Hugging Face's logo

Datasets:
aailabkaist
/
so101_full_TK

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
99.8
frame_index
int64
0
2.99k
episode_index
int64
0
29
index
int64
0
74.5k
task_index
int64
0
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0
0
0
0
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.033333
1
0
1
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.066667
2
0
2
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.1
3
0
3
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.133333
4
0
4
0
[ -0.6642066240310669, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.166667
5
0
5
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.2
6
0
6
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.233333
7
0
7
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.14434051513672, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.266667
8
0
8
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.14434051513672, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.3
9
0
9
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.14434051513672, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.333333
10
0
10
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.366667
11
0
11
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.4
12
0
12
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.433333
13
0
13
0
[ -0.5166051387786865, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.466667
14
0
14
0
[ -0.5166051387786865, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.5
15
0
15
0
[ -0.5166051387786865, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.533333
16
0
16
0
[ -0.5166051387786865, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.566667
17
0
17
0
[ -0.5166051387786865, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.6
18
0
18
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.633333
19
0
19
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.666667
20
0
20
0
[ -0.5904058814048767, -97.61336517333984, 99.10394287109375, 76.51580047607422, 47.040496826171875, 1.2106537818908691 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.7
21
0
21
0
[ -0.5166051387786865, -97.69291687011719, 99.10394287109375, 76.51580047607422, 47.0924186706543, 1.1299434900283813 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.733333
22
0
22
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.43040466308594, 47.19626235961914, 1.1299434900283813 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.766667
23
0
23
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.25960540771484, 47.24818420410156, 1.1299434900283813 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.764347076416016, 1.756007432937622 ]
0.8
24
0
24
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.25960540771484, 47.24818420410156, 1.1299434900283813 ]
[ -1.007049322128296, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.81318664550781, 1.756007432937622 ]
0.833333
25
0
25
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.25960540771484, 47.24818420410156, 1.1299434900283813 ]
[ -1.007049322128296, -98.1597671508789, 98.65531158447266, 74.56401824951172, 46.910865783691406, 1.663585901260376 ]
0.866667
26
0
26
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.25960540771484, 47.24818420410156, 1.1299434900283813 ]
[ -1.007049322128296, -98.1597671508789, 98.65531158447266, 74.56401824951172, 47.008548736572266, 1.663585901260376 ]
0.9
27
0
27
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.17420959472656, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.56401824951172, 47.008548736572266, 1.663585901260376 ]
