | 65 | 0 | 65 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-6.898375988006592,
-97.91230010986328,
98.19772338867188,
77.99452209472656,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.04542264714837074,
-1.8090434074401855,
1.5219773054122925,
1.3819751739501953,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.2 | 66 | 0 | 66 | 0 | |||
[
-6.190125465393066,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-7.1390252113342285,
-97.66187286376953,
97.50759887695312,
77.84227752685547,
-0.3663003742694855,
30
] | [
0.14162755012512207,
0.003204802982509136,
0.02625875547528267,
3.110110282897949,
0.47611722350120544,
3.103687286376953
] | 1 | [
-0.030679618939757347,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.050432030111551285,
-1.8045008182525635,
1.5103323459625244,
1.3793209791183472,
-0.012271846644580364,
0
] | pick blue block | move | 0.000041 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.233333 | 67 | 0 | 67 | 0 | |||
[
-6.411201000213623,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-7.421533107757568,
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97.15528106689453,
77.6635513305664,
-0.3663003742694855,
30
] | [
0.141611710190773,
0.0036778105422854424,
0.02625875733792782,
3.110110282897949,
0.47611722350120544,
3.1082892417907715
] | 1 | [
-0.035281553864479065,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.05631274729967117,
-1.8009366989135742,
1.504387378692627,
1.3762050867080688,
-0.012271846644580364,
0
] | pick blue block | move | 0.001047 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.266667 | 68 | 0 | 68 | 0 | |||
[
-6.632277011871338,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-7.72422981262207,
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96.77777862548828,
77.47205352783203,
-0.3663003742694855,
30
] | [
0.14159370958805084,
0.004150741267949343,
0.026258759200572968,
3.110110282897949,
0.47611725330352783,
3.11289119720459
] | 1 | [
-0.03988349810242653,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.06261371821165085,
-1.7952227592468262,
1.498017430305481,
1.3728666305541992,
-0.012271846644580364,
0
] | pick blue block | move | 0.00205 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.3 | 69 | 0 | 69 | 0 | |||
[
-6.853353023529053,
-99.15433502197266,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-8.076552391052246,
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96.33838653564453,
77.24916076660156,
-0.3663003742694855,
30
] | [
0.14157351851463318,
0.004623583983629942,
0.026258759200572968,
3.110110282897949,
0.47611725330352783,
3.117493152618408
] | 1 | [
-0.04448544234037399,
-1.8315731287002563,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.06994770467281342,
-1.7885721921920776,
1.4906032085418701,
1.3689807653427124,
-0.012271846644580364,
0
] | pick blue block | move | 0.003049 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.333333 | 70 | 0 | 70 | 0 | |||
[
-7.074429035186768,
-98.98519897460938,
99,
78.44258880615234,
-0.3663003742694855,
30
] | [
-8.438714027404785,
-96.4068603515625,
95.88672637939453,
77.0200424194336,
-0.3663003742694855,
30
] | [
0.14127397537231445,
0.005082711111754179,
0.026036929339170456,
3.110346555709839,
0.47305646538734436,
3.1222031116485596
] | 1 | [
-0.04908738657832146,
-1.828505039215088,
1.5355147123336792,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.07748650759458542,
-1.7817357778549194,
1.4829820394515991,
1.3649864196777344,
-0.012271846644580364,
0
] | pick blue block | move | 0.004851 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.366667 | 71 | 0 | 71 | 0 | |||
[
-7.4428887367248535,
-98.81607055664062,
98.90908813476562,
78.44258880615234,
-0.3663003742694855,
30
] | [
-8.856179237365723,
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95.3660888671875,
76.75593566894531,
-0.3663003742694855,
30
] | [
0.14109113812446594,
0.005860245320945978,
0.026104282587766647,
3.110464334487915,
0.47152623534202576,
3.1299266815185547
] | 1 | [
-0.05675728991627693,
-1.8254371881484985,
1.5339807271957397,
1.3897866010665894,
-0.012271846644580364,
0
] | [
-0.08617651462554932,
-1.7738555669784546,
1.4741969108581543,
1.360382080078125,
-0.012271846644580364,
0
] | pick blue block | move | 0.007831 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.4 | 72 | 0 | 72 | 0 | |||
[
-7.8113484382629395,
-98.30867004394531,
98.90908813476562,
78.35459899902344,
-0.3663003742694855,
30
] | [
-9.283092498779297,
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94.83367919921875,
76.48585510253906,
-0.3663003742694855,
30
] | [
0.1404133141040802,
0.006603717338293791,
0.02553599886596203,
3.111050605773926,
0.4638742208480835,
3.1378607749938965
] | 1 | [
-0.06442718952894211,
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1.5339807271957397,
1.38825261592865,
-0.012271846644580364,
0
] | [
-0.09506318718194962,
-1.7657968997955322,
1.4652131795883179,
1.3556735515594482,
-0.012271846644580364,
0
] | pick blue block | move | 0.012143 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.433333 | 73 | 0 | 73 | 0 | |||
[
-8.179808616638184,
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98.81818389892578,
78.09062957763672,
-0.3663003742694855,
30
] | [
-9.753608703613281,
-95.03852844238281,
94.24688720703125,
76.18818664550781,
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30
] | [
0.14041545987129211,
