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choiwoong
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cucumber-dual-dataset20-test4

Tasks:
Robotics
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LeRobot
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observation.state
list
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float32
0
25.7
frame_index
int64
0
514
episode_index
int64
0
2
index
int64
0
1.36k
task_index
int64
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[ -5.142857074737549, 28.96703338623047, -20.439559936523438, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.7
54
0
54
0
[ -11.164834976196289, 36.263736724853516, -26.94505500793457, -54.373626708984375, -1.5384615659713745, 7.2646403312683105 ]
[ -7.164834976196289, 31.076923370361328, -21.494504928588867, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.75
55
0
55
0
[ -12.923076629638672, 38.373626708984375, -28.263736724853516, -54.373626708984375, -1.5384615659713745, 7.2646403312683105 ]
[ -8.835165023803711, 33.18681335449219, -22.72527503967285, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.8
56
0
56
0
[ -14.94505500793457, 40.483516693115234, -29.494504928588867, -54.373626708984375, -1.4505494832992554, 6.9681243896484375 ]
[ -10.329669952392578, 35.20878982543945, -23.956043243408203, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.85
57
0
57
0
[ -17.05494499206543, 42.41758346557617, -30.813186645507812, -54.28571319580078, -1.4505494832992554, 6.9681243896484375 ]
[ -12, 37.406593322753906, -25.36263656616211, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.9
58
0
58
0
[ -19.25274658203125, 44.263736724853516, -31.956043243408203, -54.28571319580078, -1.4505494832992554, 6.9681243896484375 ]
[ -14.10988998413086, 39.42856979370117, -26.593406677246094, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
2.95
59
0
59
0
[ -21.538461685180664, 46.10988998413086, -32.74725341796875, -54.28571319580078, -1.4505494832992554, 6.9681243896484375 ]
[ -16.21977996826172, 41.626373291015625, -27.91208839416504, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3
60
0
60
0
[ -23.736263275146484, 48.131866455078125, -33.27472686767578, -54.28571319580078, -1.4505494832992554, 6.9681243896484375 ]
[ -18.241758346557617, 43.38461685180664, -29.05494499206543, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.05
61
0
61
0
[ -25.934066772460938, 50.06593322753906, -33.71428680419922, -54.28571319580078, -1.4505494832992554, 7.2646403312683105 ]
[ -20.351648330688477, 45.406593322753906, -29.934066772460938, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.1
62
0
62
0
[ -28.043956756591797, 52, -33.71428680419922, -54.19780349731445, -1.4505494832992554, 7.2646403312683105 ]
[ -22.63736343383789, 47.25274658203125, -30.549449920654297, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.15
63
0
63
0
[ -30.065933227539062, 53.758243560791016, -33.71428680419922, -54.19780349731445, -1.4505494832992554, 7.2646403312683105 ]
[ -24.83516502380371, 49.36263656616211, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.2
64
0
64
0
[ -31.824174880981445, 55.340660095214844, -33.80219650268555, -54.19780349731445, -1.4505494832992554, 7.2646403312683105 ]
[ -26.94505500793457, 51.20878982543945, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.25
65
0
65
0
[ -33.31867980957031, 56.74725341796875, -33.80219650268555, -54.19780349731445, -1.4505494832992554, 7.2646403312683105 ]
[ -28.879121780395508, 53.05494689941406, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.3
66
0
66
0
[ -34.46154022216797, 58.06593322753906, -33.80219650268555, -54.19780349731445, -1.4505494832992554, 7.2646403312683105 ]
[ -30.813186645507812, 54.63736343383789, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.35
67
0
67
0
[ -35.16483688354492, 59.20878982543945, -33.80219650268555, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -32.483516693115234, 56.21977996826172, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.4
68
0
68
0