0.933333
28
0
28
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 76.00341796875, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.56401824951172, 47.008548736572266, 1.663585901260376 ]
0.966667
29
0
29
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 75.14944458007812, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.56401824951172, 47.008548736572266, 1.663585901260376 ]
1
30
0
30
0
[ -0.5166051387786865, -97.77247619628906, 99.10394287109375, 73.86849212646484, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.56401824951172, 47.008548736572266, 1.663585901260376 ]
1.033333
31
0
31
0
[ -0.4428044259548187, -97.77247619628906, 99.10394287109375, 72.33133697509766, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.47894287109375, 47.008548736572266, 1.663585901260376 ]
1.066667
32
0
32
0
[ -0.4428044259548187, -97.77247619628906, 99.10394287109375, 70.45260620117188, 47.30010223388672, 1.1299434900283813 ]
[ -1.1077542304992676, -98.1597671508789, 98.65531158447266, 74.13866424560547, 47.008548736572266, 1.663585901260376 ]
1.1
33
0
33
0
[ -0.36900368332862854, -97.77247619628906, 99.10394287109375, 68.57386779785156, 47.30010223388672, 1.1299434900283813 ]
[ -0.9063444137573242, -98.1597671508789, 98.65531158447266, 73.71331024169922, 47.008548736572266, 1.663585901260376 ]
1.133333
34
0
34
0
[ -0.36900368332862854, -97.77247619628906, 99.10394287109375, 66.78053283691406, 47.30010223388672, 1.1299434900283813 ]
[ -0.9063444137573242, -98.07611846923828, 98.65531158447266, 72.69247436523438, 47.008548736572266, 1.663585901260376 ]
1.166667
35
0
35
0
[ -0.07380073517560959, -97.61336517333984, 99.10394287109375, 64.81639862060547, 47.30010223388672, 1.1299434900283813 ]
[ -0.9063444137573242, -97.82518005371094, 98.65531158447266, 71.16120910644531, 47.008548736572266, 1.663585901260376 ]
1.2
36
0
36
0
[ 0.36900368332862854, -97.45425415039062, 99.10394287109375, 62.76686477661133, 47.30010223388672, 1.1299434900283813 ]
[ -0.9063444137573242, -97.49059295654297, 98.65531158447266, 69.71501159667969, 47.008548736572266, 1.663585901260376 ]
1.233333
37
0
37
0
[ 0.9594095945358276, -97.37470245361328, 99.10394287109375, 60.54654312133789, 47.35202407836914, 1.1299434900283813 ]
[ -0.8056395053863525, -97.40694427490234, 98.65531158447266, 68.09867858886719, 47.008548736572266, 1.663585901260376 ]
1.266667
38
0
38
0
[ 1.6236162185668945, -97.37470245361328, 99.10394287109375, 58.32621765136719, 47.35202407836914, 1.1299434900283813 ]
[ -0.40281975269317627, -97.40694427490234, 98.65531158447266, 66.22713470458984, 47.008548736572266, 1.663585901260376 ]
1.3
39
0
39
0
[ 2.361623525619507, -97.37470245361328, 99.10394287109375, 56.191287994384766, 47.35202407836914, 1.1299434900283813 ]
[ 0.20140987634658813, -97.40694427490234, 98.65531158447266, 64.27052307128906, 47.008548736572266, 1.663585901260376 ]
1.333333
40
0
40
0
[ 3.247232437133789, -97.37470245361328, 99.10394287109375, 53.88556671142578, 47.35202407836914, 1.1299434900283813 ]
[ 1.007049322128296, -97.40694427490234, 98.65531158447266, 62.313907623291016, 47.008548736572266, 1.663585901260376 ]
1.366667
41
0
41
0
[ 4.132841110229492, -97.29515075683594, 99.10394287109375, 51.494449615478516, 47.35202407836914, 1.1299434900283813 ]
[ 1.5105739831924438, -97.40694427490234, 98.65531158447266, 60.18715286254883, 47.008548736572266, 1.663585901260376 ]
1.4
42
0
42
0
[ 5.239852428436279, -97.21559143066406, 99.10394287109375, 48.93253707885742, 47.455867767333984, 1.2106537818908691 ]
[ 2.1148035526275635, -97.40694427490234, 98.65531158447266, 58.06039810180664, 47.008548736572266, 1.663585901260376 ]