0.007386639714241028,
0.025548016652464867,
3.1111674308776855,
0.462343692779541,
-3.1376023292541504
] | 1 | [
-0.07209710031747818,
-1.8085633516311646,
1.5324468612670898,
1.3836506605148315,
-0.012271846644580364,
0
] | [
-0.10485751181840897,
-1.7569150924682617,
1.4553117752075195,
1.3504841327667236,
-0.012271846644580364,
0
] | pick blue block | move | 0.017078 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.466667 | 74 | 0 | 74 | 0 | |||
[
-8.54826831817627,
-97.46300506591797,
98.7272720336914,
77.82666015625,
-0.3663003742694855,
30
] | [
-10.241263389587402,
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93.63871765136719,
75.87967681884766,
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30
] | [
0.14041346311569214,
0.008170131593942642,
0.025558771565556526,
3.111284017562866,
0.4608134329319,
-3.129880666732788
] | 1 | [
-0.07976700365543365,
-1.8008935451507568,
1.5309127569198608,
1.3790487051010132,
-0.012271846644580364,
0
] | [
-0.11500859260559082,
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1.4450496435165405,
1.3451056480407715,
-0.012271846644580364,
0
] | pick blue block | move | 0.022005 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.5 | 75 | 0 | 75 | 0 | |||
[
-9.064111709594727,
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-0.3663003742694855,
30
] | [
-10.761652946472168,
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92.9897232055664,
75.55046081542969,
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30
] | [
0.14032579958438873,
0.00926090870052576,
0.026121601462364197,
3.1114003658294678,
0.45928284525871277,
-3.119091033935547
] | 1 | [
-0.09050486236810684,
-1.7901555299758911,
1.5247769355773926,
1.3759807348251343,
-0.012271846644580364,
0
] | [
-0.12584108114242554,
-1.7378867864608765,
1.4340986013412476,
1.3393661975860596,
-0.012271846644580364,
0
] | pick blue block | move | 0.0297 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.533333 | 76 | 0 | 76 | 0 | |||
[
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77.47470092773438,
-0.3663003742694855,
30
] | [
-11.306142807006836,
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92.31067657470703,
75.20599365234375,
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30
] | [
0.14066921174526215,
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0.027191592380404472,
3.1111674308776855,
0.4623439311981201,
-3.1099908351898193
] | 1 | [
-0.09970875084400177,
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1.5171070098876953,
1.3729127645492554,
-0.012271846644580364,
0
] | [
-0.13717524707317352,
-1.7276087999343872,
1.4226405620574951,
1.3333607912063599,
-0.012271846644580364,
0
] | pick blue block | move | 0.036798 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
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1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.566667 | 77 | 0 | 77 | 0 | |||
[
-9.948415756225586,
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77.12274169921875,
-0.3663003742694855,
30
] | [
-11.87349796295166,
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91.60311126708984,
74.84706115722656,
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30
] | [
0.14128872752189636,
0.01125326007604599,
0.02851191721856594,
3.110816717147827,
0.4669351577758789,
-3.1009440422058105
] | 1 | [
-0.1089126393198967,
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1.5079032182693481,
1.3667768239974976,
-0.012271846644580364,
0
] | [
-0.1489853858947754,
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1.4107012748718262,
1.3271032571792603,
-0.012271846644580364,
0
] | pick blue block | move | 0.045728 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
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0.2137378752231598,
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1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.6 | 78 | 0 | 78 | 0 | |||
[
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30
] | [
-12.470541000366211,
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90.8585205078125,
74.46935272216797,
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30
] | [
0.1419423222541809,
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0.030144767835736275,
3.110346555709839,
0.47305670380592346,
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] | 1 | [
-0.12118448317050934,
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1.4971652030944824,
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-0.012271846644580364,
0
] | [
-0.1614135056734085,
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1.3981372117996216,
1.3205184936523438,
-0.012271846644580364,
0
] | pick blue block | move | 0.055188 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
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0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.633333 | 79 | 0 | 79 | 0 | |||
[
-11.053794860839844,
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96.09091186523438,
76.41883087158203,
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30
] | [
-13.08175277709961,
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90.09626770019531,
74.08267974853516,
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30
] | [
0.14288045465946198,
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0.031856268644332886,
3.1097545623779297,
0.48070859909057617,
