xArm tactile: binmarker ablation
Collection
Binary-contact fixed-length arrow overlay (LIBERO binbars port): paired LeRobot dataset + pi0.5 LoRA per task. • 8 items • Updated
Datasets:
Search is not available for this dataset
image imagewidth (px) 224 224 | wrist_image imagewidth (px) 224 224 | state list | actions list | timestamp float32 0 97.1 | frame_index int64 0 971 | episode_index int64 0 99 | index int64 0 13.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[
0.3994221091270447,
-0.0031725470907986164,
0.2889650762081146,
-3.1395232677459717,
0.0095791881904006,
-0.002588982693850994,
0,
0
] | [
-0.00070992112159729,
-0.0011089378967881203,
0.00019288063049316406,
0.0016085223760455847,
-0.0034396634437143803,
0.00026246978086419404,
-1
] | 0 | 0 | 0 | 0 | 0 | ||
[
0.3987121880054474,
-0.004281484987586737,
0.2891579568386078,
-3.1378962993621826,
0.00915897823870182,
-0.007976192981004715,
0,
0
] | [
-0.000233381986618042,
-0.00015879515558481216,
-0.00019550323486328125,
-0.00023017557396087795,
-0.0006686249398626387,
-0.0004882217908743769,
-1
] | 0.1 | 1 | 0 | 1 | 0 | ||
[
0.39847880601882935,
-0.004440280143171549,
0.2889624536037445,
-3.138120651245117,
0.00992285180836916,
-0.009028349071741104,
0,
0
] | [
-0.0012735724449157715,
-0.0029448578134179115,
-0.0012021660804748535,
-0.00014740790356881917,
-0.005461644381284714,
-0.01166266854852438,
-1
] | 0.2 | 2 | 0 | 2 | 0 | ||
[
0.3972052335739136,
-0.00738513795658946,
0.28776028752326965,
-3.138136863708496,
0.028207998722791672,
-0.017630906775593758,
0,
0
] | [
-0.0017816126346588135,
-0.008399119600653648,
-0.0035866200923919678,
0.004138764459639788,
-0.012251237407326698,
-0.01388101652264595,
-1
] | 0.3 | 3 | 0 | 3 | 0 | ||
[
0.39542362093925476,
-0.015784258022904396,
0.2841736674308777,
-3.1335289478302,
0.04992547258734703,
-0.03678146004676819,
0,
0
] | [
-0.0011849403381347656,
-0.005137531086802483,
-0.003213733434677124,
-0.009967288933694363,
-0.0039153252728283405,
-0.012922056019306183,
-1
] | 0.4 | 4 | 0 | 4 | 0 | ||
[
0.39423868060112,
-0.02092178910970688,
0.28095993399620056,
3.137907028198242,
-0.07007087767124176,
0.04330531135201454,
0,
0
] | [
0.00005510449409484863,
-0.008072137832641602,
-0.007066130638122559,
-0.0088630560785532,
0.005332776810973883,
-0.01910535804927349,
-1
] | 0.5 | 5 | 0 | 5 | 0 | ||
[
0.39429378509521484,
-0.02899392694234848,
0.273893803358078,
3.127965211868286,
-0.09954646229743958,
0.035104427486658096,
0,
0
] | [
0.00021702051162719727,
-0.00796571746468544,
-0.00784417986869812,
-0.012337465770542622,
0.01552971638739109,
-0.022837169468402863,
-1
] | 0.6 | 6 | 0 | 6 | 0 | ||
[
0.39451080560684204,
-0.03695964440703392,
0.2660496234893799,
3.1137502193450928,
-0.13433454930782318,
0.011169304139912128,
0,
0
] | [
-0.0016817450523376465,
-0.009160667657852173,
-0.00862342119216919,
-0.004237534943968058,
0.006519935559481382,
-0.03474930301308632,
-1
] | 0.7 | 7 | 0 | 7 | 0 | ||
[
0.3928290605545044,
-0.04612031206488609,
0.2574262022972107,
3.1063485145568848,
-0.18798638880252838,
0.0006261560483835638,
0,
0
] | [
-0.000042557716369628906,
-0.008598554879426956,
-0.00812685489654541,
0.004921776708215475,
0.011686143465340137,
-0.022891808301210403,
-1
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
0.39278650283813477,
-0.05471886694431305,
0.24929934740066528,
3.108151912689209,
-0.22355219721794128,
-0.018537580966949463,
0,
0
] | [
-0.0010977983474731445,
-0.010033413767814636,
-0.011225029826164246,
0.0004995347117073834,
0.013380316086113453,
-0.031813256442546844,
-1
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
0.3916887044906616,
-0.06475228071212769,
0.23807431757450104,
3.103756904602051,
-0.2726646959781647,
-0.04000871628522873,
0,
0
] | [
-0.0020373165607452393,
-0.009025119245052338,
-0.006468087434768677,
0.0026725605130195618,
0.0037274034693837166,
-0.02794082649052143,
-1
] | 1 | 10 | 0 | 10 | 0 | ||
[
0.3896513879299164,
-0.07377739995718002,
0.23160623013973236,
3.102247953414917,
-0.31613704562187195,
-0.046750757843256,
0,
0
] | [
-0.002616286277770996,
-0.006444193422794342,
-0.004079937934875488,
-0.0020044331904500723,
0.004450288601219654,
-0.016879625618457794,
-1
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
0.3870351016521454,
-0.08022159337997437,
0.22752629220485687,
3.0971834659576416,
-0.34203821420669556,
-0.053599752485752106,
