Hugging Face's logo

Datasets:
junshin02
/
so101_pickplace_v2trim_delta

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
observation.state
list
action
list
timestamp
float32
0
30
frame_index
int64
0
901
episode_index
int64
0
49
index
int64
0
24k
task_index
int64
0
0
[ 4.527472496032715, -98.46154022216797, 97.71428680419922, 58.32966995239258, -8.483516693115234, 1.4103424549102783 ]
[ 0.2637362480163574, -3.7362594604492188, -0.5274734497070312, -1.1868133544921875, -1.0549449920654297, -0.3216954469680786 ]
0
0
0
0
0
[ 4.527472496032715, -98.46154022216797, 97.71428680419922, 58.06593322753906, -8.571428298950195, 1.4103424549102783 ]
[ 0.35164833068847656, -3.7362594604492188, -0.5274734497070312, -0.9230766296386719, -0.7912092208862305, -0.3216954469680786 ]
0.033333
1
0
1
0
[ 4.527472496032715, -98.46154022216797, 97.71428680419922, 57.978023529052734, -8.659340858459473, 1.4103424549102783 ]
[ 0.7032966613769531, -3.7362594604492188, -0.5274734497070312, -1.0109901428222656, -0.6153841018676758, -0.3216954469680786 ]
0.066667
2
0
2
0
[ 4.527472496032715, -98.46154022216797, 97.71428680419922, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 1.4945054054260254, -3.7362594604492188, -0.5274734497070312, -0.9230766296386719, -0.4395608901977539, -0.3216954469680786 ]
0.1
3
0
3
0
[ 4.615384578704834, -98.46154022216797, 97.71428680419922, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 2.461538314819336, -3.7362594604492188, -0.7033004760742188, -1.0988998413085938, -0.4395608901977539, -0.3216954469680786 ]
0.133333
4
0
4
0
[ 5.230769157409668, -98.46154022216797, 97.71428680419922, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 3.164834976196289, -3.7362594604492188, -1.23077392578125, -1.0988998413085938, -0.4395608901977539, -0.3216954469680786 ]
0.166667
5
0
5
0
[ 5.934065818786621, -98.46154022216797, 97.71428680419922, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 3.5164833068847656, -3.7362594604492188, -2.373626708984375, -0.9230766296386719, -0.4395608901977539, -0.3216954469680786 ]
0.2
6
0
6
0
[ 7.07692289352417, -98.46154022216797, 97.71428680419922, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 2.989011287689209, -3.7362594604492188, -3.868133544921875, -0.6593399047851562, -0.4395608901977539, -0.3216954469680786 ]
0.233333
7
0
7
0
[ 7.956043720245361, -98.46154022216797, 97.45054626464844, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 2.285714626312256, -3.7362594604492188, -5.362632751464844, 0.043956756591796875, -0.4395608901977539, -0.3216954469680786 ]
0.266667
8
0
8
0
[ 8.835165023803711, -98.46154022216797, 96.92308044433594, 57.89011001586914, -8.747252464294434, 1.4103424549102783 ]
[ 1.4065933227539062, -3.7362594604492188, -6.857147216796875, 1.4505500793457031, -0.4395608901977539, -0.3216954469680786 ]
0.3
9
0
9
0
[ 9.362637519836426, -98.46154022216797, 95.78022003173828, 57.978023529052734, -8.747252464294434, 1.4103424549102783 ]
[ 0.8791208267211914, -3.7362594604492188, -7.73626708984375, 3.384613037109375, -0.4395608901977539, -0.3216954469680786 ]
0.333333
10
0
10
0
[ 9.538461685180664, -98.46154022216797, 94.37362670898438, 58.593406677246094, -8.747252464294434, 1.4103424549102783 ]
[ 0.7032966613769531, -3.7362594604492188, -8.615386962890625, 4.879119873046875, -0.4395608901977539, -0.3216954469680786 ]
0.366667
11
0
11
0
