observation.state list | action list | observation.tcp list | ref_dice list | ref_block list | ref_block_resid_mm float32 0.17 0.17 | dist_to_target_mm float32 -1 -1 | success float32 -1 -1 | outcome stringclasses 1
value | run_episode stringclasses 1
value | timestamp float32 0 17 | frame_index int64 0 17 | episode_index int64 0 0 | index int64 0 17 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
66.76200103759766,
3.934999942779541,
17.909000396728516,
0.31299999356269836,
-84.55999755859375,
-58.19499969482422,
1
] | [
66.58817291259766,
3.915442943572998,
17.708330154418945,
0.0003009999927598983,
-84.2081069946289,
-58.09394454956055,
1.0006970167160034
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 0 | 0 | 0 | 0 | 0 |
[
65.0334701538086,
1.2776000499725342,
9.035460472106934,
-0.6412400007247925,
-75.74305725097656,
-56.555450439453125,
1
] | [
64.7989273071289,
0.8766160011291504,
7.575571060180664,
-0.7948690056800842,
-74.25621795654297,
-56.29981231689453,
0.9995840191841125
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 1 | 1 | 0 | 1 | 0 |
[
59.95206069946289,
1.7059500217437744,
-19.217859268188477,
-3.331820011138916,
-47.49940872192383,
-49.854061126708984,
1
] | [
60.17313003540039,
1.8766469955444336,
-19.383621215820312,
-3.414202928543091,
-47.40546798706055,
-49.771339416503906,
1.0004550218582153
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 2 | 2 | 0 | 2 | 0 |
[
58.3230094909668,
7.429969787597656,
-29.882640838623047,
-5.249650001525879,
-37.11846923828125,
-46.367000579833984,
1
] | [
58.355350494384766,
7.524870872497559,
-29.780080795288086,
-5.499703884124756,
-37.20663070678711,
-45.83174133300781,
1.0026600360870361
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 3 | 3 | 0 | 3 | 0 |
[
57.4409294128418,
8.88988971710205,
-33.86941909790039,
-6.62313985824585,
-33.219810485839844,
-44.00431823730469,
1
] | [
57.6727294921875,
8.656235694885254,
-33.76869583129883,
-6.729926109313965,
-33.356422424316406,
-43.88181686401367,
1.002295970916748
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 4 | 4 | 0 | 4 | 0 |
[
57.28110122680664,
9.949629783630371,
-33.350929260253906,
-6.790380001068115,
-33.80112075805664,
-43.563720703125,
1
] | [
57.44841003417969,
9.842188835144043,
-33.390052795410156,
-6.974480152130127,
-33.764808654785156,
-43.449607849121094,
1.0020480155944824
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 5 | 5 | 0 | 5 | 0 |
[
56.20526885986328,
9.469149589538574,
-33.32223129272461,
-7.467299938201904,
-33.936439514160156,
-42.04241943359375,
1
] | [
56.40624237060547,
9.284699440002441,
-33.27843475341797,
-7.618813991546631,
-33.971031188964844,
-42.09332275390625,
1.001513957977295
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 6 | 6 | 0 | 6 | 0 |
[
56.42715835571289,
10.313360214233398,
-33.123268127441406,
-7.431210041046143,
-34.12527847290039,
-42.25339889526367,
1
] | [
56.57221603393555,
10.175567626953125,
-33.09125518798828,
-7.606052875518799,
-34.15410232543945,
-42.17219924926758,
1.0012249946594238
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 7 | 7 | 0 | 7 | 0 |
[
55.107059478759766,
9.952340126037598,
-32.9451904296875,
-8.314310073852539,
-34.45391082763672,
-40.374359130859375,
1
] | [
55.249752044677734,
9.769954681396484,
-32.93947982788086,
-8.495854377746582,
-34.477508544921875,
-40.37963104248047,
1.0009030103683472
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 8 | 8 | 0 | 8 | 0 |
[
55.47991943359375,
10.685250282287598,
-32.91611099243164,
-8.069820404052734,
-34.434730529785156,
-40.98133087158203,
1
] | [
55.72407531738281,
10.468294143676758,
-32.909088134765625,
-8.2386474609375,
-34.456661224365234,
-41.014122009277344,
1.0008269548416138
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 9 | 9 | 0 | 9 | 0 |
[
54.6065788269043,
10.176019668579102,
-32.94055938720703,
-8.662059783935547,
-34.52870178222656,
-39.87287902832031,
1
] | [
54.81653594970703,
9.891145706176758,
-32.85540771484375,
-8.82199764251709,