0,
0
] | [
-0.003712773323059082,
-0.004982002079486847,
-0.004809364676475525,
-0.00581012200564146,
0.0007434635190293193,
-0.013571435585618019,
-1
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
0.3833223283290863,
-0.08520359545946121,
0.22271692752838135,
3.0891830921173096,
-0.36254554986953735,
-0.0539262518286705,
0,
0
] | [
-0.003375142812728882,
-0.0014932230114936829,
-0.0058009326457977295,
-0.015604517422616482,
-0.0032968888990581036,
-0.003350022481754422,
-1
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
0.3799471855163574,
-0.0866968184709549,
0.21691599488258362,
3.073688268661499,
-0.36647847294807434,
-0.045867230743169785,
0,
0
] | [
-0.00029391050338745117,
-0.0021019652485847473,
-0.009228363633155823,
-0.0013114550383761525,
0.007841342128813267,
-0.004594159312546253,
-1
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
0.37965327501296997,
-0.08879878371953964,
0.2076876312494278,
3.0705199241638184,
-0.3730359971523285,
-0.057801246643066406,
0,
0
] | [
-0.0017248988151550293,
-0.0028427541255950928,
-0.007570609450340271,
0.00035953419865109026,
0.0008139973506331444,
-0.01971859484910965,
-1
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
0.37792837619781494,
-0.09164153784513474,
0.20011702179908752,
3.0672831535339355,
-0.40332895517349243,
-0.059858374297618866,
0,
0
] | [
-0.0032542049884796143,
-0.0044808462262153625,
-0.006389319896697998,
0.00014593183004762977,
-0.004400498699396849,
-0.02304999530315399,
-1
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
0.3746741712093353,
-0.0961223840713501,
0.19372770190238953,
3.0636744499206543,
-0.43896710872650146,
-0.0539986789226532,
0,
0
] | [
-0.0030816197395324707,
-0.0060219913721084595,
-0.00556163489818573,
0.00788941141217947,
-0.005328510422259569,
-0.024738887324929237,
-1
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
0.37159255146980286,
-0.10214437544345856,
0.1881660670042038,
3.0670053958892822,
-0.478142112493515,
-0.048583418130874634,
0,
0
] | [
-0.003996223211288452,
-0.005456075072288513,
-0.005227565765380859,
0.008982768282294273,
-0.005233395844697952,
-0.02275034412741661,
-1
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
0.3675963282585144,
-0.10760045051574707,
0.18293850123882294,
3.0713658332824707,
-0.5145413875579834,
-0.04349474236369133,
0,
0
] | [
-0.0036947429180145264,
-0.007229246199131012,
-0.007235392928123474,
0.01076013408601284,
-0.0031671891920268536,
-0.028008686378598213,
-1
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
0.3639015853404999,
-0.11482969671487808,
0.17570310831069946,
3.07525897026062,
-0.5593550205230713,
-0.04213862866163254,
0,
0
] | [
-0.0011724531650543213,
-0.005534626543521881,
-0.005428701639175415,
0.009294027462601662,
0.0016389506636187434,
-0.02331305481493473,
-1
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.36272913217544556,
-0.12036432325839996,
0.17027440667152405,
3.077493667602539,
-0.5966700911521912,
-0.04767686128616333,
0,
0
] | [
-0.0020750761032104492,
-0.00782090425491333,
-0.008789926767349243,
0.00847647525370121,
0.001563306781463325,
-0.0471121221780777,
-1
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.3606540560722351,
-0.1281852275133133,
0.1614844799041748,
-3.0665700435638428,
0.6696508526802063,
0.052903566509485245,
0,
0
] | [
-0.0017475485801696777,
-0.003448590636253357,
-0.003787025809288025,
-0.002364311134442687,
-0.005212712101638317,
-0.03725390136241913,
-1
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.35890650749206543,
-0.13163381814956665,
0.15769745409488678,
-3.054248571395874,
0.7268342971801758,
0.044050876051187515,
0,
0
] | [
-0.00157850980758667,
-0.002824455499649048,
-0.002134457230567932,
-0.005105516407638788,
-0.004182277712970972,
-0.03222736343741417,
-1
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
0.35732799768447876,
-0.1344582736492157,
0.15556299686431885,
3.0421628952026367,
-0.7760403156280518,
-0.03575822710990906,
0,
0
] | [
-0.0008364021778106689,
-0.004443705081939697,
-0.004264742136001587,
0.0016337274573743343,
0.004751365631818771,
-0.048313699662685394,
-1
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
0.3564915955066681,
-0.1389019787311554,
0.15129825472831726,
3.02336049079895,
-0.8495165109634399,
-0.0436897836625576,
0,
0
] | [
-0.0022992193698883057,
-0.003926873207092285,
-0.0037452131509780884,
