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Datasets:
justintiensmith
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rollout_vla0_Ordinal_Reference_Ordering

Tasks:
Robotics
Modalities:
Tabular
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Formats:
parquet
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< 1K
Tags:
LeRobot
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action
list
observation.state
list
timestamp
float32
0
4.8
frame_index
int64
0
48
episode_index
int64
0
3
index
int64
0
80
task_index
int64
0
3
[ -9.124921798706055, -97.81766510009766, 96.60475158691406, 72.27149200439453, -96.9723129272461, 7.166923999786377 ]
[ -9.186813354492188, -99.64835357666016, 96.65933990478516, 74.10989379882812, -92, 6.3276166915893555 ]
0
0
0
0
0
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[ -9.186813354492188, -99.12088012695312, 96.65933990478516, 73.75823974609375, -92.43955993652344, 6.682436466217041 ]
0
0
1
1
1
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0
0
2
2
2
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0.1
1
2
3
2
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0.2
2
2
4
2
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[ -9.186813354492188, -99.12088012695312, 96.65933990478516, 74.28571319580078, -93.05494689941406, 6.918982982635498 ]
0.3
3
2
5
2
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0.4
4
2
6
2
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0.5
5
2
7
2
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0.6
6
2
8
2
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[ -8.923076629638672, -99.12088012695312, 96.65933990478516, 74.28571319580078, -93.23076629638672, 6.918982982635498 ]
0.7
7
2
9
2
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0.8
8
2
10
2
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0.9
9
2
11
2
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1
10
2
12
2
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1.1
11
2
13
2
[ -7.468307018280029, -98.2319107055664, 96.60475158691406, 75.70585632324219, -95.63428497314453, 7.166923999786377 ]
[ -8.659340858459473, -99.12088012695312, 96.65933990478516, 74.72527313232422, -95.07691955566406, 6.918982982635498 ]
1.2
12
2
14
2
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[ -8.659340858459473, -99.12088012695312, 96.65933990478516, 74.72527313232422, -95.07691955566406, 6.918982982635498 ]
1.3
13
2
15
2
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[ -8.659340858459473, -99.12088012695312, 96.65933990478516, 74.72527313232422, -95.07691955566406, 6.918982982635498 ]
1.4
14
2
16
2
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1.5
15
2
17
2
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1.6
16
2
18
2
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1.7
17
2
19
2
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1.8
18
2
20
2
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1.9
19
2
21
2
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2
20
2
22
2
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[ -11.824175834655762, -95.6043930053711, 96.65933990478516, 64.70330047607422, -95.16483306884766, 8.69308090209961 ]
2.1
21
2
23
2
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[ -11.912087440490723, -93.14286041259766, 95.6043930053711, 61.27472686767578, -95.16483306884766, 9.639266967773438 ]
2.2
22
2
24
2
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2.3
23
2
25
2
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2.4
24
2
26
2
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2.5
25
2
27
2
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2.6
26
2
28
2
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2.7
27
2
29
2
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2.8
28
2
30
2
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2.9
29
2
31
2
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3
30
2
32
2
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[ -13.494505882263184, -35.29670333862305, 82.06593322753906, 6.857142925262451, -84.35164642333984, 14.84328842163086 ]
3.1
31
2
33
2
[ -11.491520881652832, -21.597183227539062, 68.0835189819336, -0.2544139325618744, -94.96527862548828, 15.191981315612793 ]
[ -13.318681716918945, -33.626373291015625, 81.62637329101562, 5.1868133544921875, -87.51648712158203, 14.84328842163086 ]
3.2
32
2
34
2
[ -10.781537055969238, -21.597183227539062, 68.0835189819336, -0.2544139325618744, -94.96527862548828, 15.191981315612793 ]
[ -13.494505882263184, -33.53845977783203, 81.53845977783203, 4.747252941131592, -88.57142639160156, 14.84328842163086 ]
3.3
33
2
35
2
[ -10.544880867004395, -21.597183227539062, 68.0835189819336, -0.05239454284310341, -94.96527862548828, 15.191981315612793 ]
[ -12.703296661376953, -30.10988998413086, 78.37362670898438, 2.7252748012542725, -91.82417297363281, 14.84328842163086 ]
3.4
34
2
36
2
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[ -11.384614944458008, -22.813186645507812, 73.010986328125, 1.494505524635315, -93.93406677246094, 14.84328842163086 ]
3.5
35
2
37
2
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[ -11.472527503967285, -21.846153259277344, 73.010986328125, 1.494505524635315, -94.54945373535156, 14.84328842163086 ]