1.433333
43
0
43
0
[ 6.420664310455322, -97.13603973388672, 99.10394287109375, 46.88300704956055, 47.92315673828125, 1.2106537818908691 ]
[ 2.920443058013916, -97.40694427490234, 98.65531158447266, 55.76350402832031, 47.008548736572266, 1.663585901260376 ]
1.466667
44
0
44
0
[ 7.896678924560547, -96.6587142944336, 99.01433563232422, 44.83347702026367, 48.805816650390625, 1.2106537818908691 ]
[ 4.028197288513184, -97.40694427490234, 98.65531158447266, 53.466609954833984, 47.155067443847656, 1.663585901260376 ]
1.5
45
0
45
0
[ 9.225091934204102, -95.94271850585938, 98.83512878417969, 43.21092987060547, 49.688472747802734, 1.2106537818908691 ]
[ 5.035246849060059, -97.32329559326172, 98.65531158447266, 51.3398551940918, 47.4481086730957, 1.663585901260376 ]
1.533333
46
0
46
0
[ 10.774908065795898, -94.90851593017578, 98.38710021972656, 41.58838653564453, 50.415367126464844, 1.2106537818908691 ]
[ 5.941591262817383, -97.07235717773438, 98.74495697021484, 49.29817199707031, 47.88766860961914, 1.663585901260376 ]
1.566667
47
0
47
0
[ 12.103321075439453, -93.79474639892578, 98.11827850341797, 39.96583938598633, 50.83073806762695, 1.1299434900283813 ]
[ 7.150050163269043, -96.57047271728516, 98.74495697021484, 47.25648498535156, 48.66910934448242, 1.663585901260376 ]
1.6
48
0
48
0
[ 13.579336166381836, -92.3627700805664, 97.49104309082031, 37.31853103637695, 51.14226531982422, 1.1299434900283813 ]
[ 8.660624504089355, -95.90129852294922, 98.74495697021484, 45.47001266479492, 49.35287094116211, 1.663585901260376 ]
1.633333
49
0
49
0
[ 14.760148048400879, -91.08989715576172, 96.50537872314453, 35.01280975341797, 50.98649978637695, 1.1299434900283813 ]
[ 10.271903038024902, -94.89752960205078, 98.74495697021484, 43.76860809326172, 49.93894958496094, 1.663585901260376 ]
1.666667
50
0
50
0
[ 16.014760971069336, -89.73747253417969, 95.43010711669922, 32.792484283447266, 50.57113265991211, 1.1299434900283813 ]
[ 11.178247451782227, -93.9774169921875, 98.74495697021484, 41.98213577270508, 50.32966995239258, 1.663585901260376 ]
1.7
51
0
51
0
[ 17.416975021362305, -88.06682586669922, 93.72760009765625, 30.828351974487305, 50.103843688964844, 1.1299434900283813 ]
[ 12.386707305908203, -92.6390609741211, 98.56566619873047, 39.60017013549805, 50.42734909057617, 1.663585901260376 ]
1.733333
52
0
52
0
[ 18.819189071655273, -86.55529022216797, 91.75627136230469, 29.718189239501953, 49.79231643676758, 1.1299434900283813 ]
[ 13.99798583984375, -91.30071258544922, 98.2967300415039, 37.47341537475586, 50.42734909057617, 1.663585901260376 ]
1.766667
53
0
53
0
[ 20.44280433654785, -84.80509185791016, 89.51612854003906, 29.12040901184082, 49.532711029052734, 1.1299434900283813 ]
[ 15.407855033874512, -90.21330261230469, 97.66920471191406, 35.26158905029297, 50.378509521484375, 1.663585901260376 ]
1.8
54
0
54
0
[ 22.066421508789062, -83.37310791015625, 87.36559295654297, 29.12040901184082, 49.37694549560547, 1.1299434900283813 ]
[ 16.41490364074707, -88.62400817871094, 96.4141616821289, 33.47511672973633, 50.03662872314453, 1.663585901260376 ]
1.833333
55
0
55
0
[ 24.28044319152832, -81.70246887207031, 85.03584289550781, 29.632793426513672, 49.37694549560547, 1.1299434900283813 ]
[ 17.72406768798828, -87.11836242675781, 94.800537109375, 32.28413391113281, 49.79243087768555, 1.663585901260376 ]
1.866667
56
0
56
0
[ 26.34686279296875, -80.35003662109375, 83.15412139892578, 30.059778213500977, 49.37694549560547, 1.1299434900283813 ]
[ 19.436052322387695, -85.52906799316406, 92.91797637939453, 31.518503189086914, 49.64590835571289, 1.663585901260376 ]
1.9
