Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
next.reward
float32
0
1
next.done
bool
2 classes
complementary_info.discrete_penalty
float32
0
0
observation.state
list
observation.ee.x
float32
0.09
0.32
observation.ee.y
float32
-0.16
0.21
observation.ee.z
float32
0
0.22
observation.ee.wx
float32
-2.18
2.22
observation.ee.wy
float32
-2.38
2.36
observation.ee.wz
float32
-1.14
1.19
observation.ee.gripper_pos
float32
0.47
29.8
timestamp
float32
0
29.8
frame_index
int64
0
298
episode_index
int64
0
4
index
int64
0
1.49k
task_index
int64
0
0
[ 0, 0, 0, 1 ]
0
false
0
[ -1.0549451112747192, -40.0439567565918, 6.593406677246094, 100.52747344970703, -90.15384674072266, 29.491525650024414 ]
0.189958
0.010508
0.152911
2.040035
1.973907
0.420935
29.491526
0
0
0
0
0
[ 0, 0, 0, 1 ]
0
false
0
[ -1.0549451112747192, -43.47252655029297, 18.10988998413086, 96.57142639160156, -90.15384674072266, 29.491525650024414 ]
0.183077
0.010381
0.12936
2.082179
2.014684
0.35063
29.491526
0.1
1
0
1
0
[ 0, 0, 0, 1 ]
0
false
0
[ -1.0549451112747192, -43.56044006347656, 18.10988998413086, 96.57142639160156, -90.15384674072266, 29.491525650024414 ]
0.183058
0.010381
0.129535
2.081294
2.013828
0.352151
29.491526
0.2
2
0
2
0
[ 0.42236328125, -0.801605224609375, 0, 1 ]
0
false
0
[ -1.0549451112747192, -43.56044006347656, 18.10988998413086, 96.48351287841797, -90.15384674072266, 29.491525650024414 ]
0.183289
0.010385
0.129614
2.080409
2.012972
0.353671
29.491526
0.3
3
0
3
0
[ 0.430999755859375, -0.999969482421875, 0, 1 ]
0
false
0
[ -0.35164836049079895, -43.20878982543945, 18.10988998413086, 96.48351287841797, -88.3956069946289, 29.491525650024414 ]
0.183253
0.008613
0.128835
2.062301
2.032543
0.34005
29.491526
0.4
4
0
4
0
[ 0.398895263671875, -0.999969482421875, 0, 1 ]
0
false
0
[ 2.1978023052215576, -41.89011001586914, 18.10988998413086, 96.3956069946289, -85.4065933227539, 29.491525650024414 ]
0.183584
0.002163
0.126157
2.060708
2.046615
0.302831
29.491526
0.5
5
0
5
0
[ 0, 0, 0, 1 ]
0
false
0
[ 5.538461685180664, -39.868133544921875, 18.10988998413086, 94.72527313232422, -82.5934066772461, 29.491525650024414 ]
0.187798
-0.006728
0.123291
2.067435
2.034478
0.278752
29.491526
0.6
6
0
6
0
[ 0, 0, 0, 1 ]
0
false
0
[ 7.0329670906066895, -39.07692337036133, 18.10988998413086, 94.46154022216797, -82.15384674072266, 29.491525650024414 ]
0.188294
-0.010707
0.12184
2.089843
2.018998
0.264991
29.491526
0.7
7
0
7
0
[ 0, 0, 0, 1 ]
0
false
0
[ 7.0329670906066895, -38.989009857177734, 18.10988998413086, 94.46154022216797, -82.15384674072266, 29.491525650024414 ]
0.188301
-0.010708
0.121657
2.090787
2.01991
0.263679
29.491526
0.8
8
0
8
0
[ 0, 0, 0, 1 ]
0
false
0
[ 7.0329670906066895, -38.989009857177734, 18.10988998413086, 94.46154022216797, -82.15384674072266, 29.491525650024414 ]
0.188301
-0.010708
0.121657
2.090787
2.01991
0.263679
29.491526
0.9
9
0
9
0
[ 0, -0.2803955078125, 0, 1 ]
0
false
0
[ 7.0329670906066895, -38.989009857177734, 18.10988998413086, 94.46154022216797, -82.15384674072266, 29.491525650024414 ]
0.188301
-0.010708
0.121657
2.090787
2.01991
0.263679
29.491526
1
10
0
10
0
[ 0, -0.14361572265625, -0.117279052734375, 1 ]
0
false
0
[ 7.0329670906066895, -38.989009857177734, 18.10988998413086, 94.46154022216797, -82.06593322753906, 29.491525650024414 ]
0.18829
-0.010708
0.121653
2.089154
2.021434
0.263419
29.491526
1.1
11
0
11
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 7.120879173278809, -38.989009857177734, 18.10988998413086, 94.46154022216797, -81.45054626464844, 29.491525650024414 ]
0.188192
-0.010938
0.12163
2.079169
2.030386
0.261328
29.491526
1.2
12
0
12
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 7.384615421295166, -39.25274658203125, 18.813186645507812, 91.56044006347656, -81.36264038085938, 29.491525650024414 ]
