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choiwoong
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cucumber-dual-dataset20-test3

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Robotics
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observation.state
list
timestamp
float32
0
20.6
frame_index
int64
0
412
episode_index
int64
0
0
index
int64
0
412
task_index
int64
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2.7
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[ -3.780219793319702, 44.61538314819336, -39.868133544921875, -29.846153259277344, -17.36263656616211, 1.9273536205291748 ]
[ -4.175824165344238, 40.30769348144531, -37.05494689941406, -29.05494499206543, -17.450550079345703, 2.6352288722991943 ]
2.75
55
0
55
0
[ -3.8681318759918213, 46.46154022216797, -39.868133544921875, -29.934066772460938, -17.538461685180664, 1.9273536205291748 ]
[ -4.175824165344238, 41.978023529052734, -37.05494689941406, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
2.8
56
0
56
0
[ -3.8681318759918213, 48.21977996826172, -39.9560432434082, -29.934066772460938, -17.714284896850586, 1.8532246351242065 ]
[ -4.175824165344238, 43.82417678833008, -37.05494689941406, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
2.85
57
0
57
0
[ -3.8681318759918213, 49.89011001586914, -40.57143020629883, -30.0219783782959, -17.80219841003418, 1.8532246351242065 ]
[ -4.175824165344238, 45.67033004760742, -37.05494689941406, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
2.9
58
0
58
0
[ -3.8681318759918213, 51.736263275146484, -41.978023529052734, -30.0219783782959, -17.626373291015625, 1.8532246351242065 ]
[ -4.175824165344238, 47.42856979370117, -37.14285659790039, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
2.95
59
0
59
0
[ -3.780219793319702, 53.758243560791016, -44, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 49.18681335449219, -37.93406677246094, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3
60
0
60
0
[ -3.780219793319702, 56.21977996826172, -46.5494499206543, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 51.03296661376953, -39.16483688354492, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.05
61
0
61
0
[ -3.780219793319702, 58.85714340209961, -49.18681335449219, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 52.96703338623047, -41.010990142822266, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.1
62
0
62
0
[ -3.780219793319702, 61.67033004760742, -51.82417678833008, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 55.42856979370117, -43.29670333862305, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.15
63
0
63
0
[ -3.780219793319702, 64.48351287841797, -54.373626708984375, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 57.89011001586914, -45.758243560791016, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.2
64
0
64
0
[ -3.780219793319702, 67.47252655029297, -56.659339904785156, -30.0219783782959, -17.450550079345703, 1.8532246351242065 ]
[ -4.175824165344238, 60.70329666137695, -48.30769348144531, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.25
65
0
65
0
[ -3.692307710647583, 70.10989379882812, -58.769229888916016, -30.0219783782959, -17.36263656616211, 1.8532246351242065 ]
[ -4.175824165344238, 63.25274658203125, -50.94505310058594, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.3
66
0
66
0
[ -3.692307710647583, 72.57142639160156, -60.70329666137695, -30.0219783782959, -17.36263656616211, 1.8532246351242065 ]
[ -4.175824165344238, 66.15384674072266, -53.31867980957031, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.35
67
0
67
0
[ -3.604395627975464, 74.68132019042969, -62.373626708984375, -30.0219783782959, -17.36263656616211, 1.8532246351242065 ]
[ -4.175824165344238, 68.87911987304688, -55.42856979370117, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.4
68
0
68
0
[ -2.461538553237915, 76.52747344970703, -63.868133544921875, -30.0219783782959, -17.36263656616211, 1.8532246351242065 ]