57
0
57
0
[ 28.929889678955078, -78.99761199951172, 81.36200714111328, 30.059778213500977, 49.37694549560547, 1.2106537818908691 ]
[ 21.55085563659668, -84.02342224121094, 90.94576263427734, 31.34836196899414, 49.5482292175293, 1.663585901260376 ]
1.933333
58
0
58
0
[ 31.21771240234375, -77.8042984008789, 80.28673553466797, 29.718189239501953, 49.37694549560547, 1.2106537818908691 ]
[ 23.363544464111328, -82.43412780761719, 88.8839111328125, 31.34836196899414, 49.5482292175293, 1.663585901260376 ]
1.966667
59
0
59
0
[ 33.80073928833008, -76.61097717285156, 79.39067840576172, 29.461997985839844, 49.37694549560547, 1.2106537818908691 ]
[ 24.974822998046875, -81.26306915283203, 87.09098815917969, 31.34836196899414, 49.5482292175293, 1.663585901260376 ]
2
60
0
60
0
[ 36.16236114501953, -75.57676696777344, 78.67383575439453, 29.461997985839844, 49.37694549560547, 1.2913639545440674 ]
[ 26.988922119140625, -79.7574234008789, 85.2980728149414, 31.26329231262207, 49.5482292175293, 1.663585901260376 ]
2.033333
61
0
61
0
[ 38.81918716430664, -74.54256439208984, 78.31541442871094, 29.29120445251465, 49.37694549560547, 1.2913639545440674 ]
[ 29.405841827392578, -78.67001342773438, 84.04302978515625, 30.837942123413086, 49.4993896484375, 1.663585901260376 ]
2.066667
62
0
62
0
[ 41.10700988769531, -73.66746520996094, 78.2258071899414, 28.77882194519043, 49.37694549560547, 1.2913639545440674 ]
[ 32.22557830810547, -77.24801635742188, 82.96727752685547, 30.837942123413086, 49.4993896484375, 1.663585901260376 ]
2.1
63
0
63
0
[ 43.61623764038086, -72.71280670166016, 78.2258071899414, 27.497865676879883, 49.32502746582031, 1.2913639545440674 ]
[ 34.64249801635742, -76.24424743652344, 82.16046905517578, 30.837942123413086, 49.4993896484375, 1.663585901260376 ]
2.133333
64
0
64
0
[ 45.682655334472656, -71.7581558227539, 78.49462127685547, 26.131511688232422, 49.32502746582031, 1.2913639545440674 ]
[ 36.65659713745117, -75.07318878173828, 81.71223449707031, 30.582731246948242, 49.4993896484375, 1.663585901260376 ]
2.166667
65
0
65
0
[ 47.97047805786133, -70.64439392089844, 78.76344299316406, 24.423568725585938, 49.27310562133789, 1.2913639545440674 ]
[ 38.87210464477539, -74.2367172241211, 81.53294372558594, 29.902170181274414, 49.4993896484375, 1.663585901260376 ]
2.2
66
0
66
0
[ 50.11070251464844, -69.53063201904297, 78.76344299316406, 22.88642120361328, 49.27310562133789, 1.2913639545440674 ]
[ 41.38972854614258, -73.14930725097656, 81.53294372558594, 28.79625701904297, 49.4993896484375, 1.663585901260376 ]
2.233333
67
0
67
0
[ 52.76752853393555, -68.09864807128906, 78.76344299316406, 21.349273681640625, 48.7538948059082, 1.2913639545440674 ]
[ 44.008056640625, -72.3128433227539, 81.53294372558594, 27.860485076904297, 49.4993896484375, 1.663585901260376 ]
2.266667
68
0
68
0
[ 54.76014709472656, -66.74622344970703, 78.76344299316406, 19.982919692993164, 48.182762145996094, 1.2913639545440674 ]
[ 46.122859954833984, -71.05813598632812, 81.53294372558594, 26.329221725463867, 49.4993896484375, 1.663585901260376 ]
2.3
69
0
69
0
[ 56.38376235961914, -65.39379119873047, 78.76344299316406, 18.616567611694336, 48.027000427246094, 1.2913639545440674 ]
[ 47.935550689697266, -70.05436706542969, 81.53294372558594, 24.883028030395508, 49.35287094116211, 1.663585901260376 ]
2.333333
70
0
70
0
[ 57.71217727661133, -63.72315216064453, 78.8530502319336, 17.506404876708984, 48.13084030151367, 1.2913639545440674 ]
[ 50.151058197021484, -68.71601867675781, 81.53294372558594, 23.351764678955078, 48.86446762084961, 1.663585901260376 ]
2.366667
71
0
71
0