[ 9.626373291015625, -98.46154022216797, 92.61538696289062, 59.82417678833008, -8.747252464294434, 1.4103424549102783 ]
[ 0.6153850555419922, -3.7362594604492188, -9.23077392578125, 5.934062957763672, -0.4395608901977539, -0.3216954469680786 ]
0.4
12
0
12
0
[ 9.802197456359863, -98.46154022216797, 90.68132019042969, 61.31867980957031, -8.747252464294434, 1.4103424549102783 ]
[ 0.4395608901977539, -3.7362594604492188, -9.670333862304688, 6.5494537353515625, -0.35164833068847656, -0.3216954469680786 ]
0.433333
13
0
13
0
[ 9.802197456359863, -98.46154022216797, 88.65933990478516, 63.16483688354492, -8.747252464294434, 1.4103424549102783 ]
[ 0.6153850555419922, -3.7362594604492188, -9.230766296386719, 6.109889984130859, -0.17582416534423828, -0.3216954469680786 ]
0.466667
14
0
14
0
[ 9.89011001586914, -98.46154022216797, 86.54945373535156, 65.0988998413086, -8.747252464294434, 1.4103424549102783 ]
[ 1.0549449920654297, -3.7362594604492188, -8.087913513183594, 4.263740539550781, 0.5274724960327148, -0.3216954469680786 ]
0.5
15
0
15
0
[ 10.065934181213379, -98.46154022216797, 84.43955993652344, 66.68132019042969, -8.747252464294434, 1.4103424549102783 ]
[ 1.5824174880981445, -3.7362594604492188, -6.769233703613281, 2.76922607421875, 1.230769157409668, -0.3216954469680786 ]
0.533333
16
0
16
0
[ 10.417582511901855, -98.54945373535156, 82.94505310058594, 67.64835357666016, -8.747252464294434, 1.4103424549102783 ]
[ 1.934065818786621, -3.648345947265625, -6.417579650878906, 1.7142868041992188, 1.4945054054260254, -0.3216954469680786 ]
0.566667
17
0
17
0
[ 10.94505500793457, -98.63735961914062, 81.71428680419922, 68.17582702636719, -8.483516693115234, 1.4103424549102783 ]
[ 2.637362480163574, -3.5604400634765625, -6.6813201904296875, 1.1868133544921875, 0.9670333862304688, -0.3216954469680786 ]
0.6
18
0
18
0
[ 11.560439109802246, -98.63735961914062, 80.48351287841797, 68.52747344970703, -8.219779968261719, 1.4103424549102783 ]
[ 3.8681325912475586, -3.5604400634765625, -6.9450531005859375, 0.8351669311523438, 0.7032966613769531, -0.3216954469680786 ]
0.633333
19
0
19
0
[ 12.351648330688477, -98.46154022216797, 79.16483306884766, 68.79120635986328, -8.131868362426758, 1.4103424549102783 ]
[ 5.010988235473633, -3.7362594604492188, -6.9450531005859375, 0.5714340209960938, 0.527472972869873, -0.3216954469680786 ]
0.666667
20
0
20
0
[ 13.582417488098145, -98.46154022216797, 77.67032623291016, 68.87911987304688, -8.131868362426758, 1.4103424549102783 ]
[ 5.626374244689941, -3.7362594604492188, -6.681312561035156, 0.39560699462890625, 0.7032971382141113, -0.3216954469680786 ]
0.7
21
0
21
0
[ 15.252747535705566, -98.46154022216797, 76.35164642333984, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.626374244689941, -3.6483535766601562, -6.593406677246094, 0.3076934814453125, 0.8791213035583496, -0.3216954469680786 ]
0.733333
22
0
22
0
[ 16.923076629638672, -98.46154022216797, 74.94505310058594, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.362638473510742, -3.6483535766601562, -5.978019714355469, 0.21977996826171875, 0.8791213035583496, -0.3216954469680786 ]
0.766667
23
0
23
0
[ 18.593406677246094, -98.46154022216797, 73.71428680419922, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.010988235473633, -3.6483535766601562, -5.450553894042969, -0.21977996826171875, 0.9670333862304688, -0.3216954469680786 ]
0.8
24
0
24
0