[ -35.60439682006836, 60.263736724853516, -34.153846740722656, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -33.71428680419922, 57.626373291015625, -30.813186645507812, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.45
69
0
69
0
[ -35.868133544921875, 61.230770111083984, -35.03296661376953, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -34.68132019042969, 58.94505310058594, -30.901098251342773, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.5
70
0
70
0
[ -36.0439567565918, 62.19780349731445, -36.087913513183594, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -35.20878982543945, 60, -31.428571701049805, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.55
71
0
71
0
[ -36.30769348144531, 63.16483688354492, -37.31867980957031, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -35.47252655029297, 61.14285659790039, -32.30769348144531, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.6
72
0
72
0
[ -36.30769348144531, 64.21977996826172, -38.63736343383789, -54.19780349731445, -1.4505494832992554, 7.338769435882568 ]
[ -35.82417678833008, 62.10988998413086, -33.4505500793457, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.65
73
0
73
0
[ -36.39560317993164, 65.0988998413086, -39.868133544921875, -54.19780349731445, -1.274725317955017, 7.338769435882568 ]
[ -36.087913513183594, 63.16483688354492, -34.593406677246094, -53.406593322753906, -1.802197813987732, 6.241331577301025 ]
3.7
74
0
74
0
[ -36.39560317993164, 65.97801971435547, -41.010990142822266, -54.19780349731445, -0.3956044018268585, 7.338769435882568 ]
[ -36.17582321166992, 64.13186645507812, -35.736263275146484, -53.406593322753906, -1.7142857313156128, 6.241331577301025 ]
3.75
75
0
75
0
[ -36.39560317993164, 66.85713958740234, -42.06593322753906, -53.758243560791016, 1.186813235282898, 7.338769435882568 ]
[ -36.263736724853516, 65.0988998413086, -36.96703338623047, -53.406593322753906, -1.5384615659713745, 6.241331577301025 ]
3.8
76
0
76
0
[ -36.39560317993164, 67.64835357666016, -43.47252655029297, -52.35165023803711, 2.857142925262451, 7.338769435882568 ]
[ -36.263736724853516, 65.97801971435547, -38.10988998413086, -53.406593322753906, -0.8351648449897766, 6.241331577301025 ]
3.85
77
0
77
0
[ -36.39560317993164, 68.43955993652344, -45.05494689941406, -50.06593322753906, 4.087912082672119, 7.338769435882568 ]
[ -36.263736724853516, 66.94505310058594, -39.25274658203125, -53.31867980957031, 0.6593406796455383, 6.241331577301025 ]
3.9
78
0
78
0
[ -36.30769348144531, 69.05494689941406, -47.07692337036133, -47.16483688354492, 5.05494499206543, 7.338769435882568 ]
[ -36.263736724853516, 67.73626708984375, -40.57143020629883, -52.35165023803711, 1.9780219793319702, 6.241331577301025 ]
3.95
79
0
79
0
[ -36.21977996826172, 69.5824203491211, -49.27472686767578, -43.82417678833008, 5.5824174880981445, 7.338769435882568 ]
[ -36.263736724853516, 68.52747344970703, -42.153846740722656, -50.5054931640625, 3.2087912559509277, 6.241331577301025 ]
4
80
0
80
0
[ -36.21977996826172, 70.28571319580078, -51.736263275146484, -40.30769348144531, 5.494505405426025, 7.338769435882568 ]
[ -36.263736724853516, 69.23076629638672, -44.087913513183594, -48.131866455078125, 4.263736248016357, 6.241331577301025 ]
4.05
81
0
81
0
[ -36.21977996826172, 71.16483306884766, -54.10988998413086, -36.52747344970703, 5.494505405426025, 7.338769435882568 ]
[ -36.263736724853516, 69.75823974609375, -46.021976470947266, -45.05494689941406, 4.791208744049072, 6.241331577301025 ]
4.1
82
0
82
0
[ -36.21977996826172, 72.13186645507812, -56.21977996826172, -32.57143020629883, 5.494505405426025, 7.338769435882568 ]
[ -36.263736724853516, 70.54945373535156, -48.483516693115234, -41.71428680419922, 4.9670329093933105, 6.241331577301025 ]
4.15
83
0
83
0
[ -36.30769348144531, 73.27472686767578, -57.978023529052734, -28.703296661376953, 5.494505405426025, 7.338769435882568 ]
[ -36.263736724853516, 71.34066009521484, -50.68132019042969, -38.28571319580078, 5.142857074737549, 6.241331577301025 ]
4.2
84
0
84
0
[ -36.30769348144531, 74.24176025390625, -59.38461685180664, -25.010988235473633, 5.758241653442383, 7.338769435882568 ]