3.6
36
2
38
2
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[ -11.20879077911377, -21.494504928588867, 72.92308044433594, 1.3186813592910767, -94.54945373535156, 14.84328842163086 ]
3.7
37
2
39
2
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[ -11.296703338623047, -18.329669952392578, 69.93406677246094, -0.8791208863258362, -94.10989379882812, 13.128326416015625 ]
3.8
38
2
40
2
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[ -11.296703338623047, -13.406593322753906, 66.5934066772461, -2.2857143878936768, -94.10989379882812, 10.526315689086914 ]
3.9
39
2
41
2
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[ -11.20879077911377, -12.879120826721191, 66.06593322753906, -2.549450635910034, -94.10989379882812, 9.994086265563965 ]
4
40
2
42
2
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[ -11.296703338623047, -12.879120826721191, 65.89010620117188, -2.549450635910034, -94.10989379882812, 9.875813484191895 ]
4.1
41
2
43
2
[ -9.124921798706055, -2.542067766189575, 55.66611099243164, 7.018373966217041, -95.63429260253906, 9.44564437866211 ]
[ -10.593406677246094, -9.802197456359863, 62.989009857177734, -0.4395604431629181, -95.16483306884766, 9.816676139831543 ]
4.2
42
2
44
2
[ -9.124921798706055, -2.7491860389709473, 56.2481689453125, 7.018373966217041, -95.63429260253906, 9.44564437866211 ]
[ -9.626373291015625, -3.8241758346557617, 58.241756439208984, 4.483516693115234, -95.6043930053711, 9.757539749145508 ]
4.3
43
2
45
2
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[ -9.626373291015625, -3.1208791732788086, 57.36263656616211, 5.098901271820068, -95.6043930053711, 9.757539749145508 ]
4.4
44
2
46
2
[ -4.391739845275879, 0.7718666791915894, 52.75578689575195, 12.674988746643066, -98.64484405517578, 9.44564437866211 ]
[ -9.714285850524902, -2.9450550079345703, 57.80219650268555, 6.153846263885498, -95.6043930053711, 9.698403358459473 ]
4.5
45
2
47
2
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[ -8.04395580291748, -1.274725317955017, 56.0439567565918, 8.703296661376953, -97.62637329101562, 9.52099323272705 ]
4.6
46
2
48
2
[ -4.391739845275879, 4.500043869018555, 45.57697296142578, 22.97810935974121, -98.64484405517578, 9.44564437866211 ]
[ -6.725274562835693, 0.21978022158145905, 52.96703338623047, 12.835165023803711, -98.32967376708984, 9.461856842041016 ]
4.7
47
2
49
2
[ 0.3414423167705536, 1.1861153841018677, 48.48729705810547, 28.23068618774414, -96.9723129272461, 9.44564437866211 ]
[ -6.373626232147217, 1.5384615659713745, 49.36263656616211, 17.758241653442383, -98.32967376708984, 9.461856842041016 ]
4.8
48
2
50
2
[ -4.391739845275879, -99.88887786865234, 96.60474395751953, 73.68562316894531, -97.30681610107422, 4.194680213928223 ]
[ -1.9780219793319702, -102.46154022216797, 96.65933990478516, 76.65933990478516, -86.9011001586914, 2.3063275814056396 ]
0
0
3
51
3
[ -4.391739845275879, -99.88887786865234, 96.60474395751953, 74.08967590332031, -97.30681610107422, 4.194680213928223 ]
[ -1.9780219793319702, -102.46154022216797, 96.65933990478516, 76.65933990478516, -86.9011001586914, 2.3063275814056396 ]
0.1
1
3
52
3
[ -4.391739845275879, -99.88887786865234, 96.60474395751953, 74.29169464111328, -97.30681610107422, 4.194680213928223 ]
[ -2.857142925262451, -102.37362670898438, 96.65933990478516, 76.30769348144531, -90.5934066772461, 3.370786428451538 ]
0.2
2
3
53
3
[ -4.391739845275879, -99.88887786865234, 96.60474395751953, 74.29169464111328, -97.30681610107422, 4.194680213928223 ]
[ -3.472527503967285, -101.4945068359375, 96.65933990478516, 75.51648712158203, -95.6043930053711, 3.7256062030792236 ]
0.3
3
3
54
3
[ -4.391739845275879, -99.88887786865234, 96.60474395751953, 71.6654052734375, -99.98285675048828, 4.194680213928223 ]
[ -3.7362637519836426, -101.14286041259766, 96.74725341796875, 75.42857360839844, -96.74725341796875, 3.784742832183838 ]
0.4
4
3
55
3
[ -4.628396034240723, -99.88887786865234, 96.60474395751953, 71.6654052734375, -99.98285675048828, 4.194680213928223 ]
[ -4.087912082672119, -100.79120635986328, 96.74725341796875, 75.07691955566406, -96.92308044433594, 3.784742832183838 ]
0.5
5
3
56
3
[ -4.628396034240723, -99.88887786865234, 96.60474395751953, 71.6654052734375, -99.98285675048828, 4.194680213928223 ]
[ -4.087912082672119, -100.0879135131836, 96.74725341796875, 73.84615325927734, -98.94505310058594, 3.784742832183838 ]
0.6
6
3
57
3
[ -4.628396034240723, -99.88887786865234, 96.60474395751953, 71.6654052734375, -99.98285675048828, 4.194680213928223 ]
[ -4, -99.20879364013672, 96.74725341796875, 73.31867980957031, -99.47252655029297, 3.784742832183838 ]
0.7
7
3
58
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 71.46338653564453, -99.98285675048828, 2.3122591972351074 ]
[ -4.087912082672119, -99.20879364013672, 96.74725341796875, 73.31867980957031, -99.82417297363281, 3.784742832183838 ]
0.8
8
3
59
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 71.46338653564453, -99.98285675048828, 2.3122591972351074 ]
[ -4.087912082672119, -99.20879364013672, 96.74725341796875, 73.31867980957031, -99.82417297363281, 3.784742832183838 ]
0.9
9
3
60
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 71.46338653564453, -99.98285675048828, 2.3122591972351074 ]