[ 20, -98.46154022216797, 72.57142639160156, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.010988235473633, -3.6483535766601562, -4.74725341796875, -0.74725341796875, 0.9670333862304688, -0.3216954469680786 ]
0.833333
25
0
25
0
[ 21.494504928588867, -98.46154022216797, 71.69230651855469, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.010990142822266, -3.6483535766601562, -4.043952941894531, -1.7142868041992188, 0.9670333862304688, -0.3216954469680786 ]
0.866667
26
0
26
0
[ 22.813186645507812, -98.46154022216797, 71.07691955566406, 68.96703338623047, -8.131868362426758, 1.4103424549102783 ]
[ 5.010988235473633, -3.5604400634765625, -3.3406524658203125, -3.0329666137695312, 0.9670333862304688, -0.3216954469680786 ]
0.9
27
0
27
0
[ 24.395605087280273, -98.46154022216797, 70.63735961914062, 68.43955993652344, -8.131868362426758, 1.4103424549102783 ]
[ 4.835165023803711, -3.5604400634765625, -2.7252731323242188, -3.5604400634765625, 0.9670333862304688, -0.3216954469680786 ]
0.933333
28
0
28
0
[ 25.80219841003418, -98.54945373535156, 70.54945373535156, 67.47252655029297, -8.131868362426758, 1.4103424549102783 ]
[ 4.923076629638672, -3.384613037109375, -2.5494537353515625, -3.6483497619628906, 0.9670333862304688, -0.3216954469680786 ]
0.966667
29
0
29
0
[ 27.208791732788086, -98.54945373535156, 70.54945373535156, 66.5934066772461, -8.131868362426758, 1.4103424549102783 ]
[ 4.923074722290039, -3.384613037109375, -2.5494537353515625, -3.5604400634765625, 0.9670333862304688, -0.3216954469680786 ]
1
30
0
30
0
[ 28.615385055541992, -98.54945373535156, 70.46154022216797, 65.71428680419922, -8.131868362426758, 1.4103424549102783 ]
[ 4.483514785766602, -3.384613037109375, -2.2857131958007812, -3.3846168518066406, 0.9670333862304688, -0.3216954469680786 ]
1.033333
31
0
31
0
[ 30.10988998413086, -98.54945373535156, 70.37362670898438, 64.83516693115234, -8.131868362426758, 1.4103424549102783 ]
[ 3.7802200317382812, -3.384613037109375, -1.4945068359375, -3.2087936401367188, 0.9670333862304688, -0.3216954469680786 ]
1.066667
32
0
32
0
[ 31.340660095214844, -98.54945373535156, 70.37362670898438, 64.13186645507812, -8.131868362426758, 1.4103424549102783 ]
[ 2.9890098571777344, -3.384613037109375, -0.5274734497070312, -3.4725265502929688, 0.9670333862304688, -0.2439349889755249 ]
1.1
33
0
33
0
[ 32.30769348144531, -98.54945373535156, 70.37362670898438, 63.42856979370117, -8.131868362426758, 1.4103424549102783 ]
[ 2.1977996826171875, -3.384613037109375, 0.5274734497070312, -4, 1.142857551574707, -0.2439349889755249 ]
1.133333
34
0
34
0
[ 33.010990142822266, -98.54945373535156, 70.54945373535156, 62.46154022216797, -8.131868362426758, 1.4103424549102783 ]
[ 1.8461532592773438, -3.2966995239257812, 0.9670333862304688, -4.087913513183594, 2.285714626312256, -0.2439349889755249 ]
1.166667
35
0
35
0
[ 33.4505500793457, -98.54945373535156, 71.16483306884766, 61.31867980957031, -8.04395580291748, 1.4103424549102783 ]
[ 2.0219764709472656, -3.2966995239257812, 0.7912139892578125, -3.6483497619628906, 3.5164833068847656, -0.2439349889755249 ]
1.2
36
0
36
0
[ 33.89011001586914, -98.46154022216797, 71.78022003173828, 60.35165023803711, -7.340659141540527, 1.4103424549102783 ]
[ 2.2857131958007812, -3.384613037109375, 0.35164642333984375, -3.032970428466797, 3.780219554901123, -0.2439349889755249 ]
1.233333
37
0
37
0