0.194525
-0.012454
0.122477
2.055349
2.000973
0.296138
29.491526
1.3
13
0
13
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 7.736263751983643, -40.83516311645508, 23.648351669311523, 86.72527313232422, -81.36264038085938, 29.491525650024414 ]
0.198431
-0.013951
0.115369
2.043781
1.977531
0.317478
29.491526
1.4
14
0
14
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 8, -42.68132019042969, 30.329669952392578, 83.03296661376953, -81.36264038085938, 29.491525650024414 ]
0.19542
-0.014271
0.101672
2.060606
1.984649
0.300308
29.491526
1.5
15
0
15
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 8, -44.43955993652344, 35.9560432434082, 79.6043930053711, -81.36264038085938, 29.491525650024414 ]
0.193181
-0.013957
0.09063
2.065425
1.98929
0.294035
29.491526
1.6
16
0
16
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 8, -46.19780349731445, 41.05494689941406, 75.64835357666016, -81.36264038085938, 29.491525650024414 ]
0.192996
-0.013931
0.081557
2.058676
1.98279
0.302811
29.491526
1.7
17
0
17
0
[ 0, 0, -0.999969482421875, 1 ]
0
false
0
[ 8, -47.516483306884766, 46.06593322753906, 71.95604705810547, -81.36264038085938, 29.491525650024414 ]
0.191602
-0.013735
0.071449
2.058676
1.98279
0.302811
29.491526
1.8
18
0
18
0
[ 0, 0, -0.81085205078125, 1 ]
0
false
0
[ 8, -48.483516693115234, 50.81318664550781, 68.17582702636719, -81.36264038085938, 29.491525650024414 ]
0.190267
-0.013547
0.061452
2.058676
1.98279
0.302811
29.491526
1.9
19
0
19
0
[ 0.190460205078125, 0.13775634765625, 0, 1 ]
0
false
0
[ 8, -49.098899841308594, 55.03296661376953, 64.48351287841797, -81.36264038085938, 29.491525650024414 ]
0.189201
-0.013397
0.052335
2.057711
1.98186
0.304061
29.491526
2
20
0
20
0
[ 0, 0, 0, 1 ]
0
false
0
[ 8, -49.18681335449219, 56.17582321166992, 63.69230651855469, -81.36264038085938, 29.491525650024414 ]
0.188188
-0.013255
0.049514
2.060606
1.984649
0.300308
29.491526
2.1
21
0
21
0
[ 0, 0, 0, 1 ]
0
false
0
[ 8, -49.18681335449219, 56.17582321166992, 63.69230651855469, -81.36264038085938, 29.491525650024414 ]
0.188188
-0.013255
0.049514
2.060606
1.984649
0.300308
29.491526
2.2
22
0
22
0
[ 0, 0, 0, 1 ]
0
false
0
[ 8, -49.18681335449219, 56.17582321166992, 63.69230651855469, -81.36264038085938, 29.491525650024414 ]
0.188188
-0.013255
0.049514
2.060606
1.984649
0.300308
29.491526
2.3
23
0
23
0
[ 0, 1, 0, 1 ]
0
false
0
[ 8, -49.18681335449219, 56.17582321166992, 63.69230651855469, -81.36264038085938, 29.491525650024414 ]
0.188188
-0.013255
0.049514
2.060606
1.984649
0.300308
29.491526
2.4
24
0
24
0
[ 0, 1, 0, 1 ]
0
false
0
[ 7.208791255950928, -49.18681335449219, 56.17582321166992, 63.69230651855469, -83.20879364013672, 29.491525650024414 ]
0.188597
-0.011193
0.049598
2.081642
1.968292
0.309474
29.491526
2.5
25
0
25
0
[ 0, 1, 0, 1 ]
0
false
0
[ 4.131868362426758, -49.18681335449219, 56.17582321166992, 63.69230651855469, -86.28571319580078, 29.491525650024414 ]
0.189383
-0.003137
0.049738
2.088652
1.97492
0.330364
29.491526
2.6
26
0
26
0
[ 0, 1, 0, 1 ]
0
false
0
[ 0.791208803653717, -49.18681335449219, 56.17582321166992, 63.69230651855469, -89.18681335449219, 29.491525650024414 ]
0.189687
0.005644
0.04987
2.088641
1.99014
0.350794
29.491526
2.7
27
0
27
0
[ 0, 1, 0, 1 ]
0
false
0
[ -2.373626470565796, -49.18681335449219, 56.17582321166992, 63.69230651855469, -92, 29.491525650024414 ]
0.189512
0.013966
0.049998
2.090221
2.003919
0.369595
29.491526
2.8
28
0
28
0
[ 0, 1, 0, 1 ]
0
false
0
[ -5.626373767852783, -49.18681335449219, 56.17582321166992, 63.69230651855469, -94.9011001586914, 29.491525650024414 ]
0.188854
0.022498
0.05013
2.092417
2.018384
0.388113
29.491526
2.9
29
0
29
0
[ -0.106964111328125, 1, 0, 1 ]
0
false
0
[ -8.79120922088623, -49.18681335449219, 56.17582321166992, 63.69230651855469, -97.71428680419922, 29.491525650024414 ]