[ -4.175824165344238, 71.6043930053711, -57.4505500793457, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.45
69
0
69
0
[ -0.8791208863258362, 78.10989379882812, -65.0988998413086, -30.0219783782959, -17.36263656616211, 1.8532246351242065 ]
[ -3.912087917327881, 73.80220031738281, -59.20878982543945, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.5
70
0
70
0
[ 0.4395604431629181, 79.6043930053711, -66.15384674072266, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ -3.0329670906066895, 75.9120864868164, -60.879119873046875, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.55
71
0
71
0
[ 1.494505524635315, 81.010986328125, -67.03296661376953, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ -1.802197813987732, 77.67032623291016, -62.19780349731445, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.6
72
0
72
0
[ 2.7252748012542725, 82.32967376708984, -68, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ -0.3076923191547394, 79.34066009521484, -63.340660095214844, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.65
73
0
73
0
[ 3.9560439586639404, 83.82417297363281, -68.87911987304688, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ 0.9230769276618958, 80.74725341796875, -64.3956069946289, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.7
74
0
74
0
[ 5.098901271820068, 85.4065933227539, -69.93406677246094, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ 1.802197813987732, 82.15384674072266, -65.36264038085938, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.75
75
0
75
0
[ 6.065934181213379, 87.16483306884766, -71.16483306884766, -30.0219783782959, -17.36263656616211, 1.7790956497192383 ]
[ 3.0329670906066895, 83.73626708984375, -66.32967376708984, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.8
76
0
76
0
[ 6.857142925262451, 88.92308044433594, -72.65933990478516, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 4.175824165344238, 85.31867980957031, -67.38461303710938, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.85
77
0
77
0
[ 7.472527503967285, 91.03296661376953, -74.4175796508789, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 5.406593322753906, 86.989013671875, -68.61538696289062, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.9
78
0
78
0
[ 7.648351669311523, 93.31867980957031, -76.43955993652344, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 6.285714149475098, 88.74725341796875, -69.93406677246094, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
3.95
79
0
79
0
[ 7.648351669311523, 95.86813354492188, -78.54945373535156, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 6.725274562835693, 90.85713958740234, -71.6043930053711, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4
80
0
80
0
[ 7.648351669311523, 98.76923370361328, -80.92308044433594, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 6.989010810852051, 92.96703338623047, -73.45054626464844, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4.05
81
0
81
0
[ 7.648351669311523, 101.67032623291016, -83.38461303710938, -30.0219783782959, -17.27472496032715, 1.7790956497192383 ]
[ 7.07692289352417, 95.51648712158203, -75.47252655029297, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4.1
82
0
82
0
[ 7.648351669311523, 104.57142639160156, -85.67032623291016, -30.0219783782959, -17.186813354492188, 1.7790956497192383 ]
[ 7.07692289352417, 98.24176025390625, -77.84615325927734, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4.15
83
0
83
0
[ 7.648351669311523, 107.29669952392578, -87.95604705810547, -29.934066772460938, -16.30769157409668, 1.7790956497192383 ]
[ 7.07692289352417, 101.14286041259766, -80.21977996826172, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4.2
84
0
84
0
[ 7.648351669311523, 109.67032623291016, -90.24176025390625, -29.934066772460938, -14.637362480163574, 1.9273536205291748 ]
[ 7.07692289352417, 103.95604705810547, -82.32967376708984, -29.14285659790039, -17.450550079345703, 2.6352288722991943 ]