[ 34.5054931640625, -98.28571319580078, 72.04395294189453, 59.56044006347656, -6.285714149475098, 1.4103424549102783 ]
[ 2.4615402221679688, -3.4725265502929688, 0.26374053955078125, -2.1538467407226562, 2.9010987281799316, -0.2439349889755249 ]
1.266667
38
0
38
0
[ 35.20878982543945, -98.54945373535156, 72.30769348144531, 59.120880126953125, -5.318681240081787, 1.4103424549102783 ]
[ 2.0219802856445312, -3.2087860107421875, 0.08791351318359375, -1.626373291015625, 1.934065818786621, -0.2439349889755249 ]
1.3
39
0
39
0
[ 35.82417678833008, -98.54945373535156, 72.30769348144531, 58.94505310058594, -4.9670329093933105, 1.4103424549102783 ]
[ 1.6703300476074219, -3.2087860107421875, 0.08791351318359375, -1.4505462646484375, 1.5824174880981445, -0.2439349889755249 ]
1.333333
40
0
40
0
[ 36.43955993652344, -98.46154022216797, 72.30769348144531, 58.769229888916016, -4.615384578704834, 1.4103424549102783 ]
[ 1.0549468994140625, -3.2966995239257812, 0.08791351318359375, -1.2747230529785156, 1.230769157409668, -0.2439349889755249 ]
1.366667
41
0
41
0
[ 36.879119873046875, -98.46154022216797, 72.30769348144531, 58.593406677246094, -4.439560413360596, 1.4103424549102783 ]
[ 0.7032966613769531, -3.2966995239257812, 0.08791351318359375, -1.0988998413085938, 1.0549449920654297, -0.2439349889755249 ]
1.4
42
0
42
0
[ 37.05494689941406, -98.54945373535156, 72.30769348144531, 58.593406677246094, -4.263736248016357, 1.4103424549102783 ]
[ 0.5274696350097656, -3.2087860107421875, 0, -1.0109901428222656, 0.8791208267211914, -0.2439349889755249 ]
1.433333
43
0
43
0
[ 37.05494689941406, -98.54945373535156, 72.30769348144531, 58.593406677246094, -4.263736248016357, 1.4103424549102783 ]
[ 0.5274696350097656, -3.2087860107421875, -0.26374053955078125, -0.6593399047851562, 0.8791208267211914, -0.2439349889755249 ]
1.466667
44
0
44
0
[ 37.05494689941406, -98.54945373535156, 72.30769348144531, 58.593406677246094, -4.263736248016357, 1.4103424549102783 ]
[ 0.6153831481933594, -3.2087860107421875, -1.23077392578125, -0.131866455078125, 0.8791208267211914, -0.2439349889755249 ]
1.5
45
0
45
0
[ 37.14285659790039, -98.54945373535156, 72.30769348144531, 58.593406677246094, -4.263736248016357, 1.4103424549102783 ]
[ 0.5274734497070312, -3.1208724975585938, -2.989013671875, 1.0109901428222656, 0.8791208267211914, -0.2439349889755249 ]
1.533333
46
0
46
0
[ 37.230770111083984, -98.54945373535156, 72.30769348144531, 58.593406677246094, -4.263736248016357, 1.4103424549102783 ]
[ 0.4395599365234375, -2.8571395874023438, -4.835166931152344, 2.6813201904296875, 0.8791208267211914, -0.2439349889755249 ]
1.566667
47
0
47
0
[ 37.31867980957031, -98.54945373535156, 72.04395294189453, 59.03296661376953, -4.263736248016357, 1.4103424549102783 ]
[ 0.3516502380371094, -1.890106201171875, -6.5054931640625, 4.351650238037109, 0.8791208267211914, -0.2439349889755249 ]
1.6
48
0
48
0
[ 37.406593322753906, -98.28571319580078, 71.07691955566406, 60.087913513183594, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, -0.74725341796875, -7.472522735595703, 5.406593322753906, 0.8791208267211914, -0.2439349889755249 ]
1.633333
49
0
49
0
[ 37.58241653442383, -98.37362670898438, 69.5824203491211, 61.4945068359375, -4.263736248016357, 1.4103424549102783 ]
[ -0.08790969848632812, 1.362640380859375, -7.648353576660156, 5.846153259277344, 0.8791208267211914, -0.2439349889755249 ]
1.666667
50
0
50
0
