Datasets:
episode_index int64 0 199 | source stringclasses 2
values | frames int64 61 708 | front_start imagewidth (px) 240 240 | front_middle imagewidth (px) 240 240 | front_end imagewidth (px) 240 240 | wrist_middle imagewidth (px) 240 240 | final_goal imagewidth (px) 480 480 | final_goal_text stringlengths 282 289 |
|---|---|---|---|---|---|---|---|---|
0 | teleoperation | 543 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
1 | teleoperation | 542 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. yellow 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
2 | teleoperation | 548 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. red 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. blue 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
3 | teleoperation | 452 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
4 | teleoperation | 561 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
5 | teleoperation | 414 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
6 | teleoperation | 626 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. green 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
7 | teleoperation | 452 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
8 | teleoperation | 479 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
9 | teleoperation | 517 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. green 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. red 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
10 | teleoperation | 531 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
11 | teleoperation | 483 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. green 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
12 | teleoperation | 407 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
13 | teleoperation | 579 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
14 | teleoperation | 455 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
15 | teleoperation | 470 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
16 | teleoperation | 486 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. red 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. green 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
17 | teleoperation | 478 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
18 | teleoperation | 463 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
19 | teleoperation | 429 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. yellow 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
20 | teleoperation | 367 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
21 | teleoperation | 537 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
22 | teleoperation | 536 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
23 | teleoperation | 473 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
24 | teleoperation | 554 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. green 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
25 | teleoperation | 365 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
26 | teleoperation | 636 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
27 | teleoperation | 446 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
28 | teleoperation | 480 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
29 | teleoperation | 546 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
30 | teleoperation | 622 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. yellow 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
31 | teleoperation | 611 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
32 | teleoperation | 423 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
33 | teleoperation | 453 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
34 | teleoperation | 431 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
35 | teleoperation | 593 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
36 | teleoperation | 380 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. green 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
37 | teleoperation | 427 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
38 | teleoperation | 393 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
39 | teleoperation | 503 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
40 | teleoperation | 566 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
41 | teleoperation | 468 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. blue 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. yellow 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
42 | teleoperation | 549 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. | |||||
43 | teleoperation | 442 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
44 | teleoperation | 464 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
45 | teleoperation | 413 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
46 | teleoperation | 525 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. green 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. red 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. yellow 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
47 | teleoperation | 510 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
48 | teleoperation | 505 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. blue 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. yellow 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
49 | teleoperation | 526 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
50 | teleoperation | 478 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. red 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
51 | teleoperation | 407 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. green 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. red 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
52 | teleoperation | 608 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
53 | teleoperation | 520 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. green 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
54 | teleoperation | 469 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
55 | teleoperation | 693 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. yellow 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
56 | teleoperation | 475 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
57 | teleoperation | 468 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
58 | teleoperation | 493 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
59 | teleoperation | 601 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
60 | teleoperation | 708 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. yellow 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
61 | teleoperation | 371 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
62 | teleoperation | 598 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
63 | teleoperation | 501 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
64 | teleoperation | 435 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
65 | teleoperation | 423 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
66 | teleoperation | 458 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
67 | teleoperation | 423 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
68 | teleoperation | 456 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. green 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. red 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
69 | teleoperation | 463 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. green 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
70 | teleoperation | 442 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. green 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
71 | teleoperation | 705 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
72 | teleoperation | 502 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
73 | teleoperation | 531 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
74 | teleoperation | 694 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. purple 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
75 | teleoperation | 677 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. red 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
76 | teleoperation | 452 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
77 | teleoperation | 502 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
78 | teleoperation | 505 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. green 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
79 | teleoperation | 447 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
80 | teleoperation | 420 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. blue 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
81 | teleoperation | 364 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
82 | teleoperation | 381 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 2, yaw 0 degrees. | |||||
83 | teleoperation | 675 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
84 | teleoperation | 506 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
85 | teleoperation | 494 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 1, column 1, yaw 0 degrees. | |||||
86 | teleoperation | 490 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
87 | teleoperation | 449 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. | |||||
88 | teleoperation | 591 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
89 | teleoperation | 495 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 2, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. | |||||
90 | teleoperation | 601 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 90 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 1, row 2, column 1, yaw 0 degrees. | |||||
91 | teleoperation | 465 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. green 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 2, column 2, yaw 0 degrees. | |||||
92 | teleoperation | 631 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. green 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
93 | teleoperation | 632 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 2, yaw 90 degrees. pink 1x2 brick: layer 1, row 1, column 2, yaw 90 degrees. yellow 1x1 brick: layer 2, row 1, column 2, yaw 0 degrees. | |||||
94 | teleoperation | 464 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. yellow 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. pink 1x1 brick: layer 0, row 2, column 1, yaw 0 degrees. purple 1x2 brick: layer 1, row 1, column 1, yaw 90 degrees. | |||||
95 | teleoperation | 483 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. purple 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. | |||||
96 | teleoperation | 469 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x1 brick: layer 0, row 1, column 1, yaw 0 degrees. red 1x1 brick: layer 0, row 1, column 2, yaw 0 degrees. yellow 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. | |||||
97 | teleoperation | 428 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
98 | teleoperation | 438 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. blue 1x2 brick: layer 0, row 2, column 1, yaw 0 degrees. yellow 1x2 brick: layer 1, row 2, column 1, yaw 0 degrees. purple 1x1 brick: layer 2, row 2, column 1, yaw 0 degrees. | |||||
99 | teleoperation | 485 | Assemble this final LEGO structure on the 4 by 4 board. Rows and columns are zero-indexed; layer 0 is the board. red 1x2 brick: layer 0, row 1, column 1, yaw 0 degrees. blue 1x1 brick: layer 1, row 1, column 1, yaw 0 degrees. green 1x1 brick: layer 1, row 1, column 2, yaw 0 degrees. |
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LEGO flat final-goal dataset
200 robot demonstrations: 100 human-teleoperated episodes + 100 correction episodes, 79,956 frames at 20 Hz. This is simulated robot data; it is not the synthetic human-hand proxy dataset.
Use the visual_inspection viewer to browse every episode: front camera at start, middle and end, middle wrist camera, final goal image, and its text description. Full front and wrist MP4 recordings are in videos/.
Training representation
The fixed goal image depicts the complete final assembly, using an isometric view and layer cross-sections. The fixed text describes the same complete structure. Both are stored for every frame. Training chooses exactly one per example: 50% image-only, 50% text-only. Image-only uses a generic assembly instruction; text-only zeros and masks the goal-image slot. Current front/wrist images and robot state remain available in both cases. There is no next-subtask conditioning.
The pi0.7 run uses a 20-step action horizon and 256 text tokens. Its owner-requested target was extended to 16,000 optimizer updates, retaining checkpoints every 2,000 updates. The dataset is unchanged.
Data integrity
State, action, and timestamp values were checked against the 200-episode source. Current-camera videos are preserved, with no new overlays or image cleanup. White regions near the image boundary are present in the source renderings. The final-goal image is intentionally a schematic, not a camera frame.
The real LeRobot reader loaded all 200 episodes. Representative camera/goal grids were visually inspected; this is not a manual review of all 79,956 frames. The inspection table is for browsing only and is not additional training data. meta/derivation.json records episode membership and derivation hashes.
All episodes are training data. This release defines no held-out evaluation split.
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