-34.63629913330078,
-39.8090934753418,
1.000520944595337
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 10 | 10 | 0 | 10 | 0 |
[
55.21902847290039,
10.752559661865234,
-32.847679138183594,
-8.361109733581543,
-34.56583023071289,
-40.59191131591797,
1
] | [
55.42823028564453,
10.543009757995605,
-32.82564163208008,
-8.563963890075684,
-34.6083984375,
-40.52399444580078,
1.0005700588226318
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 11 | 11 | 0 | 11 | 0 |
[
54.2517204284668,
10.208569526672363,
-32.82857894897461,
-9.107040405273438,
-34.73065948486328,
-39.145729064941406,
1
] | [
54.40975570678711,
9.913147926330566,
-32.751956939697266,
-9.353349685668945,
-34.85397720336914,
-39.02569580078125,
1.0010319948196411
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 12 | 12 | 0 | 12 | 0 |
[
55.18899154663086,
10.801839828491211,
-32.92267990112305,
-8.530770301818848,
-34.532840728759766,
-40.466129302978516,
1
] | [
55.40269088745117,
10.580887794494629,
-32.81340789794922,
-8.648704528808594,
-34.6342658996582,
-40.401336669921875,
1.0001449584960938
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 13 | 13 | 0 | 13 | 0 |
[
55.04309844970703,
9.798999786376953,
-33.264949798583984,
-8.115679740905762,
-34.086029052734375,
-41.41347122192383,
1
] | [
55.320533752441406,
9.589958190917969,
-33.115509033203125,
-8.241798400878906,
-34.25001907348633,
-41.04755783081055,
1.0008540153503418
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 14 | 14 | 0 | 14 | 0 |
[
54.936038970947266,
10.985150337219238,
-32.8757209777832,
-8.844550132751465,
-34.6413688659668,
-39.92184066772461,
1
] | [
55.097476959228516,
10.743581771850586,
-32.759098052978516,
-8.95014762878418,
-34.753334045410156,
-39.81239318847656,
1.0002659559249878
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 15 | 15 | 0 | 15 | 0 |
[
54.41661834716797,
10.147629737854004,
-32.964141845703125,
-8.749750137329102,
-34.538429260253906,
-39.878108978271484,
1
] | [
54.569671630859375,
9.858602523803711,
-32.846893310546875,
-8.965391159057617,
-34.674217224121094,
-39.64154052734375,
1.000717043876648
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 16 | 16 | 0 | 16 | 0 |
[
54.77777099609375,
13.497969627380371,
-36.46112823486328,
-9.947019577026367,
-31.163330078125,
-38.54330062866211,
1
] | [
55.00342559814453,
13.456094741821289,
-36.92631912231445,
-10.049440383911133,
-30.716205596923828,
-38.405845642089844,
1.0011579990386963
] | [
335.1499938964844,
447.3599853515625,
295.8699951171875
] | [
397.6199951171875,
373.2799987792969
] | [
331.1700134277344,
489.6099853515625
] | 0.174584 | -1 | -1 | guard_abort | 20260904_231635/000 | 17 | 17 | 0 | 17 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 1,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"J1",
"J2",
"J3",
"J4",
"J5",
"J6",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"dx",
"dy",
"dz",
"dRx",
"dRy",
"dRz",
"gripper"
]
},
"observation.tcp": {
"dtype": "float32",
"shape": [
3
],
"names": [
"X",
"Y",
"Z"
]
},
"ref_dice": {
"dtype": "float32",
"shape": [
2
],
"names": [
"x",
"y"
]
},
"ref_block": {
"dtype": "float32",
"shape": [
2
],
"names": [
"x",
"y"
]
},
"ref_block_resid_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"dist_to_target_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"success": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"outcome": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"run_episode": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.images.cam0": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.cam1": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.cam2": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.gripper": {
"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.fps": 1,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 1,
"total_frames": 18,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "fanuc_crx5ia",
"splits": {
"train": "0:1"
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 12