[ 37.58241653442383, -98.46154022216797, 67.9120864868164, 63.25274658203125, -4.263736248016357, 1.4103424549102783 ]
[ -0.2637367248535156, 3.8241806030273438, -7.560436248779297, 5.142860412597656, 0.8791208267211914, -0.2439349889755249 ]
1.7
51
0
51
0
[ 37.58241653442383, -98.02198028564453, 66.24176025390625, 65.010986328125, -4.263736248016357, 1.4103424549102783 ]
[ -0.2637367248535156, 6.021980285644531, -7.208793640136719, 3.6483535766601562, 0.7912087440490723, -0.2439349889755249 ]
1.733333
52
0
52
0
[ 37.406593322753906, -96.87911987304688, 64.57142639160156, 66.32967376708984, -4.263736248016357, 1.4103424549102783 ]
[ -0.08791351318359375, 7.6923065185546875, -6.857139587402344, 2.153839111328125, 0.7912087440490723, -0.2439349889755249 ]
1.766667
53
0
53
0
[ 37.406593322753906, -95.03296661376953, 63.07692337036133, 67.03296661376953, -4.263736248016357, 1.4103424549102783 ]
[ -0.08791351318359375, 8.659339904785156, -6.945056915283203, 1.362640380859375, 0.7912087440490723, -0.2439349889755249 ]
1.8
54
0
54
0
[ 37.406593322753906, -92.74725341796875, 61.758243560791016, 67.47252655029297, -4.263736248016357, 1.4103424549102783 ]
[ -0.08791351318359375, 9.186813354492188, -7.208793640136719, 0.9230804443359375, 0.7032966613769531, -0.2439349889755249 ]
1.833333
55
0
55
0
[ 37.406593322753906, -90.28571319580078, 60.17582321166992, 67.73626708984375, -4.263736248016357, 1.4103424549102783 ]
[ -0.08791351318359375, 9.538459777832031, -7.208789825439453, 0.6593399047851562, 0.7032966613769531, -0.2439349889755249 ]
1.866667
56
0
56
0
[ 37.4945068359375, -87.9120864868164, 58.68132019042969, 68, -4.263736248016357, 1.4103424549102783 ]
[ -0.1758270263671875, 9.626373291015625, -7.032970428466797, 0.3076934814453125, 0.7032966613769531, -0.3216954469680786 ]
1.9
57
0
57
0
[ 37.4945068359375, -85.27472686767578, 57.098899841308594, 68, -4.263736248016357, 1.4103424549102783 ]
[ -0.08791351318359375, 9.098899841308594, -6.593406677246094, -0.131866455078125, 0.7032966613769531, -0.3216954469680786 ]
1.933333
58
0
58
0
[ 37.4945068359375, -82.46154022216797, 55.69230651855469, 68, -4.263736248016357, 1.4103424549102783 ]
[ 0, 8.307693481445312, -5.978019714355469, -0.74725341796875, 0.7032966613769531, -0.3216954469680786 ]
1.966667
59
0
59
0
[ 37.406593322753906, -79.9120864868164, 54.373626708984375, 68, -4.263736248016357, 1.4103424549102783 ]
[ 0.08791351318359375, 7.604393005371094, -5.1868133544921875, -1.362640380859375, 0.7032966613769531, -0.3216954469680786 ]
2
60
0
60
0
[ 37.406593322753906, -77.62637329101562, 53.31867980957031, 67.9120864868164, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, 6.725273132324219, -4.307689666748047, -1.9780197143554688, 0.7912087440490723, -0.3216954469680786 ]
2.033333
61
0
61
0
[ 37.406593322753906, -75.42857360839844, 52.61538314819336, 67.56044006347656, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, 5.4945068359375, -3.6923065185546875, -2.0659332275390625, 0.7912087440490723, -0.3216954469680786 ]
2.066667
62
0
62
0
[ 37.4945068359375, -73.4945068359375, 52.087913513183594, 67.12088012695312, -4.263736248016357, 1.4103424549102783 ]
[ 0.08790969848632812, 4.263740539550781, -3.164836883544922, -2.0659332275390625, 0.8791208267211914, -0.3216954469680786 ]
2.1
63
0
63
0
[ 37.4945068359375, -72.17582702636719, 51.82417678833008, 66.68132019042969, -4.263736248016357, 1.4103424549102783 ]