0.004020820837467909,
-0.005119964946061373,
-0.0641871765255928,
-1
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
0.3541923761367798,
-0.14282885193824768,
0.14755304157733917,
-2.9904026985168457,
0.9446643590927124,
0.03762545436620712,
0,
0
] | [
0.0000034868717193603516,
-0.0018727481365203857,
-0.00325910747051239,
0.0011637937277555466,
0.002777218585833907,
-0.03193208575248718,
-1
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
0.35419586300849915,
-0.14470160007476807,
0.14429393410682678,
-2.974260091781616,
0.992068886756897,
0.04218107461929321,
0,
0
] | [
-0.0006693005561828613,
-0.0002528280019760132,
-0.003803834319114685,
-0.0016985050169751048,
-0.0004500681534409523,
-0.07474236935377121,
-1
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
0.3535265624523163,
-0.14495442807674408,
0.1404900997877121,
-2.9355690479278564,
1.102698802947998,
0.04029708728194237,
0,
0
] | [
0.0028645098209381104,
-0.002056524157524109,
-0.0026949048042297363,
-0.007872055284678936,
0.006648638751357794,
-0.016068413853645325,
-1
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
0.3563910722732544,
-0.1470109522342682,
0.13779519498348236,
2.927853584289551,
-1.126950740814209,
-0.04566599801182747,
0,
0
] | [
0.005577653646469116,
0.0021864622831344604,
-0.0034887194633483887,
-0.011561633087694645,
0.010440370067954063,
-0.006315522827208042,
-1
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
0.3619687259197235,
-0.14482448995113373,
0.13430647552013397,
2.910572052001953,
-1.131200909614563,
-0.05420485883951187,
0,
0
] | [
0.0020641982555389404,
-0.0002199411392211914,
-0.0033735930919647217,
0.0011070099426433444,
0.00151677499525249,
-0.0016283937729895115,
-1
] | 3 | 30 | 0 | 30 | 0 | ||
[
0.36403292417526245,
-0.14504443109035492,
0.13093288242816925,
2.91009259223938,
-1.1337006092071533,
-0.05707094445824623,
0,
0
] | [
0.0016232728958129883,
-0.0001926422119140625,
-0.005592957139015198,
-0.007274584844708443,
0.003656260669231415,
-0.008310449309647083,
-1
] | 3.1 | 31 | 0 | 31 | 0 | ||
[
0.36565619707107544,
-0.14523707330226898,
0.12533992528915405,
2.8978567123413086,
-1.1430623531341553,
-0.05823677033185959,
0,
0
] | [
0.0006791651248931885,
-0.000501677393913269,
-0.004899382591247559,
-0.005915038287639618,
-0.0011405495461076498,
-0.004897399805486202,
-1
] | 3.2 | 32 | 0 | 32 | 0 | ||
[
0.36633536219596863,
-0.14573875069618225,
0.1204405426979065,
2.8904144763946533,
-1.1485427618026733,
-0.053218431770801544,
0,
0
] | [
-0.0013830065727233887,
-0.00042703747749328613,
-0.0066963136196136475,
0.0004284028254915029,
-0.006596058141440153,
-0.0021689380519092083,
-1
] | 3.3 | 33 | 0 | 33 | 0 | ||
[
0.36495235562324524,
-0.14616578817367554,
0.11374422907829285,
2.8919425010681152,
-1.1528559923171997,
-0.044023241847753525,
0,
0
] | [
0.0008546411991119385,
0.00010403990745544434,
-0.006688594818115234,
-0.0017363078659400344,
0.0020500679966062307,
0.005626867059618235,
-1
] | 3.4 | 34 | 0 | 34 | 0 | ||
[
0.3658069968223572,
-0.1460617482662201,
0.10705563426017761,
2.8928616046905518,
-1.143826961517334,
-0.045828498899936676,
0,
0
] | [
0.0011883080005645752,
-0.00033724308013916016,
-0.012313894927501678,
-0.00014044380804989487,
-0.003858191194012761,
0.0022006563376635313,
-1
] | 3.5 | 35 | 0 | 35 | 0 | ||
[
0.36699530482292175,
-0.14639899134635925,
0.09474173933267593,
2.895339012145996,
-1.1411852836608887,
-0.04013111814856529,
0,
0
] | [
0.0007687509059906006,
-0.0012948960065841675,
-0.006283968687057495,
0.005378659814596176,
0.0011198708089068532,
-0.005549988709390163,
-1
] | 3.6 | 36 | 0 | 36 | 0 | ||
[
0.36776405572891235,
-0.14769388735294342,
0.08845777064561844,
2.896493911743164,
-1.1507638692855835,
-0.04501314461231232,
0,
0
] | [
0.0011145174503326416,
-0.003147810697555542,
-0.007339924573898315,
0.010251394473016262,
0.0027515869587659836,
-0.011969871819019318,
-1
] | 3.7 | 37 | 0 | 37 | 0 | ||
[
0.368878573179245,
-0.15084169805049896,
0.08111784607172012,
2.897571086883545,
-1.17098069190979,
-0.05527518317103386,
0,
0
] | [
-0.00046831369400024414,
-0.0027194470167160034,
-0.006264738738536835,
0.00018599325267132372,
0.0011977461399510503,
-0.02658451348543167,
-1
] | 3.8 | 38 | 0 | 38 | 0 | ||
[
0.36841025948524475,
-0.15356114506721497,
0.07485310733318329,
2.88189697265625,
-1.209445834159851,
-0.05744754150509834,