[ -36.17582321166992, 72.21977996826172, -52.96703338623047, -34.68132019042969, 5.142857074737549, 6.241331577301025 ]
4.25
85
0
85
0
[ -36.30769348144531, 74.76923370361328, -60.263736724853516, -21.406593322753906, 5.934065818786621, 7.338769435882568 ]
[ -36.17582321166992, 73.36264038085938, -54.81318664550781, -30.813186645507812, 5.230769157409668, 6.241331577301025 ]
4.3
86
0
86
0
[ -36.30769348144531, 75.20879364013672, -60.879119873046875, -18.329669952392578, 5.934065818786621, 7.338769435882568 ]
[ -36.263736724853516, 74.24176025390625, -56.30769348144531, -27.120878219604492, 5.230769157409668, 6.241331577301025 ]
4.35
87
0
87
0
[ -36.30769348144531, 75.56044006347656, -61.230770111083984, -15.95604419708252, 5.934065818786621, 7.412898540496826 ]
[ -36.17582321166992, 74.94505310058594, -57.36263656616211, -23.516483306884766, 5.494505405426025, 6.241331577301025 ]
4.4
88
0
88
0
[ -36.30769348144531, 75.82417297363281, -61.230770111083984, -13.934065818786621, 5.934065818786621, 7.412898540496826 ]
[ -36.17582321166992, 75.38461303710938, -58.241756439208984, -20.351648330688477, 5.5824174880981445, 6.241331577301025 ]
4.45
89
0
89
0
[ -36.483516693115234, 76, -61.230770111083984, -12.615385055541992, 5.934065818786621, 7.412898540496826 ]
[ -36.17582321166992, 75.64835357666016, -58.593406677246094, -17.714284896850586, 5.5824174880981445, 6.241331577301025 ]
4.5
90
0
90
0
[ -37.18681335449219, 76.0879135131836, -61.14285659790039, -12.351648330688477, 6.02197790145874, 7.412898540496826 ]
[ -36.17582321166992, 75.82417297363281, -58.68132019042969, -15.428571701049805, 5.5824174880981445, 6.241331577301025 ]
4.55
91
0
91
0
[ -38.32966995239258, 76.61538696289062, -61.14285659790039, -12.439560890197754, 6.02197790145874, 7.412898540496826 ]
[ -36.17582321166992, 76, -58.68132019042969, -13.934065818786621, 5.5824174880981445, 6.241331577301025 ]
4.6
92
0
92
0
[ -39.47252655029297, 77.75823974609375, -61.230770111083984, -13.05494499206543, 6.02197790145874, 7.487027645111084 ]
[ -36.879119873046875, 76.17582702636719, -58.68132019042969, -13.230769157409668, 5.5824174880981445, 6.241331577301025 ]
4.65
93
0
93
0
[ -40.263736724853516, 79.07691955566406, -61.230770111083984, -14.021978378295898, 5.934065818786621, 7.487027645111084 ]
[ -37.93406677246094, 76.87911987304688, -58.68132019042969, -13.142857551574707, 5.5824174880981445, 6.241331577301025 ]
4.7
94
0
94
0
[ -40.79121017456055, 80.57142639160156, -61.230770111083984, -15.252747535705566, 5.934065818786621, 7.561156272888184 ]
[ -39.07692337036133, 77.93406677246094, -58.68132019042969, -13.142857551574707, 5.5824174880981445, 6.241331577301025 ]
4.75
95
0
95
0
[ -41.406593322753906, 82.32967376708984, -61.31867980957031, -16.571428298950195, 5.934065818786621, 7.783543586730957 ]
[ -39.868133544921875, 79.07691955566406, -58.68132019042969, -13.84615421295166, 5.5824174880981445, 6.3106794357299805 ]
4.8
96
0
96
0
[ -42.28571319580078, 83.82417297363281, -61.58241653442383, -17.89011001586914, 6.02197790145874, 9.117864608764648 ]
[ -40.39560317993164, 80.48351287841797, -58.68132019042969, -14.725275039672852, 5.5824174880981445, 6.796116352081299 ]
4.85
97
0
97
0
[ -43.25274658203125, 84.96703338623047, -61.67033004760742, -19.384614944458008, 6.02197790145874, 11.489992141723633 ]
[ -41.098899841308594, 82.06593322753906, -58.94505310058594, -15.868131637573242, 5.5824174880981445, 7.212205410003662 ]
4.9
98
0
98
0
[ -44.0439567565918, 86.10989379882812, -61.67033004760742, -20.879121780395508, 5.934065818786621, 14.381023406982422 ]
[ -41.978023529052734, 83.64835357666016, -59.20878982543945, -17.098901748657227, 5.5824174880981445, 8.39112377166748 ]
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": 3,
    "total_frames": 1356,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:3"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        "observation.images.top": {
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            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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