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] | 1 | [
-0.13192234933376312,
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1.4864274263381958,
1.3545050621032715,
-0.012271846644580364,
0
] | [
-0.17413654923439026,
-1.694091558456421,
1.38527512550354,
1.3137773275375366,
-0.012271846644580364,
0
] | pick blue block | move | 0.065229 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.666667 | 80 | 0 | 80 | 0 | |||
[
-11.643330574035645,
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95.36363983154297,
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30
] | [
-13.727394104003906,
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89.29106903076172,
73.6742172241211,
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30
] | [
0.14352795481681824,
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0.033676497638225555,
3.1092774868011475,
0.4868299067020416,
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] | 1 | [
-0.14419418573379517,
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1.4741555452346802,
1.3499031066894531,
-0.012271846644580364,
0
] | [
-0.1875763088464737,
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1.3716883659362793,
1.3066563606262207,
-0.012271846644580364,
0
] | pick blue block | move | 0.075613 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.7 | 81 | 0 | 81 | 0 | |||
[
-12.159174919128418,
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94.63636016845703,
75.71491241455078,
-0.3663003742694855,
30
] | [
-14.37999439239502,
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-0.3663003742694855,
30
] | [
0.1445915549993515,
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0.035694994032382965,
3.1085562705993652,
0.49601200222969055,
-3.055971622467041
] | 1 | [
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1.4618836641311646,
1.3422331809997559,
-0.012271846644580364,
0
] | [
-0.20116090774536133,
-1.6695852279663086,
1.3579552173614502,
1.2994587421417236,
-0.012271846644580364,
0
] | pick blue block | move | 0.086183 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
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0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.733333 | 82 | 0 | 82 | 0 | |||
[
-12.748710632324219,
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93.81818389892578,
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30
] | [
-15.070066452026367,
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72.82479095458984,
-0.3663003742694855,
30
] | [
0.14575447142124176,
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3.10770583152771,
0.506723940372467,
-3.0441086292266846
] | 1 | [
-0.16720391809940338,
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1.448077917098999,
1.3345632553100586,
-0.012271846644580364,
0
] | [
-0.2155255377292633,
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1.3434333801269531,
1.2918477058410645,
-0.012271846644580364,
0
] | pick blue block | move | 0.097607 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.766667 | 83 | 0 | 83 | 0 | |||
[
-13.411937713623047,
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74.92301177978516,
-0.3663003742694855,
30
] | [
-15.766122817993164,
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86.7485122680664,
72.38443756103516,
-0.3663003742694855,
30
] | [
0.14628909528255463,
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0.03953941911458969,
3.1073381900787354,
0.5113146901130676,
-3.0304818153381348
] | 1 | [
-0.18100972473621368,
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1.4373400211334229,
1.3284274339675903,
-0.012271846644580364,
0
] | [
-0.23001472651958466,
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1.32878577709198,
1.2841706275939941,
-0.012271846644580364,
0
] | pick blue block | move | 0.108441 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.8 | 84 | 0 | 84 | 0 | |||
[
-13.92778205871582,
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-0.3663003742694855,
30
] | [
-16.490543365478516,
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85.8450698852539,
71.92613983154297,
-0.3663003742694855,
30
] | [
0.14714787900447845,
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3.1067211627960205,
0.5189657211303711,
-3.020047903060913
] | 1 | [
-0.19174760580062866,
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1.4235342741012573,
1.3222914934158325,
-0.012271846644580364,
0
] | [
-0.24509434401988983,
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1.313541293144226,
1.2761808633804321,
-0.012271846644580364,
0
] | pick blue block | move | 0.119679 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
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1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.833333 | 85 | 0 | 85 | 0 | |||
[
-14.591009140014648,
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91.54545593261719,
74.131103515625,
-0.3663003742694855,
30
] | [
-17.22600746154785,
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84.92784881591797,
71.46086120605469,
-0.3663003742694855,
30
] | [
0.1481274515390396,
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3.105973720550537,
0.5281469821929932,
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] | 1 | [
-0.20555341243743896,
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1.4097284078598022,
1.3146215677261353,
-0.012271846644580364,
0
] | [
-0.2604038417339325,
-1.6158623695373535,