[ 0.08790969848632812, 3.4725265502929688, -2.7252769470214844, -2.4175872802734375, 0.8791208267211914, -0.3216954469680786 ]
2.133333
64
0
64
0
[ 37.4945068359375, -71.03296661376953, 51.64834976196289, 66.24176025390625, -4.263736248016357, 1.4103424549102783 ]
[ 0.08790969848632812, 2.5054931640625, -2.549449920654297, -2.3296737670898438, 0.8791208267211914, -0.3216954469680786 ]
2.166667
65
0
65
0
[ 37.4945068359375, -70.15384674072266, 51.64834976196289, 65.62637329101562, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 1.7142868041992188, -2.461536407470703, -1.8021965026855469, 0.7912087440490723, -0.3216954469680786 ]
2.2
66
0
66
0
[ 37.4945068359375, -69.53845977783203, 51.64834976196289, 65.27472686767578, -4.263736248016357, 1.4103424549102783 ]
[ 1.2307662963867188, 1.010986328125, -2.461536407470703, -1.4505500793457031, 0.7912087440490723, -0.3216954469680786 ]
2.233333
67
0
67
0
[ 37.4945068359375, -69.18681335449219, 51.64834976196289, 65.18681335449219, -4.263736248016357, 1.4103424549102783 ]
[ 2.7252731323242188, 0.6593399047851562, -2.461536407470703, -1.626373291015625, 0.7032966613769531, -0.3216954469680786 ]
2.266667
68
0
68
0
[ 37.93406677246094, -69.010986328125, 51.64834976196289, 65.0988998413086, -4.263736248016357, 1.4103424549102783 ]
[ 3.5164833068847656, 0.48351287841796875, -2.461536407470703, -2.0659332275390625, 0.7032966613769531, -0.2439349889755249 ]
2.3
69
0
69
0
[ 38.901100158691406, -68.92308044433594, 51.64834976196289, 64.74725341796875, -4.263736248016357, 1.4103424549102783 ]
[ 3.5164833068847656, 0.39560699462890625, -2.461536407470703, -2.945056915283203, 0.7032966613769531, -0.2439349889755249 ]
2.333333
70
0
70
0
[ 39.868133544921875, -68.92308044433594, 51.64834976196289, 64.30769348144531, -4.263736248016357, 1.4103424549102783 ]
[ 3.5164833068847656, 0.5714340209960938, -2.461536407470703, -3.6483535766601562, 0.7032966613769531, -0.2439349889755249 ]
2.366667
71
0
71
0
[ 41.010990142822266, -68.92308044433594, 51.64834976196289, 63.42856979370117, -4.263736248016357, 1.4103424549102783 ]
[ 3.5164833068847656, 0.6593475341796875, -2.3736228942871094, -4, 0.7032966613769531, -0.2439349889755249 ]
2.4
72
0
72
0
[ 42.06593322753906, -68.74725341796875, 51.64834976196289, 62.373626708984375, -4.263736248016357, 1.4103424549102783 ]
[ 3.868133544921875, 0.5714263916015625, -2.3736228942871094, -4.351650238037109, 0.7032966613769531, -0.2439349889755249 ]
2.433333
73
0
73
0
[ 42.94505310058594, -68.57142639160156, 51.64834976196289, 61.406593322753906, -4.263736248016357, 1.4103424549102783 ]
[ 4.395606994628906, 0.48351287841796875, -1.75823974609375, -5.054943084716797, 0.7032966613769531, -0.2439349889755249 ]
2.466667
74
0
74
0
[ 44.17582321166992, -68.3956069946289, 51.64834976196289, 60.17582321166992, -4.263736248016357, 1.4103424549102783 ]
[ 4.131870269775391, 0.3076934814453125, -0.7032966613769531, -5.406593322753906, 0.615384578704834, -0.2439349889755249 ]
2.5
75
0
75
0
[ 45.406593322753906, -68.3956069946289, 51.64834976196289, 58.85714340209961, -4.263736248016357, 1.4103424549102783 ]
[ 3.428569793701172, 0.3076934814453125, 0.4395637512207031, -5.0549468994140625, 0.615384578704834, -0.2439349889755249 ]
2.533333
76
0
76
0
[ 46.63736343383789, -68.3956069946289, 51.736263275146484, 57.27472686767578, -4.263736248016357, 1.4103424549102783 ]