0,
0
] | [
-0.0006191134452819824,
-0.0028146207332611084,
-0.009050525724887848,
0.00006491277599707246,
0.005608881823718548,
-0.0198447834700346,
-1
] | 3.9 | 39 | 0 | 39 | 0 | ||
[
0.36779114603996277,
-0.15637576580047607,
0.06580258160829544,
2.86800217628479,
-1.237223744392395,
-0.06577247381210327,
0,
0
] | [
-0.00027689337730407715,
0.00003387033939361572,
-0.00711594894528389,
-0.006027755793184042,
0.006980378180742264,
-0.011542541906237602,
-1
] | 4 | 40 | 0 | 40 | 0 | ||
[
0.3675142526626587,
-0.15634189546108246,
0.05868663266301155,
2.8532207012176514,
-1.250666618347168,
-0.0720256045460701,
0,
0
] | [
0.0006091892719268799,
-0.00048041343688964844,
-0.0067622363567352295,
0.00039685386582277715,
0.0060006314888596535,
-0.003917474765330553,
-1
] | 4.1 | 41 | 0 | 41 | 0 | ||
[
0.36812344193458557,
-0.1568223088979721,
0.05192439630627632,
2.8487935066223145,
-1.2553423643112183,
-0.0808618813753128,
0,
0
] | [
0.0004941225051879883,
0.0007603317499160767,
-0.006176624447107315,
-0.0016814834671095014,
0.0068313670344650745,
-0.0077237775549292564,
-1
] | 4.2 | 42 | 0 | 42 | 0 | ||
[
0.36861756443977356,
-0.15606197714805603,
0.045747771859169006,
2.83994460105896,
-1.2646236419677734,
-0.08958567678928375,
0,
0
] | [
0.0011713206768035889,
-0.0001366734504699707,
-0.005074512213468552,
0.004707377403974533,
0.002684697275981307,
-0.0142831364646554,
-1
] | 4.3 | 43 | 0 | 43 | 0 | ||
[
0.36978888511657715,
-0.156198650598526,
0.040673259645700455,
2.834043502807617,
-1.286051869392395,
-0.09683168679475784,
0,
0
] | [
0.0011166930198669434,
0.00008633732795715332,
-0.002579338848590851,
0.0017690608510747552,
0.005993744824081659,
-0.008920776657760143,
-1
] | 4.4 | 44 | 0 | 44 | 0 | ||
[
0.3709055781364441,
-0.15611231327056885,
0.038093920797109604,
2.827491521835327,
-1.2982181310653687,
-0.10663505643606186,
0,
0
] | [
-0.00021219253540039062,
0.0009235292673110962,
-0.0015388429164886475,
0.004787938203662634,
0.0010406626388430595,
0.001317646005190909,
-1
] | 4.5 | 45 | 0 | 45 | 0 | ||
[
0.3706933856010437,
-0.15518878400325775,
0.036555077880620956,
2.831831216812134,
-1.2976504564285278,
-0.11131996661424637,
0,
0
] | [
0.0008188486099243164,
0.0011120140552520752,
-0.002524811774492264,
-0.0003039661096408963,
0.010502474382519722,
-0.002078819088637829,
-1
] | 4.6 | 46 | 0 | 46 | 0 | ||
[
0.371512234210968,
-0.15407676994800568,
0.03403026610612869,
2.8257856369018555,
-1.2985224723815918,
-0.12585049867630005,
0,
0
] | [
0.00043851137161254883,
0.0005699396133422852,
-0.0045845042914152145,
0.0025777777191251516,
0.009164533577859402,
0.003679686225950718,
-1
] | 4.7 | 47 | 0 | 47 | 0 | ||
[
0.37195074558258057,
-0.1535068303346634,
0.029445761814713478,
2.826172113418579,
-1.2922743558883667,
-0.14031550288200378,
0,
0
] | [
0.00020501017570495605,
0.0009029358625411987,
-0.0015884488821029663,
-0.0009484867914579809,
0.002324003493413329,
-0.0027210190892219543,
-1
] | 4.8 | 48 | 0 | 48 | 0 | ||
[
0.3721557557582855,
-0.1526038944721222,
0.027857312932610512,
2.82271409034729,
-1.2954353094100952,
-0.14297519624233246,
0,
0
] | [
0.00046119093894958496,
0.00016476213932037354,
-0.001104254275560379,
-0.0007109842845238745,
0.003414287930354476,
-0.0023630233481526375,
-1
] | 4.9 | 49 | 0 | 49 | 0 | ||
[
0.3726169466972351,
-0.15243913233280182,
0.026753058657050133,
2.819183826446533,
-1.2979347705841064,
-0.14730241894721985,
0,
0
] | [
0.0003281235694885254,
0.00025697052478790283,
-0.0016757715493440628,
0.0006131116533651948,
0.00472159031778574,
0.0004062336520291865,
-1
] | 5 | 50 | 0 | 50 | 0 | ||
[
0.37294507026672363,
-0.15218216180801392,
0.02507728710770607,
2.8178412914276123,
-1.296604037284851,
-0.15427516400814056,
0,
0
] | [
0.0003936588764190674,
0.0005653798580169678,
-0.001129094511270523,
-0.0009811200434342027,
0.002521790564060211,
-0.001546291634440422,
-1
] | 5.1 | 51 | 0 | 51 | 0 | ||
[
0.3733387291431427,
-0.15161678194999695,
0.023948192596435547,
2.814969539642334,
-1.2980283498764038,
-0.1571432650089264,
0,
0
] | [
0.00030994415283203125,
0.00014320015907287598,
-0.0017859451472759247,
0.00016662800044286996,
0.003734938334673643,
0.00032332143746316433,
-1
] | 5.2 | 52 | 0 | 52 | 0 | ||
[
0.37364867329597473,
-0.15147358179092407,
0.022162247449159622,
2.8136301040649414,
-1.2968695163726807,
-0.16242602467536926,
0,
0
] | [
0.0000527501106262207,
