Hugging Face's logo

Datasets:
HTSs-v5
/
grab-tape-so101

Modalities:
Tabular
Time-series
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
22
frame_index
int64
0
659
episode_index
int64
0
45
index
int64
0
20.5k
task_index
int64
0
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0
0
0
0
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.033333
1
0
1
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.066667
2
0
2
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.1
3
0
3
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.133333
4
0
4
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.166667
5
0
5
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.2
6
0
6
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.233333
7
0
7
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.266667
8
0
8
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.3
9
0
9
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.333333
10
0
10
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.366667
11
0
11
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.4
12
0
12
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.433333
13
0
13
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.466667
14
0
14
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.5
15
0
15
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.533333
16
0
16
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.566667
17
0
17
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.6
18
0
18
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.633333
19
0
19
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.666667
20
0
20
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.7
21
0
21
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.733333
22
0
22
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.766667
23
0
23
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.8
24
0
24
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.833333
25
0
25
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.866667
26
0
26
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.9
27
0
27
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.933333
28
0
28
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
0.966667
29
0
29
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1
30
0
30
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.69351959228516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.033333
31
0
31
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.066667
32
0
32
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.1
33
0
33
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.133333
34
0
34
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.166667
35
0
35
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.2
36
0
36
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.233333
37
0
37
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.266667
38
0
38
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.3
39
0
39
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.333333
40
0
40
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.366667
41
0
41
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.4
42
0
42
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.433333
43
0
43
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.466667
44
0
44
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.5
45
0
45
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.533333
46
0
46
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.566667
47
0
47
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.6
48
0
48
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.633333
49
0
49
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.666667
50
0
50
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.7
51
0
51
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.733333
52
0
52
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.766667
53
0
53
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.8
54
0
54
0
[ -0.9672619104385376, -99.32001495361328, 90.83484649658203, 74.78108215332031, -1.9867550134658813, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.833333
55
0
55
0
[ -0.8928571343421936, -99.32001495361328, 90.83484649658203, 74.78108215332031, -2.6490066051483154, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.866667
56
0
56
0
[ -0.8184523582458496, -99.32001495361328, 90.83484649658203, 74.78108215332031, -3.311258316040039, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.9
57
0
57
0
[ -0.8184523582458496, -99.32001495361328, 90.83484649658203, 74.78108215332031, -3.311258316040039, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.933333
58
0
58
0
[ -0.8184523582458496, -99.32001495361328, 90.83484649658203, 74.69351959228516, -3.311258316040039, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
1.966667
59
0
59
0
[ -0.8184523582458496, -99.32001495361328, 90.83484649658203, 74.69351959228516, -3.9735100269317627, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2
60
0
60
0
[ -0.8184523582458496, -99.32001495361328, 90.74410247802734, 74.69351959228516, -3.9735100269317627, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.033333
61
0
61
0
[ -0.8184523582458496, -99.32001495361328, 90.65335845947266, 74.69351959228516, -3.9735100269317627, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.066667
62
0
62
0
[ -0.8928571343421936, -99.32001495361328, 90.47187042236328, 74.60595703125, -3.9735100269317627, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.1
63
0
63
0
[ -0.9672619104385376, -99.32001495361328, 90.01815032958984, 74.51838684082031, -2.6490066051483154, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.133333
64
0
64
0
[ -0.9672619104385376, -99.32001495361328, 89.47368621826172, 74.51838684082031, -1.9867550134658813, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.166667
65
0
65
0
[ -0.9672619104385376, -99.32001495361328, 89.11071014404297, 74.51838684082031, -1.9867550134658813, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.60869598388672, -12.5, 1.826483964920044 ]
2.2
66
0
66
0
[ -0.8184523582458496, -99.32001495361328, 88.8384780883789, 74.51838684082031, -1.9867550134658813, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.233333
67
0
67
0
[ -0.6696428656578064, -99.32001495361328, 88.8384780883789, 74.51838684082031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.266667
68
0
68
0