[ 58.74538803100586, -62.05250549316406, 78.8530502319336, 16.481639862060547, 48.182762145996094, 1.2913639545440674 ]
[ 52.66868209838867, -67.29402160644531, 81.53294372558594, 21.90557289123535, 48.522586822509766, 1.663585901260376 ]
2.4
72
0
72
0
[ 60, -60.22275161743164, 78.8530502319336, 15.20068359375, 48.70197296142578, 1.2913639545440674 ]
[ 54.68278121948242, -65.9556655883789, 81.53294372558594, 20.799659729003906, 48.42490768432617, 1.663585901260376 ]
2.433333
73
0
73
0
[ 60.959407806396484, -58.71121597290039, 78.8530502319336, 13.834329605102539, 49.32502746582031, 1.2913639545440674 ]
[ 56.092647552490234, -64.45001983642578, 81.53294372558594, 19.52360725402832, 48.376068115234375, 1.663585901260376 ]
2.466667
74
0
74
0
[ 61.992618560791016, -56.722354888916016, 78.8530502319336, 12.297182083129883, 49.740394592285156, 1.2913639545440674 ]
[ 56.998992919921875, -62.944374084472656, 81.53294372558594, 18.417694091796875, 48.376068115234375, 1.663585901260376 ]
2.5
75
0
75
0
[ 62.65682601928711, -54.9721565246582, 78.8530502319336, 11.101622581481934, 49.94807815551758, 1.2913639545440674 ]
[ 58.40886306762695, -61.18778610229492, 81.53294372558594, 17.05657196044922, 48.71794891357422, 1.663585901260376 ]
2.533333
76
0
76
0
[ 63.24723434448242, -52.58552169799805, 78.8530502319336, 9.308283805847168, 50.103843688964844, 1.2913639545440674 ]
[ 59.818729400634766, -59.59849548339844, 81.53294372558594, 15.865589141845703, 49.05982971191406, 1.663585901260376 ]
2.566667
77
0
77
0
[ 63.69003677368164, -50.59666061401367, 78.8530502319336, 7.514944553375244, 50.103843688964844, 1.2913639545440674 ]
[ 61.027191162109375, -57.75825881958008, 81.53294372558594, 14.334325790405273, 49.401710510253906, 1.663585901260376 ]
2.6
78
0
78
0
[ 63.91143798828125, -48.130470275878906, 78.8530502319336, 5.038428783416748, 50.05192184448242, 1.2913639545440674 ]
[ 61.63142013549805, -56.00167465209961, 81.53294372558594, 13.143342971801758, 49.597068786621094, 1.663585901260376 ]
2.633333
79
0
79
0
[ 63.9852409362793, -45.9029426574707, 78.8530502319336, 2.6473100185394287, 50, 1.2913639545440674 ]
[ 62.134944915771484, -53.994144439697266, 81.53294372558594, 11.441939353942871, 49.74359130859375, 1.663585901260376 ]
2.666667
80
0
80
0
[ 63.9852409362793, -43.595863342285156, 78.8530502319336, -0.5123825669288635, 49.896156311035156, 1.2913639545440674 ]
[ 62.63846969604492, -51.98661804199219, 81.53294372558594, 9.740535736083984, 49.79243087768555, 1.663585901260376 ]
2.7
81
0
81
0
[ 63.91143798828125, -41.44789123535156, 78.8530502319336, -3.415883779525757, 50.15576171875, 1.2913639545440674 ]
[ 63.242698669433594, -49.728145599365234, 81.53294372558594, 7.783921718597412, 49.79243087768555, 1.663585901260376 ]
2.733333
82
0
82
0
[ 63.83763885498047, -39.29991912841797, 78.8530502319336, -6.319385051727295, 50.15576171875, 1.2913639545440674 ]
[ 63.44410705566406, -47.63697052001953, 81.53294372558594, 5.487026691436768, 49.79243087768555, 1.663585901260376 ]
2.766667
83
0
83
0
[ 63.76383590698242, -37.3906135559082, 78.76344299316406, -8.710503578186035, 50.20768356323242, 1.2913639545440674 ]
[ 63.34340286254883, -45.294857025146484, 81.53294372558594, 3.019991397857666, 49.89011001586914, 1.663585901260376 ]
2.8
84
0
84
0
[ 63.69003677368164, -35.32219696044922, 78.67383575439453, -11.357813835144043, 50.20768356323242, 1.2913639545440674 ]
[ 63.34340286254883, -43.120033264160156, 81.53294372558594, 0.4678860008716583, 49.987789154052734, 1.663585901260376 ]
2.833333
85
0
85
0