0.00008937716484069824,
-0.0007597822695970535,
-0.0001380741741741076,
0.000811360077932477,
0.0005469329771585763,
-1
] | 5.3 | 53 | 0 | 53 | 0 | ||
[
0.37370142340660095,
-0.15138420462608337,
0.02140246517956257,
2.813480854034424,
-1.2958868741989136,
-0.16343609988689423,
0,
0
] | [
-0.00005805492401123047,
0.0005146414041519165,
-0.0011852756142616272,
-0.0005720927147194743,
0.0009178344625979662,
0.0031068301759660244,
-1
] | 5.4 | 54 | 0 | 54 | 0 | ||
[
0.3736433684825897,
-0.15086956322193146,
0.02021718956530094,
2.814460277557373,
-1.2911031246185303,
-0.16420598328113556,
0,
0
] | [
-0.0006279647350311279,
0.00018133223056793213,
-0.001241767778992653,
0.0010894897859543562,
0.0006150190602056682,
-0.002215107437223196,
-1
] | 5.5 | 55 | 0 | 55 | 0 | ||
[
0.3730154037475586,
-0.15068823099136353,
0.01897542178630829,
2.8137590885162354,
-1.2944539785385132,
-0.165888711810112,
0,
0
] | [
-0.0005643963813781738,
-0.0010479390621185303,
-0.001369444653391838,
0.0023644627071917057,
0.0012902120361104608,
-0.0007360172457993031,
-1
] | 5.6 | 56 | 0 | 56 | 0 | ||
[
0.3724510073661804,
-0.15173617005348206,
0.01760597713291645,
2.8146936893463135,
-1.295918583869934,
-0.1693439483642578,
0,
0
] | [
0.0003255009651184082,
-0.0006269216537475586,
-0.0007645506411790848,
0.0004381168691907078,
0.005543860606849194,
-0.002848623553290963,
-1
] | 5.7 | 57 | 0 | 57 | 0 | ||
[
0.37277650833129883,
-0.15236309170722961,
0.016841426491737366,
2.8108294010162354,
-1.2990039587020874,
-0.17741598188877106,
1,
1
] | [
-0.0003902316093444824,
0.00026234984397888184,
0.00015586428344249725,
0.00004784748307429254,
-0.0011077758390456438,
0.0017168947961181402,
1
] | 5.8 | 58 | 0 | 58 | 0 | ||
[
0.37238627672195435,
-0.15210074186325073,
0.016997290775179863,
2.8124022483825684,
-1.2967863082885742,
-0.1758592575788498,
1,
1
] | [
0.0004850029945373535,
-0.00019209086894989014,
0.00009661726653575897,
-0.0002870876051019877,
0.00222029909491539,
-0.002609114395454526,
1
] | 5.9 | 59 | 0 | 59 | 0 | ||
[
0.3728712797164917,
-0.15229283273220062,
0.017093908041715622,
2.80958890914917,
-1.2999876737594604,
-0.17881709337234497,
1,
1
] | [
-0.0001563429832458496,
-0.0004456639289855957,
-0.0004195459187030792,
0.004174183588474989,
0.0016168758738785982,
-0.004623820539563894,
1
] | 6 | 60 | 0 | 60 | 0 | ||
[
0.37271493673324585,
-0.15273849666118622,
0.016674362123012543,
2.8095145225524902,
-1.3074290752410889,
-0.18414044380187988,
1,
1
] | [
0.0003089010715484619,
-0.00041697919368743896,
-0.0005139224231243134,
0.0026273143012076616,
0.0018353457562625408,
0.00014415763143915683,
1
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
0.3730238378047943,
-0.15315547585487366,
0.01616043969988823,
2.810915946960449,
-1.3075828552246094,
-0.18852591514587402,
1,
1
] | [
-0.000019997358322143555,
-0.00009232759475708008,
-0.0001073833554983139,
-0.00010648293391568586,
-0.0011281365295872092,
-0.00013561491505242884,
1
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
0.37300384044647217,
-0.15324780344963074,
0.016053056344389915,
2.8112707138061523,
-1.307973027229309,
-0.18689711391925812,
1,
1
] | [
0.0001799166202545166,
0.000011876225471496582,
0.0002559088170528412,
-0.0019374256953597069,
-0.000025406874556210823,
-0.0012465890031307936,
1
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
0.3731837570667267,
-0.15323592722415924,
0.016308965161442757,
2.808936357498169,
-1.3092225790023804,
-0.18553154170513153,
1,
1
] | [
0.00009462237358093262,
-0.0005510449409484863,
0.00010147504508495331,
0.0010086225811392069,
0.00135409168433398,
-0.0032067394349724054,
1
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
0.3732783794403076,
-0.15378697216510773,
0.01641044020652771,
2.807204246520996,
-1.31381094455719,
-0.18821673095226288,
1,
1
] | [
-0.0005967617034912109,
-0.0001233220100402832,
0.00017644837498664856,
-0.0003448498318903148,
-0.002149275504052639,
0.0013135384069755673,
1
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
0.3726816177368164,
-0.153910294175148,
0.01658688858151436,
2.8087127208709717,
-1.3122721910476685,
-0.18496613204479218,
1,
1
] | [
0.0004901289939880371,
-0.00031426548957824707,
-9.369105100631714e-7,
0.0005992600345052779,
0.0005258677992969751,
0.0024069221690297127,
1
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
0.37317174673080444,