4.25
85
0
85
0
[ 7.648351669311523, 111.95604705810547, -92.35164642333984, -29.934066772460938, -12.351648330688477, 2.0014824867248535 ]
[ 7.07692289352417, 106.85713958740234, -84.79120635986328, -29.14285659790039, -16.571428298950195, 2.6352288722991943 ]
4.3
86
0
86
0
[ 7.648351669311523, 113.89010620117188, -94.54945373535156, -29.934066772460938, -9.802197456359863, 2.0014824867248535 ]
[ 7.07692289352417, 109.31867980957031, -86.9011001586914, -29.14285659790039, -15.252747535705566, 2.6352288722991943 ]
4.35
87
0
87
0
[ 7.736263751983643, 115.82417297363281, -96.65933990478516, -29.934066772460938, -7.340659141540527, 2.0014824867248535 ]
[ 7.07692289352417, 111.86813354492188, -89.18681335449219, -29.14285659790039, -13.230769157409668, 2.6352288722991943 ]
4.4
88
0
88
0
[ 7.736263751983643, 117.4945068359375, -98.5934066772461, -29.934066772460938, -5.05494499206543, 2.0014824867248535 ]
[ 7.07692289352417, 113.89010620117188, -91.29669952392578, -29.14285659790039, -10.94505500793457, 2.6352288722991943 ]
4.45
89
0
89
0
[ 7.736263751983643, 118.989013671875, -100.35164642333984, -29.934066772460938, -3.0329670906066895, 2.0014824867248535 ]
[ 7.07692289352417, 115.9120864868164, -93.4945068359375, -29.14285659790039, -8.659340858459473, 2.6352288722991943 ]
4.5
90
0
90
0
[ 7.736263751983643, 120.21977996826172, -101.84615325927734, -29.934066772460938, -1.0109890699386597, 2.0014824867248535 ]
[ 7.07692289352417, 117.67032623291016, -95.51648712158203, -29.14285659790039, -6.549450397491455, 2.6352288722991943 ]
4.55
91
0
91
0
[ 7.736263751983643, 121.36264038085938, -103.07691955566406, -29.934066772460938, 0.8351648449897766, 1.9273536205291748 ]
[ 7.07692289352417, 119.25274658203125, -97.27472686767578, -29.14285659790039, -4.439560413360596, 2.6352288722991943 ]
4.6
92
0
92
0
[ 7.648351669311523, 122.5054931640625, -103.95604705810547, -29.934066772460938, 2.9450550079345703, 1.9273536205291748 ]
[ 7.07692289352417, 120.65933990478516, -98.76923370361328, -29.14285659790039, -2.241758346557617, 2.6352288722991943 ]
4.65
93
0
93
0
[ 7.648351669311523, 123.56044006347656, -104.3956069946289, -29.934066772460938, 5.494505405426025, 1.9273536205291748 ]
[ 7.07692289352417, 121.89010620117188, -100.17582702636719, -29.14285659790039, -0.3956044018268585, 2.6352288722991943 ]
4.7
94
0
94
0
[ 7.648351669311523, 124.52747344970703, -104.57142639160156, -29.934066772460938, 8.395604133605957, 1.9273536205291748 ]
[ 7.07692289352417, 123.03296661376953, -101.14286041259766, -29.14285659790039, 1.890109896659851, 2.6352288722991943 ]
4.75
95
0
95
0
[ 7.648351669311523, 125.4065933227539, -104.65933990478516, -29.934066772460938, 11.648351669311523, 1.9273536205291748 ]
[ 7.07692289352417, 124, -101.75823974609375, -29.14285659790039, 4.087912082672119, 2.6352288722991943 ]
4.8
96
0
96
0
[ 7.648351669311523, 126.02198028564453, -104.65933990478516, -29.934066772460938, 15.164834976196289, 1.9273536205291748 ]
[ 7.07692289352417, 125.14286041259766, -101.93406677246094, -29.14285659790039, 6.901098728179932, 2.6352288722991943 ]
4.85
97
0
97
0
[ 7.648351669311523, 126.46154022216797, -104.65933990478516, -29.934066772460938, 18.85714340209961, 1.9273536205291748 ]
[ 7.07692289352417, 125.84615325927734, -102.02198028564453, -29.230770111083984, 9.978021621704102, 2.56588077545166 ]
4.9
98
0
98
0
[ 7.648351669311523, 126.54945373535156, -104.57142639160156, -29.934066772460938, 22.63736343383789, 1.9273536205291748 ]
[ 7.07692289352417, 126.28571319580078, -102.19779968261719, -29.230770111083984, 13.318681716918945, 2.56588077545166 ]
4.95
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": "so_follower",
    "total_episodes": 1,
    "total_frames": 413,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.top": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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