0.18775
0.030751
0.050258
2.094736
2.033067
0.40524
29.491526
3
30
0
30
0
[ -0.143341064453125, 1, 0, 1 ]
0
false
0
[ -11.95604419708252, -49.18681335449219, 56.17582321166992, 63.516483306884766, -100.61538696289062, 29.491525650024414 ]
0.186653
0.039027
0.050555
2.097554
2.045198
0.4253
29.491526
3.1
31
0
31
0
[ -0.17877197265625, 1, 0, 1 ]
0
false
0
[ -15.20879077911377, -49.18681335449219, 56.17582321166992, 62.46154022216797, -103.51648712158203, 29.491525650024414 ]
0.187224
0.048079
0.051723
2.092028
2.052371
0.463564
29.491526
3.2
32
0
32
0
[ -0.214447021484375, 1, 0, 1 ]
0
false
0
[ -18.19780158996582, -48.659339904785156, 56.17582321166992, 62.10988998413086, -106.32967376708984, 29.491525650024414 ]
0.185176
0.055855
0.05105
2.100175
2.066697
0.474497
29.491526
3.3
33
0
33
0
[ -0.2138671875, 0.85009765625, 0, 1 ]
0
false
0
[ -21.626373291015625, -47.9560432434082, 56.17582321166992, 61.58241653442383, -109.05494689941406, 29.491525650024414 ]
0.182446
0.064721
0.050151
2.09952
2.09157
0.484924
29.491526
3.4
34
0
34
0
[ 0, 0, 0, 1 ]
0
false
0
[ -24.52747344970703, -46.989009857177734, 56.087913513183594, 60.879119873046875, -111.6043930053711, 29.491525650024414 ]
0.180178
0.072309
0.04911
2.104076
2.109014
0.492468
29.491526
3.5
35
0
35
0
[ 0, 0, 0, 2 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 29.491525650024414 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
29.491526
3.6
36
0
36
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 29.491525650024414 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
29.491526
3.7
37
0
37
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 29.491525650024414 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
29.491526
3.8
38
0
38
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 29.491525650024414 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
29.491526
3.9
39
0
39
0
[ 0, 0, 0, 0 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 29.491525650024414 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
29.491526
4
40
0
40
0
[ 0, 0, 0, 0 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 26.169490814208984 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
26.169491
4.1
41
0
41
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 9.89830493927002 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
9.898305
4.2
42
0
42
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 0.6779661178588867 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
0.677966
4.3
43
0
43
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 7.254237174987793 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
7.254237
4.4
44
0
44
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 6.440678119659424 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
6.440678
4.5
45
0
45
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 1.2881356477737427 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
1.288136
4.6
46
0
46
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 5.8983049392700195 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
5.898305
4.7
47
0
47
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 3.6610169410705566 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
3.661017
4.8
48
0
48
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 3.728813648223877 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
3.728814
4.9
49
0
49
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 4.203389644622803 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
4.20339
5
50
0
50
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 4 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
4
5.1
51
0
51
0
[ 0, 0, 0, 2 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 4 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