-0.15422455966472626,
0.016585951671004295,
2.810412883758545,
-1.3088932037353516,
-0.18604080379009247,
1,
1
] | [
-0.00016021728515625,
0.0005616098642349243,
0.0007804874330759048,
-0.0027129242662340403,
-0.000055296091886702925,
-0.0012880489230155945,
1
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
0.3730115294456482,
-0.15366294980049133,
0.0173664391040802,
2.8074278831481934,
-1.3099902868270874,
-0.18408754467964172,
1,
1
] | [
-0.00010651350021362305,
-0.00022076070308685303,
0.001558130607008934,
0.004132609814405441,
0.0026877718046307564,
0.0067512281239032745,
1
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
0.37290501594543457,
-0.15388371050357819,
0.018924569711089134,
2.8136394023895264,
-1.3009387254714966,
-0.1904972642660141,
1,
1
] | [
-0.00012603402137756348,
0.0006653517484664917,
0.004916483536362648,
-0.002355823991820216,
0.00035496335476636887,
0.001482448074966669,
1
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
0.372778981924057,
-0.1532183587551117,
0.023841053247451782,
2.8124120235443115,
-1.2981020212173462,
-0.1892821043729782,
1,
1
] | [
0.00005283951759338379,
-0.00012049078941345215,
0.008301883935928345,
0.0011536693200469017,
-0.0015177516033872962,
0.0051553682424128056,
1
] | 7 | 70 | 0 | 70 | 0 | ||
[
0.3728318214416504,
-0.15333884954452515,
0.03214293718338013,
2.817128896713257,
-1.2913352251052856,
-0.18782302737236023,
1,
1
] | [
-0.00016203522682189941,
-0.0000263899564743042,
0.00949244573712349,
0.005330265499651432,
-0.005082032643258572,
0.00617435434833169,
1
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
0.3726697862148285,
-0.15336523950099945,
0.041635382920503616,
2.8275341987609863,
-1.2849136590957642,
-0.18430660665035248,
1,
1
] | [
0.00010102987289428711,
-0.00016735494136810303,
0.007974084466695786,
0.008343871682882309,
-0.0006283473921939731,
0.005467024631798267,
1
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
0.3727708160877228,
-0.15353259444236755,
0.0496094673871994,
2.837966203689575,
-1.2794352769851685,
-0.1890939623117447,
1,
1
] | [
-0.00022411346435546875,
0.001813158392906189,
0.011921457946300507,
0.009561790153384209,
-0.010074997320771217,
0.015393748879432678,
1
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
0.3725467026233673,
-0.15171943604946136,
0.06153092533349991,
2.859511375427246,
-1.2615312337875366,
-0.18131087720394135,
1,
1
] | [
0.0005707740783691406,
0.0012025684118270874,
0.011075459420681,
0.008410037495195866,
-0.009075368754565716,
0.01509358361363411,
1
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
0.37311747670173645,
-0.15051686763763428,
0.07260638475418091,
2.8793399333953857,
-1.2433302402496338,
-0.1740799844264984,
1,
1
] | [
0.0011789798736572266,
0.0011028647422790527,
0.012682020664215088,
0.00690764095634222,
-0.0036888294853270054,
0.02008209377527237,
1
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
0.3742964565753937,
-0.14941400289535522,
0.085288405418396,
-2.8866748809814453,
1.2115204334259033,
0.17272888123989105,
1,
1
] | [
0.0008883178234100342,
0.000837177038192749,
0.011189810931682587,
0.006277855020016432,
-0.0012073273537680507,
0.01832139678299427,
1
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
0.3751847743988037,
-0.14857682585716248,
0.09647821635007858,
-2.89290452003479,
1.1825071573257446,
0.1745804101228714,
1,
1
] | [
0.0011147260665893555,
0.0010773241519927979,
0.013274766504764557,
0.007499953266233206,
0.00039125318289734423,
0.01960396021604538,
1
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
0.37629950046539307,
-0.14749950170516968,
0.10975298285484314,
-2.899014472961426,
1.1513620615005493,
0.17942380905151367,
1,
1
] | [
0.0006833970546722412,
0.0005025267601013184,
0.009445145726203918,
0.005718659609556198,
-0.004386726301163435,
0.01867726817727089,
1
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
0.3769828975200653,
-0.14699697494506836,
0.11919812858104706,
-2.904575824737549,
1.1215895414352417,
0.17627324163913727,
1,
1
] | [
0.0015450119972229004,
0.0022500604391098022,
0.014680802822113037,
0.003707996802404523,
-0.005774760153144598,
0.023528054356575012,
1
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
0.3785279095172882,
-0.14474691450595856,
0.1338789314031601,
-2.914142370223999,
1.085471510887146,
0.1701500564813614,
1,
1
] | [
0.001061856746673584,