1.2980642318725586,
1.2680693864822388,
-0.012271846644580364,
0
] | pick blue block | move | 0.131827 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
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1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.866667 | 86 | 0 | 86 | 0 | |||
[
-15.18054485321045,
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90.7272720336914,
73.60316467285156,
-0.3663003742694855,
30
] | [
-17.982128143310547,
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83.98487091064453,
70.98250579833984,
-0.3663003742694855,
30
] | [
0.14932017028331757,
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0.04622720554471016,
3.1050913333892822,
0.5388579368591309,
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] | 1 | [
-0.2178252637386322,
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1.3959225416183472,
1.3054176568984985,
-0.012271846644580364,
0
] | [
-0.276143342256546,
-1.6015894412994385,
1.2821526527404785,
1.2597298622131348,
-0.012271846644580364,
0
] | pick blue block | move | 0.143903 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
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] | 30 | [
0,
0,
0
] | 2.9 | 87 | 0 | 87 | 0 | |||
[
-15.843772888183594,
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89.81818389892578,
73.16322326660156,
-0.3663003742694855,
30
] | [
-18.752578735351562,
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83.0240249633789,
70.49508666992188,
-0.3663003742694855,
30
] | [
0.15039411187171936,
0.026364320889115334,
0.04877827316522598,
3.1041977405548096,
0.5495685338973999,
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] | 1 | [
-0.2316311001777649,
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1.3805826902389526,
1.2977478504180908,
-0.012271846644580364,
0
] | [
-0.292181134223938,
-1.5870461463928223,
1.2659395933151245,
1.2512322664260864,
-0.012271846644580364,
0
] | pick blue block | move | 0.15658 | [
-60.51841354370117,
-42.61813735961914,
31.245718002319336,
44.0723876953125,
-0.3663003742694855,
30
] | [
0.12755544483661652,
0.20469525456428528,
0.2137378752231598,
2.988837718963623,
1.1893560886383057,
-2.1443774700164795
] | 30 | [
0,
0,
0
] | 2.933333 | 88 | 0 | 88 | 0 | |||
[
-16.580692291259766,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
SO-101 robot dataset collected with the MA autonomous forward/reset pipeline. The task is to sort red, green, and blue RGB blocks onto plates of the matching color. The dataset contains 100 successful episodes at 30 FPS with top and left-wrist RGB camera streams, robot state/action features, end-effector pose, gripper state, and skill/subtask annotations.
- Homepage: https://huggingface.co/CoRL2026-CSI
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 245282,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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": {
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6
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"names": [
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"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
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},
"action": {
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"shape": [
6
],
"names": [
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"elbow_flex.pos",
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]
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
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"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 30,
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},
"observation.ee_pos.robot_xyzrpy": {
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],
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},
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},
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},
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],
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},
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"skill.progress": {
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},
"skill.goal_position.joint": {
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"names": [
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},
"skill.goal_position.robot_xyzrpy": {
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],
"names": [
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},
"skill.goal_position.gripper": {
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"shape": [
1
],
"names": [
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},
"subtask.natural_language": {
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},
"subtask.object_name": {
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},
"subtask.target_position": {
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"names": [
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},
"timestamp": {
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"names": null
},
"frame_index": {
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},
"episode_index": {
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"names": null
},
"index": {
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"task_index": {
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"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
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