4
5.2
52
0
52
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 7.457627296447754 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
7.457627
5.3
53
0
53
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 19.525423049926758 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
19.525423
5.4
54
0
54
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 18.033897399902344 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
18.033897
5.5
55
0
55
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 8.271186828613281 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
8.271187
5.6
56
0
56
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 12.813559532165527 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
12.81356
5.7
57
0
57
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 17.220338821411133 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
17.220339
5.8
58
0
58
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 11.254237174987793 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
11.254237
5.9
59
0
59
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 15.86440658569336 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
15.864407
6
60
0
60
0
[ 0, 0, 0, 2 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 14.10169506072998 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
14.101695
6.1
61
0
61
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 13.355932235717773 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
13.355932
6.2
62
0
62
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 23.05084800720215 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
23.050848
6.3
63
0
63
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 19.72881317138672 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
19.728813
6.4
64
0
64
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 14.10169506072998 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
14.101695
6.5
65
0
65
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 19.05084800720215 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
19.050848
6.6
66
0
66
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 16.81355857849121 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
16.813559
6.7
67
0
67
0
[ 0, 0, 0, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 16.06779670715332 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
16.067797
6.8
68
0
68
0
[ 0, 0, 1, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 56.17582321166992, 60.79121017456055, -111.69230651855469, 18.033897399902344 ]
0.178663
0.074279
0.048122
2.09363
2.127725
0.486124
18.033897
6.9
69
0
69
0
[ 0, 0, 1, 1 ]
0
false
0
[ -25.406593322753906, -46.63736343383789, 55.64834976196289, 62.81318664550781, -111.69230651855469, 16.610170364379883 ]
0.175276
0.07267
0.047933
2.103792
2.138052
0.450714
16.61017
7
70
0
70
0
[ 0, 0, 1, 1 ]
0
false
0
[ -25.406593322753906, -46.5494499206543, 53.36263656616211, 67.20879364013672, -111.69230651855469, 17.220338821411133 ]
0.170634
0.070466
0.051275
2.118216
2.152711
0.398165
17.220339
7.1
71
0
71
0
[ 0, 0, 1, 1 ]
0
false
0
[ -25.406593322753906, -46.021976470947266, 48.96703338623047, 71.16483306884766, -111.69230651855469, 17.152542114257812 ]
0.171622
0.070935
0.060877
2.11878
2.153284
0.396051
17.152542
7.2
72
0
72
0
[ -0.391387939453125, 0.54034423828125, 0, 1 ]
0
false
0
[ -25.406593322753906, -45.230770111083984, 43.516483306884766, 75.20879364013672, -111.69230651855469, 17.152542114257812 ]
0.174053
0.072089
0.073198
2.114811
2.149251
0.410828
17.152542
7.3
73
0
73
0
[ -0.748016357421875, 0.83184814453125, 0, 1 ]
0
false
0
[ -26.373626708984375, -45.14285659790039, 41.14285659790039, 76.26373291015625, -113.36264038085938, 17.152542114257812 ]