[ -4.175824165344238, -98.5054931640625, 96.74725341796875, 73.31867980957031, -99.82417297363281, 3.13424015045166 ]
1
10
3
61
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 71.46338653564453, -99.98285675048828, 2.3122591972351074 ]
[ -4.439560413360596, -95.16483306884766, 96.74725341796875, 72.96703338623047, -99.82417297363281, 2.9568302631378174 ]
1.1
11
3
62
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 66.61486053466797, -99.98285675048828, 4.194680213928223 ]
[ -4.439560413360596, -94.9011001586914, 96.74725341796875, 72.70330047607422, -99.82417297363281, 2.9568302631378174 ]
1.2
12
3
63
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 66.61486053466797, -99.98285675048828, 4.194680213928223 ]
[ -4.439560413360596, -94.54945373535156, 96.74725341796875, 72.35164642333984, -100, 2.9568302631378174 ]
1.3
13
3
64
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 66.61486053466797, -99.98285675048828, 4.194680213928223 ]
[ -4.527472496032715, -94.54945373535156, 96.74725341796875, 70.15384674072266, -100, 3.6664695739746094 ]
1.4
14
3
65
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 66.61486053466797, -99.98285675048828, 4.194680213928223 ]
[ -4.791208744049072, -93.67032623291016, 96.74725341796875, 68.57142639160156, -99.82417297363281, 3.784742832183838 ]
1.5
15
3
66
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 65.4027328491211, -99.98285675048828, 4.194680213928223 ]
[ -4.703296661376953, -92.96703338623047, 96.74725341796875, 68.13186645507812, -99.82417297363281, 3.784742832183838 ]
1.6
16
3
67
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 65.60475158691406, -99.98285675048828, 4.194680213928223 ]
[ -4.703296661376953, -92.96703338623047, 96.74725341796875, 67.86813354492188, -99.82417297363281, 3.784742832183838 ]
1.7
17
3
68
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 65.60475158691406, -99.98285675048828, 4.194680213928223 ]
[ -4.703296661376953, -92.87911987304688, 96.74725341796875, 67.42857360839844, -99.82417297363281, 3.784742832183838 ]
1.8
18
3
69
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 65.60475158691406, -99.98285675048828, 4.194680213928223 ]
[ -4.791208744049072, -92.52747344970703, 96.74725341796875, 67.25274658203125, -99.82417297363281, 3.784742832183838 ]
1.9
19
3
70
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 61.36228561401367, -100.98638153076172, 4.194680213928223 ]
[ -4.791208744049072, -92.52747344970703, 96.74725341796875, 67.25274658203125, -99.82417297363281, 3.784742832183838 ]
2
20
3
71
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 61.56430435180664, -100.98638153076172, 4.194680213928223 ]
[ -4.791208744049072, -92.52747344970703, 96.74725341796875, 67.25274658203125, -99.82417297363281, 3.784742832183838 ]
2.1
21
3
72
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 61.56430435180664, -100.98638153076172, 4.194680213928223 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 64.87911987304688, -100.52747344970703, 3.784742832183838 ]
2.2
22
3
73
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 61.56430435180664, -100.98638153076172, 4.194680213928223 ]
[ -4.703296661376953, -92.26373291015625, 96.74725341796875, 63.47252655029297, -100.79120635986328, 3.784742832183838 ]
2.3
23
3
74
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 59.34206771850586, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 63.47252655029297, -100.79120635986328, 3.784742832183838 ]
2.4
24
3
75
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 59.34206771850586, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 63.38461685180664, -100.79120635986328, 3.784742832183838 ]
2.5
25
3
76
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 59.34206771850586, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 61.89011001586914, -100.79120635986328, 3.784742832183838 ]
2.6
26
3
77
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 59.34206771850586, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 61.18681335449219, -100.79120635986328, 3.784742832183838 ]
2.7
27
3
78
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 57.32184982299805, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 61.098899841308594, -100.79120635986328, 3.784742832183838 ]
2.8
28
3
79
3
[ -5.101716041564941, -92.84676361083984, 96.60474395751953, 57.32184982299805, -100.98638153076172, 4.095605373382568 ]
[ -4.791208744049072, -92.26373291015625, 96.74725341796875, 61.098899841308594, -100.79120635986328, 3.784742832183838 ]
2.9
29
3
80
3

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 10,
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "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": {}
            }
        },
        "observation.images.middle": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "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": {}
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 4,
    "total_frames": 81,
    "total_tasks": 4,
    "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": "so_follower",
    "splits": {
        "train": "0:4"
    }
}

Citation

BibTeX:

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