0.0023714005947113037,
0.008223265409469604,
0.0007909489213488996,
-0.005302407778799534,
0.017341289669275284,
1
] | 8 | 80 | 0 | 80 | 0 | ||
[
0.3795897662639618,
-0.14237551391124725,
0.1421021968126297,
-2.9223625659942627,
1.059434175491333,
0.16312968730926514,
1,
1
] | [
0.0020575523376464844,
0.005042344331741333,
0.011108294129371643,
-0.001581971300765872,
-0.005334889981895685,
0.027317004278302193,
1
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
0.3816473186016083,
-0.13733316957950592,
0.15321049094200134,
-2.938037633895874,
1.0197802782058716,
0.15514782071113586,
1,
1
] | [
0.0017486214637756348,
0.004571884870529175,
0.008814960718154907,
0.0005305898957885802,
-0.00475905230268836,
0.02435123547911644,
1
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
0.3833959400653839,
-0.13276128470897675,
0.16202545166015625,
-2.949803352355957,
0.9835256338119507,
0.1489018201828003,
1,
1
] | [
0.0020192861557006836,
0.00508330762386322,
0.01032605767250061,
0.0005848400760442019,
-0.007861876860260963,
0.03468736261129379,
1
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
0.3854152262210846,
-0.12767797708511353,
0.17235150933265686,
-2.965686082839966,
0.931591808795929,
0.1382828950881958,
1,
1
] | [
0.002016723155975342,
0.003096342086791992,
0.008929312229156494,
0.008139759302139282,
-0.008619179017841816,
0.03840586170554161,
1
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
0.38743194937705994,
-0.12458163499832153,
0.18128082156181335,
-2.9753315448760986,
0.8713365793228149,
0.1298099309206009,
1,
1
] | [
0.0028165578842163086,
0.004881061613559723,
0.010568022727966309,
0.005913935601711273,
-0.003690976183861494,
0.0469990149140358,
1
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
0.39024850726127625,
-0.11970057338476181,
0.19184884428977966,
-2.9906082153320312,
0.7995024919509888,
0.12807656824588776,
1,
1
] | [
0.003066331148147583,
0.004424244165420532,
0.00800640881061554,
0.003464734647423029,
0.006519593298435211,
0.04289495572447777,
1
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
0.39331483840942383,
-0.11527632921934128,
0.1998552531003952,
-3.0066263675689697,
0.7352019548416138,
0.14062364399433136,
1,
1
] | [
0.0023535192012786865,
0.004693083465099335,
0.005105495452880859,
0.0033642451744526625,
0.0005561511497944593,
0.023839132860302925,
1
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
0.3956683576107025,
-0.11058324575424194,
0.20496074855327606,
-3.0130956172943115,
0.6986477375030518,
0.14339223504066467,
1,
1
] | [
0.0031730830669403076,
0.006601601839065552,
0.0066162049770355225,
0.0028526524547487497,
-0.0001576242793817073,
0.03736019507050514,
1
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
0.3988414406776428,
-0.10398164391517639,
0.21157695353031158,
-3.0245165824890137,
0.6418188214302063,
0.14538586139678955,
1,
1
] | [
0.002988874912261963,
0.0072021037340164185,
0.00497378408908844,
-0.002418417250737548,
0.0015492552192881703,
0.026883190497756004,
1
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
0.4018303155899048,
-0.09677954018115997,
0.21655073761940002,
-3.0365796089172363,
0.6020796298980713,
0.14808514714241028,
1,
1
] | [
0.0024637579917907715,
0.01171925663948059,
0.007598131895065308,
-0.009639994241297245,
-0.005996007937937975,
0.03765162080526352,
1
] | 9 | 90 | 0 | 90 | 0 | ||
[
0.40429407358169556,
-0.08506028354167938,
0.22414886951446533,
-3.0577189922332764,
0.5470409989356995,
0.13772130012512207,
1,
1
] | [
0.0008600950241088867,
0.005847126245498657,
0.004070207476615906,
-0.0023201664444059134,
-0.0026968636084347963,
0.014524973928928375,
1
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
0.40515416860580444,
-0.07921315729618073,
0.22821907699108124,
-3.0642058849334717,
0.5253152251243591,
0.1334267407655716,
1,
1
] | [
-0.0003215670585632324,
0.010658375918865204,
0.008665427565574646,
0.005294102244079113,
-0.012513427995145321,
0.027337387204170227,
1
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
0.4048326015472412,
-0.06855478137731552,
0.23688450455665588,
-3.0658252239227295,
0.48179882764816284,
0.1160409078001976,
1,
1
] | [
-0.00015184283256530762,
0.005615897476673126,
0.005523785948753357,
0.004677488934248686,
-0.005950781516730785,
0.0228431336581707,
1
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
0.4046807587146759,
-0.0629388839006424,