0.17566
0.075667
0.079788
2.124142
2.132396
0.444735
17.152542
7.4
74
0
74
0
[ -0.511566162109375, 0.934173583984375, 0, 1 ]
0
false
0
[ -29.27472496032715, -45.230770111083984, 41.05494689941406, 76.26373291015625, -116.17582702636719, 17.152542114257812 ]
0.172258
0.082639
0.080374
2.130982
2.142548
0.458075
17.152542
7.5
75
0
75
0
[ -0.47283935546875, 0.949859619140625, 0, 1 ]
0
false
0
[ -32.79121017456055, -45.230770111083984, 41.05494689941406, 76.26373291015625, -119.16483306884766, 17.152542114257812 ]
0.167335
0.090685
0.080485
2.132293
2.163695
0.467184
17.152542
7.6
76
0
76
0
[ -0.457489013671875, 0.9859619140625, 0, 1 ]
0
false
0
[ -35.9560432434082, -45.230770111083984, 41.05494689941406, 76.26373291015625, -122.15384674072266, 17.152542114257812 ]
0.16253
0.097661
0.080593
2.139815
2.178001
0.474532
17.152542
7.7
77
0
77
0
[ 0, 0.64208984375, 0, 1 ]
0
false
0
[ -39.47252655029297, -44.79121017456055, 41.05494689941406, 76.26373291015625, -125.14286041259766, 17.152542114257812 ]
0.15649
0.104909
0.079721
2.14327
2.201699
0.469331
17.152542
7.8
78
0
78
0
[ 0.1419677734375, 0.4306640625, 0, 1 ]
0
false
0
[ -41.93406677246094, -43.20878982543945, 40.79121017456055, 76.17582702636719, -126.72527313232422, 17.152542114257812 ]
0.151951
0.109756
0.077191
2.137924
2.230187
0.439621
17.152542
7.9
79
0
79
0
[ 0, 0, 1, 1 ]
0
false
0
[ -42.28571319580078, -41.098899841308594, 40.087913513183594, 75.12088012695312, -127.25274658203125, 17.152542114257812 ]
0.15361
0.112511
0.075619
2.144008
2.229674
0.430747
17.152542
8
80
0
80
0
[ 0, 0, 1, 1 ]
0
false
0
[ -42.28571319580078, -39.516483306884766, 37.010990142822266, 76.87911987304688, -127.42857360839844, 17.152542114257812 ]
0.15506
0.113809
0.080337
2.148599
2.227598
0.423783
17.152542
8.1
81
0
81
0
[ 0, 0, 1, 1 ]
0
false
0
[ -42.46154022216797, -38.19780349731445, 31.736263275146484, 80.48351287841797, -127.42857360839844, 17.152542114257812 ]
0.156384
0.115697
0.091012
2.144285
2.229962
0.433305
17.152542
8.2
82
0
82
0
[ 0, 0, 1, 1 ]
0
false
0
[ -42.46154022216797, -36.61538314819336, 25.670330047607422, 84.52747344970703, -127.42857360839844, 17.152542114257812 ]
0.157935
0.117116
0.103034
2.142787
2.228404
0.445076
17.152542
8.3
83
0
83
0
[ 0, 0, 1, 1 ]
0
false
0
[ -42.46154022216797, -34.85714340209961, 20.131868362426758, 88.30769348144531, -127.42857360839844, 17.152542114257812 ]
0.158669
0.117788
0.112954
2.142787
2.228404
0.445076
17.152542
8.4
84
0
84
0
[ 0.406036376953125, 0.566131591796875, 0, 1 ]
0
false
0
[ -42.46154022216797, -32.659339904785156, 14.241758346557617, 92.43955993652344, -127.42857360839844, 17.152542114257812 ]
0.158834
0.117939
0.122319
2.144285
2.229962
0.433305
17.152542
8.5
85
0
85
0
[ 1, 0.524688720703125, 0, 1 ]
0
false
0
[ -42.46154022216797, -30.19780158996582, 8.967033386230469, 93.23076629638672, -127.42857360839844, 17.152542114257812 ]
0.164433
0.123063
0.131766
2.137138
2.22253
0.487368
17.152542
8.6
86
0
86
0
[ 1, 0.3218994140625, 0, 1 ]
0
false
0
[ -42.46154022216797, -26.85714340209961, 6.681318759918213, 92.79120635986328, -127.42857360839844, 17.152542114257812 ]
0.168786
0.127046
0.130606
2.139382
2.224864
0.470937
17.152542
8.7
87
0
87
0
[ 1, 0.356689453125, 0, 1 ]
0
false
0
[ -42.5494499206543, -22.10988998413086, 3.2527472972869873, 92, -127.42857360839844, 17.152542114257812 ]
0.175375
0.133473
0.128999
2.1397
2.228614
0.456892
17.152542
8.8
88
0
88
0
[ 0.7486572265625, 0.49267578125, 0, 1 ]
0
false
0
[ -42.373626708984375, -17.538461685180664, -0.35164836049079895, 91.56044006347656, -126.37362670898438, 17.152542114257812 ]
0.182006
0.138851
0.127315
2.122312
2.244722
0.442024
17.152542
8.9
89
0
89
0
[ 0.4320068359375, 0.56915283203125, 0, 1 ]
0
false
0