[ 2.2857131958007812, 0.3076934814453125, 1.3186836242675781, -3.824176788330078, 0.615384578704834, -0.2439349889755249 ]
2.566667
77
0
77
0
[ 47.60439682006836, -68.3956069946289, 52.35165023803711, 56.0439567565918, -4.263736248016357, 1.4103424549102783 ]
[ 1.3186798095703125, 0.3076934814453125, 1.6703262329101562, -2.6813201904296875, 0.615384578704834, -0.2439349889755249 ]
2.6
78
0
78
0
[ 48.0439567565918, -68.3956069946289, 53.05494689941406, 55.25274658203125, -4.263736248016357, 1.4103424549102783 ]
[ 1.0549430847167969, 0.3076934814453125, 1.5824165344238281, -2.0659332275390625, 0.615384578704834, -0.2439349889755249 ]
2.633333
79
0
79
0
[ 48.21977996826172, -68.3956069946289, 53.93406677246094, 54.901100158691406, -4.263736248016357, 1.4103424549102783 ]
[ 0.9670333862304688, 0.3076934814453125, 0.879119873046875, -1.7142868041992188, 0.615384578704834, -0.2439349889755249 ]
2.666667
80
0
80
0
[ 48.30769348144531, -68.3956069946289, 54.63736343383789, 54.63736343383789, -4.263736248016357, 1.4103424549102783 ]
[ 0.9670333862304688, 0.3076934814453125, 0.2637367248535156, -1.4505500793457031, 0.615384578704834, -0.2439349889755249 ]
2.7
81
0
81
0
[ 48.659339904785156, -68.30769348144531, 54.901100158691406, 54.5494499206543, -4.263736248016357, 1.4103424549102783 ]
[ 0.615386962890625, 0.21977996826171875, 0.17582321166992188, -1.3626365661621094, 0.7032966613769531, -0.2439349889755249 ]
2.733333
82
0
82
0
[ 48.83516311645508, -68.30769348144531, 54.901100158691406, 54.373626708984375, -4.263736248016357, 1.4103424549102783 ]
[ 0.4395637512207031, 0.21977996826171875, 0.17582321166992188, -1.1868133544921875, 0.7912087440490723, -0.2439349889755249 ]
2.766667
83
0
83
0
[ 49.010990142822266, -68.3956069946289, 55.16483688354492, 54.373626708984375, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 0.3076934814453125, 0, -1.1868133544921875, 0.8791208267211914, -0.2439349889755249 ]
2.8
84
0
84
0
[ 49.010990142822266, -68.30769348144531, 55.340660095214844, 54.373626708984375, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 0.3076934814453125, -0.17582321166992188, -1.4505500793457031, 0.9670329093933105, -0.2439349889755249 ]
2.833333
85
0
85
0
[ 48.83516311645508, -68.21977996826172, 55.42856979370117, 54.373626708984375, -4.263736248016357, 1.4103424549102783 ]
[ 0.4395637512207031, 0.21977996826171875, -0.26373291015625, -1.9780235290527344, 0.9670329093933105, -0.2439349889755249 ]
2.866667
86
0
86
0
[ 48.83516311645508, -68.21977996826172, 55.42856979370117, 54.10988998413086, -4.263736248016357, 1.4103424549102783 ]
[ 0.615386962890625, 0.39560699462890625, -0.26373291015625, -2.329669952392578, 0.8791208267211914, -0.2439349889755249 ]
2.9
87
0
87
0
[ 48.83516311645508, -68.21977996826172, 55.42856979370117, 53.67033004760742, -4.263736248016357, 1.4103424549102783 ]
[ 0.615386962890625, 0.9230804443359375, -0.17582321166992188, -2.6813201904296875, 0.7912087440490723, -0.2439349889755249 ]
2.933333
88
0
88
0
[ 48.83516311645508, -68.13186645507812, 55.42856979370117, 53.14285659790039, -4.263736248016357, 1.4103424549102783 ]
[ 0.615386962890625, 1.9780197143554688, 0.1758270263671875, -2.8571434020996094, 0.7032966613769531, -0.2439349889755249 ]
2.966667
89
0
89
0
[ 49.010990142822266, -67.78022003173828, 55.42856979370117, 52.52747344970703, -4.263736248016357, 1.4103424549102783 ]