0.24240829050540924,
-3.0668253898620605,
0.4456574320793152,
0.10851644724607468,
1,
1
] | [
-0.0013712942600250244,
0.009028822183609009,
0.008404150605201721,
-0.0009791088523343205,
-0.008039431646466255,
0.03850029408931732,
1
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
0.4033094644546509,
-0.053910061717033386,
0.25081244111061096,
-3.076399803161621,
0.38647890090942383,
0.09719933569431305,
1,
1
] | [
-0.0006212592124938965,
0.007127050310373306,
0.006676286458969116,
-0.005911608226597309,
0.004104034975171089,
0.029234101995825768,
1
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
0.402688205242157,
-0.04678301140666008,
0.2574887275695801,
-3.0887258052825928,
0.34266334772109985,
0.10348997265100479,
1,
1
] | [
0.000488966703414917,
0.007990751415491104,
0.007008731365203857,
-0.004834096413105726,
0.007207916118204594,
0.02850712649524212,
1
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
0.4031771719455719,
-0.038792259991168976,
0.26449745893478394,
-3.099382162094116,
0.2996476888656616,
0.11473066359758377,
1,
1
] | [
0.00034943222999572754,
0.004692554473876953,
0.005396097898483276,
-0.003690012963488698,
0.005484871566295624,
0.021646570414304733,
1
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
0.4035266041755676,
-0.03409970551729202,
0.2698935568332672,
-3.107070207595825,
0.2668244242668152,
0.12329645454883575,
1,
1
] | [
0.00022655725479125977,
0.005685070529580116,
0.007168859243392944,
-0.0022108948323875666,
0.0003839297569356859,
0.02992904931306839,
1
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
0.4037531614303589,
-0.028414634987711906,
0.27706241607666016,
-3.114081859588623,
0.22068066895008087,
0.12420014292001724,
1,
1
] | [
0.0002918541431427002,
0.004282400012016296,
0.006798475980758667,
0.002250980120152235,
0.00537807447835803,
0.03004978597164154,
1
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
xarm_cube_binmarker
xArm7 phone-teleop dataset for cube ("pick up the cube") with the binmarker
tactile overlay burned into the camera frames: one arrow per gripper finger
(anchored at the finger center pad via forward kinematics) with fixed length
AND fixed direction (the sensor-frame pad normal — a rigid "flag" on the
finger), drawn iff that finger's binary contact state is ON. Ported from
LIBERO_contact_overlay's
binbars style, presented spatially.
The overlay carries only the per-finger contact bit — NO force magnitude and NO force direction. Pure binary-contact ablation rung between points9_arrow_len0 (positions only) and points9_arrow (full force field).
Contact detection (how the threshold was tuned)
Per-finger binary contact from the 3x3x3-axis tactile array:
- Normalization offset = median over known-idle frames (first 10 frames of each episode, post-homing, gripper open). The naive whole-dataset median is contact-polluted on tasks that spend most frames in contact (charger: 60% closed frames made idle read as a fake magnitude of ~1.2).
- Metric = max over the 9 cells of the normalized cell-vector L2 norm ("max-cell"). The cell-sum alternative cannot separate charger idle noise (p99.5 = 0.45) from real light holds (0.5 on tube/dishwasher's weaker finger). Max-cell: idle p99.5 <= 0.24 on every task, real contacts >= ~0.3.
- Hysteresis + debounce (Schmitt trigger): ON after 2 consecutive frames
= 0.25, OFF after 3 consecutive frames < 0.18, state reset at episode boundaries. Light-but-real holds (dips to 0.23) stay latched; single-frame noise spikes never trigger.
Validated on all 400 episodes (zero idle false positives in every post-homing window) and visually verified on 5 episodes per task (timelines + frame montages at approach / contact onset / mid-hold / post-release), plus a final spot check on the converted LeRobot frames: no arrows during approach, arrows at contact onset, latched through holds, cleared within <=3 frames of release, and honest negatives (gripper closed around nothing draws nothing).
Contents
- 100 episodes / 13103 frames @ 10 Hz, LeRobot v2.1 format
image(224x224x3, agent view) andwrist_image(224x224x3) — overlay burned instate(8-dim: ee_pos_m, ee_axis_angle_rad, grasp, grasp)actions(7-dim world-frame deltas: dxyz_m, daxis_angle_rad, grasp in {-1,+1})
Same source recordings as every other overlay variant of this task — only the burned-in pixels differ.
Paired model
- Downloads last month
- -