[ -41.758243560791016, -12.615385055541992, -4.483516693115234, 91.20879364013672, -126.28571319580078, 17.152542114257812 ]
0.190509
0.143583
0.125376
2.133019
2.235346
0.429847
17.152542
9
90
0
90
0
[ 0, 0.136505126953125, 0, 1 ]
0
false
0
[ -41.4945068359375, -8.395604133605957, -8.527472496032715, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.197482
0.148468
0.124395
2.138044
2.230311
0.427335
17.152542
9.1
91
0
91
0
[ 0, 0, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.461538314819336, -9.934065818786621, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199648
0.150384
0.122338
2.139892
2.232239
0.413255
17.152542
9.2
92
0
92
0
[ 0, 0, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.1978020668029785, -10.021978378295898, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199793
0.150512
0.121732
2.140499
2.232872
0.408558
17.152542
9.3
93
0
93
0
[ 0, 0, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.1978020668029785, -10.021978378295898, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199793
0.150512
0.121732
2.140499
2.232872
0.408558
17.152542
9.4
94
0
94
0
[ 0, 0, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.1978020668029785, -10.021978378295898, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199793
0.150512
0.121732
2.140499
2.232872
0.408558
17.152542
9.5
95
0
95
0
[ 0, 0, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.1978020668029785, -10.021978378295898, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199793
0.150512
0.121732
2.140499
2.232872
0.408558
17.152542
9.6
96
0
96
0
[ 0.67364501953125, 0.15631103515625, 0, 1 ]
0
false
0
[ -41.4945068359375, -6.1978020668029785, -10.021978378295898, 91.12088012695312, -126.28571319580078, 17.152542114257812 ]
0.199793
0.150512
0.121732
2.140499
2.232872
0.408558
17.152542
9.7
97
0
97
0
[ 1, 0.16839599609375, 0, 1 ]
0
false
0
[ -41.4945068359375, -4.351648330688477, -12.04395580291748, 91.20879364013672, -126.28571319580078, 17.152542114257812 ]
0.202637
0.153027
0.121631
2.140196
2.232557
0.410907
17.152542
9.8
98
0
98
0
[ 0.3179931640625, 0, 0, 1 ]
0
false
0
[ -40.96703338623047, -0.6593406796455383, -16.879121780395508, 91.20879364013672, -124.96703338623047, 17.152542114257812 ]
0.211013
0.157713
0.123603
2.117676
2.23982
0.440125
17.152542
9.9
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": null,
    "total_episodes": 5,
    "total_frames": 1495,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "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",
            "shape": [
                4
            ],
            "names": {
                "delta_x": 0,
                "delta_y": 1,
                "delta_z": 2,
                "gripper": 3
            }
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "complementary_info.discrete_penalty": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "discrete_penalty"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                3,
                128,
                128
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.ee.x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.x"
        },
        "observation.ee.y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.y"
        },
        "observation.ee.z": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.z"
        },
        "observation.ee.wx": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.wx"
        },
        "observation.ee.wy": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.wy"
        },
        "observation.ee.wz": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.wz"
        },
        "observation.ee.gripper_pos": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": "observation.ee.gripper_pos"
        },
        "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
18