[ -0.6696428656578064, -99.32001495361328, 88.74773406982422, 74.51838684082031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.3
69
0
69
0
[ -0.6696428656578064, -99.32001495361328, 88.74773406982422, 74.51838684082031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.333333
70
0
70
0
[ -0.6696428656578064, -99.32001495361328, 88.65699005126953, 74.51838684082031, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.366667
71
0
71
0
[ -0.6696428656578064, -99.32001495361328, 88.65699005126953, 74.43082427978516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.4
72
0
72
0
[ -0.6696428656578064, -99.32001495361328, 88.38475799560547, 74.43082427978516, -1.3245033025741577, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.52173614501953, -12.5, 1.826483964920044 ]
2.433333
73
0
73
0
[ -0.6696428656578064, -99.32001495361328, 88.02178192138672, 74.43082427978516, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.43478393554688, -12.5, 1.826483964920044 ]
2.466667
74
0
74
0
[ -0.6696428656578064, -99.32001495361328, 87.84029388427734, 74.25569152832031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.43478393554688, -12.5, 1.826483964920044 ]
2.5
75
0
75
0
[ -0.7440476417541504, -99.32001495361328, 87.84029388427734, 73.99299621582031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.74410247802734, 74.43478393554688, -12.5, 1.826483964920044 ]
2.533333
76
0
76
0
[ -0.7440476417541504, -99.32001495361328, 87.84029388427734, 73.99299621582031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.65335845947266, 74.43478393554688, 0, 1.826483964920044 ]
2.566667
77
0
77
0
[ -0.6696428656578064, -99.32001495361328, 87.84029388427734, 73.81786346435547, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.23599243164062, 90.65335845947266, 74.43478393554688, 12.5, 1.826483964920044 ]
2.6
78
0
78
0
[ -0.6696428656578064, -99.32001495361328, 87.84029388427734, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.56261444091797, 74.26087188720703, 12.5, 1.826483964920044 ]
2.633333
79
0
79
0
[ -0.6696428656578064, -99.32001495361328, 87.74954986572266, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.56261444091797, 74.26087188720703, 25, 1.826483964920044 ]
2.666667
80
0
80
0
[ -0.6696428656578064, -99.32001495361328, 87.74954986572266, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.56261444091797, 74.26087188720703, 25, 1.826483964920044 ]
2.7
81
0
81
0
[ -0.6696428656578064, -99.32001495361328, 87.65880584716797, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.56261444091797, 74.26087188720703, 25, 1.826483964920044 ]
2.733333
82
0
82
0
[ -0.6696428656578064, -99.32001495361328, 87.29582214355469, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.47187042236328, 74.26087188720703, 25, 1.826483964920044 ]
2.766667
83
0
83
0
[ -0.6696428656578064, -99.32001495361328, 86.93284606933594, 73.73030090332031, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.47187042236328, 74.26087188720703, 25, 1.826483964920044 ]
2.8
84
0
84
0
[ -0.6696428656578064, -99.32001495361328, 86.38838195800781, 73.64273071289062, -0.6622516512870789, 1.792991042137146 ]
[ -0.8935219645500183, -99.1511001586914, 90.3811264038086, 74.26087188720703, 25, 1.826483964920044 ]
2.833333
85
0
85
0
[ -0.5952380895614624, -99.32001495361328, 85.753173828125, 73.64273071289062, -0.6622516512870789, 1.8744906187057495 ]
[ -0.8935219645500183, -99.06621551513672, 90.01815032958984, 74.26087188720703, 25, 1.826483964920044 ]
2.866667
86
0
86
0
[ -0.5208333134651184, -99.32001495361328, 84.93647766113281, 73.64273071289062, -0.6622516512870789, 1.8744906187057495 ]
[ -0.8935219645500183, -99.06621551513672, 89.74591827392578, 74.26087188720703, 25, 1.826483964920044 ]
2.9
87
0
87
0
[ -0.5208333134651184, -99.32001495361328, 84.02903747558594, 73.64273071289062, -0.6622516512870789, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 89.38294219970703, 74.26087188720703, 25, 1.826483964920044 ]
2.933333
88
0
88
0
[ -0.5208333134651184, -99.32001495361328, 83.39382934570312, 73.64273071289062, -0.6622516512870789, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 88.74773406982422, 74.34782409667969, 37.5, 1.826483964920044 ]
2.966667
89
0
89
0
[ -0.5208333134651184, -99.32001495361328, 82.849365234375, 73.64273071289062, -1.3245033025741577, 1.8744906187057495 ]
[ -0.8935219645500183, -98.89643096923828, 88.02178192138672, 74.34782409667969, 37.5, 1.826483964920044 ]
3
90
0
90
0
[ -0.5208333134651184, -99.32001495361328, 82.48638916015625, 73.64273071289062, -1.3245033025741577, 1.8744906187057495 ]
[ -0.8935219645500183, -98.89643096923828, 87.205078125, 74.34782409667969, 37.5, 1.826483964920044 ]
3.033333
91
0
91
0
[ -0.5208333134651184, -99.32001495361328, 82.1234130859375, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 86.56986999511719, 74.34782409667969, 37.5, 1.826483964920044 ]
3.066667
92
0
92
0
[ -0.5208333134651184, -99.32001495361328, 81.57894897460938, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 85.93466186523438, 74.34782409667969, 37.5, 1.826483964920044 ]
3.1
93
0
93
0
[ -0.5208333134651184, -99.32001495361328, 81.30671691894531, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 85.39019775390625, 74.34782409667969, 37.5, 1.826483964920044 ]
3.133333
94
0
94
0
[ -0.5208333134651184, -99.32001495361328, 80.49002075195312, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.9813232421875, 85.0272216796875, 74.34782409667969, 37.5, 1.826483964920044 ]
3.166667
95
0
95
0
[ -0.5208333134651184, -99.32001495361328, 79.85481262207031, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.89643096923828, 84.48275756835938, 74.34782409667969, 37.5, 1.826483964920044 ]
3.2
96
0
96
0
[ -0.5208333134651184, -99.32001495361328, 79.0381088256836, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -99.06621551513672, 84.02903747558594, 74.34782409667969, 37.5, 1.826483964920044 ]
3.233333
97
0
97
0
[ -0.5208333134651184, -99.32001495361328, 78.40290069580078, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -98.89643096923828, 83.30308532714844, 74.34782409667969, 37.5, 1.826483964920044 ]
3.266667
98
0
98
0
[ -0.5208333134651184, -99.32001495361328, 77.5862045288086, 73.64273071289062, -1.9867550134658813, 1.8744906187057495 ]
[ -0.8935219645500183, -99.06621551513672, 82.75862121582031, 74.34782409667969, 37.5, 1.826483964920044 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