[ 63.69003677368164, -33.65155029296875, 78.584228515625, -13.492741584777832, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -41.02885818481445, 81.53294372558594, -2.2543599605560303, 49.987789154052734, 1.663585901260376 ]
2.866667
86
0
86
0
[ 63.61623764038086, -31.901351928710938, 78.584228515625, -15.798462867736816, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -39.104976654052734, 81.53294372558594, -4.89153528213501, 49.987789154052734, 1.663585901260376 ]
2.9
87
0
87
0
[ 63.61623764038086, -30.389816284179688, 78.584228515625, -17.762596130371094, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -37.097450256347656, 81.53294372558594, -7.3585710525512695, 49.987789154052734, 1.663585901260376 ]
2.933333
88
0
88
0
[ 63.61623764038086, -29.037389755249023, 78.584228515625, -19.641332626342773, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -35.08992004394531, 81.53294372558594, -9.740535736083984, 49.987789154052734, 1.663585901260376 ]
2.966667
89
0
89
0
[ 63.54243469238281, -27.525856018066406, 78.584228515625, -21.69086265563965, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -33.24968719482422, 81.53294372558594, -12.122501373291016, 49.987789154052734, 1.663585901260376 ]
3
90
0
90
0
[ 63.173431396484375, -26.332538604736328, 78.49462127685547, -23.31340789794922, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -31.66039276123047, 81.53294372558594, -14.334325790405273, 49.987789154052734, 1.663585901260376 ]
3.033333
91
0
91
0
[ 62.952030181884766, -24.900556564331055, 78.13619995117188, -24.850555419921875, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -30.238393783569336, 81.53294372558594, -16.37601089477539, 49.987789154052734, 1.663585901260376 ]
3.066667
92
0
92
0
[ 62.80442810058594, -23.707239151000977, 78.04659271240234, -26.131511688232422, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -28.64910125732422, 81.44329833984375, -18.502765655517578, 49.987789154052734, 1.663585901260376 ]
3.1
93
0
93
0
[ 62.4354248046875, -22.5139217376709, 77.95698547363281, -27.924850463867188, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -27.310749053955078, 81.44329833984375, -20.28923797607422, 49.987789154052734, 1.663585901260376 ]
3.133333
94
0
94
0
[ 62.140220642089844, -21.559268951416016, 77.95698547363281, -29.29120445251465, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -25.888750076293945, 81.44329833984375, -21.90557289123535, 49.987789154052734, 1.663585901260376 ]
3.166667
95
0
95
0
[ 61.992618560791016, -20.445505142211914, 77.95698547363281, -30.91374969482422, 50.20768356323242, 1.2913639545440674 ]
[ 63.44410705566406, -24.550397872924805, 81.26400756835938, -23.351764678955078, 49.987789154052734, 1.663585901260376 ]
3.2
96
0
96
0
[ 61.84502029418945, -19.649959564208984, 77.95698547363281, -32.194705963134766, 50.259605407714844, 1.2913639545440674 ]
[ 63.34340286254883, -23.128398895263672, 81.084716796875, -25.05316925048828, 49.987789154052734, 1.663585901260376 ]
3.233333
97
0
97
0
[ 61.697418212890625, -18.933969497680664, 77.95698547363281, -33.39026641845703, 50.259605407714844, 1.2913639545440674 ]
[ 63.041290283203125, -22.208280563354492, 80.81578063964844, -26.66950225830078, 49.987789154052734, 1.663585901260376 ]
3.266667
98
0
98
0
[ 61.62361526489258, -18.29753303527832, 77.86738586425781, -34.15884017944336, 50.259605407714844, 1.2913639545440674 ]
[ 62.739173889160156, -20.953575134277344, 80.72613525390625, -28.28583526611328, 49.987789154052734, 1.663585901260376 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 30,
    "total_frames": 74491,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
27
License:
apache-2.0
Number of rows:
74,491
Total file size:
1.89 GB