[ 0.4395599365234375, 3.2087936401367188, 0.3516502380371094, -3.120880126953125, 0.7032966613769531, -0.2439349889755249 ]
3
90
0
90
0
[ 49.098899841308594, -67.07691955566406, 55.69230651855469, 51.736263275146484, -4.263736248016357, 1.4103424549102783 ]
[ 0.3516502380371094, 4.351646423339844, -0.17582321166992188, -3.824176788330078, 0.7032966613769531, -0.2439349889755249 ]
3.033333
91
0
91
0
[ 49.098899841308594, -65.84615325927734, 55.9560432434082, 50.94505310058594, -4.263736248016357, 1.4103424549102783 ]
[ 0.3516502380371094, 4.967033386230469, -0.9670333862304688, -4.879119873046875, 0.7032966613769531, -0.2439349889755249 ]
3.066667
92
0
92
0
[ 49.098899841308594, -64.35164642333984, 55.9560432434082, 49.89011001586914, -4.263736248016357, 1.4103424549102783 ]
[ 0.3516502380371094, 5.582416534423828, -1.75823974609375, -4.967033386230469, 0.7032966613769531, -0.2439349889755249 ]
3.1
93
0
93
0
[ 49.18681335449219, -62.85714340209961, 55.9560432434082, 48.39560317993164, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 6.197803497314453, -2.7252731323242188, -3.4725265502929688, 0.7032966613769531, -0.2439349889755249 ]
3.133333
94
0
94
0
[ 49.18681335449219, -61.098899841308594, 55.868133544921875, 47.25274658203125, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 6.549449920654297, -3.6043968200683594, -1.5384597778320312, 0.7912087440490723, -0.2439349889755249 ]
3.166667
95
0
95
0
[ 49.18681335449219, -59.07692337036133, 55.69230651855469, 46.72527313232422, -4.263736248016357, 1.4103424549102783 ]
[ 0.2637367248535156, 6.373626708984375, -4.395603179931641, -0.21977996826171875, 0.8791208267211914, -0.2439349889755249 ]
3.2
96
0
96
0
[ 49.18681335449219, -57.05494689941406, 55.340660095214844, 46.72527313232422, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, 6.109893798828125, -5.098903656005859, 0.13187026977539062, 0.8791208267211914, -0.2439349889755249 ]
3.233333
97
0
97
0
[ 49.18681335449219, -55.20878982543945, 54.72527313232422, 46.72527313232422, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, 6.109889984130859, -5.4505462646484375, 0.13187026977539062, 0.8791208267211914, -0.2439349889755249 ]
3.266667
98
0
98
0
[ 49.18681335449219, -53.27472686767578, 53.846153259277344, 46.901100158691406, -4.263736248016357, 1.4103424549102783 ]
[ 0.17582321166992188, 5.758243560791016, -5.450550079345703, -0.13187026977539062, 0.8791208267211914, -0.2439349889755249 ]
3.3
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",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "state"
            ]
        },
        "observation.images.front": {
            "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": 30,
                "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.wrist": {
            "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": 30,
                "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
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "action"
            ]
        },
        "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": 50,
    "total_frames": 23985,
    "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": "so101",
    "splits": {
        "train": "0:50"
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
59
License:
apache-2.0
Number of rows:
23,985
Total file size:
345 MB

Models trained or fine-tuned on junshin02/so101_pickplace_v2trim_delta