Grab Tape Dataset

这是一个使用LeRobot框架收集的机器人操作数据集。

数据集信息

  • 机器人类型: SO101 Follower
  • 总episodes: 46
  • 总帧数: 20,464
  • 帧率: 30 FPS
  • 任务数: 1
  • 视频数: 92
  • 数据块数: 1

数据结构

观察空间

  • 状态: 6维关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
  • 图像:
    • 前置摄像头: 1920x1080 RGB
    • 侧面摄像头: 1920x1080 RGB
    • 编码格式: AV1, YUV420P

动作空间

6维关节位置控制 (与状态空间相同的关节)

文件结构 

├── data/
│   └── chunk-000/
│       └── episode_*.parquet    # 每个episode的数据
├── videos/
│   └── chunk-000/
│       ├── front/
│       │   └── episode_*.mp4    # 前置摄像头视频
│       └── side/
│           └── episode_*.mp4    # 侧面摄像头视频
└── meta/
    ├── info.json                # 数据集元信息
    ├── episodes.jsonl           # Episode索引
    ├── episodes_stats.jsonl     # Episode统计信息
    └── tasks.jsonl              # 任务定义

使用方法

使用LeRobot加载数据集：

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# 从本地加载
dataset = LeRobotDataset("path/to/dataset")

# 从Hugging Face加载
dataset = LeRobotDataset("your-username/grab-tape-dataset")

数据集创建

此数据集使用LeRobot v2.1框架创建，包含机器人执行抓取任务的演示数据。

许可证

请根据你的需求添加适当的许可证信息。

Downloads last month
37
Number of rows:
20,464
Total file size:
1.25 MB