Hugging Face's logo

Datasets:
mabstruct
/
so101_pick_place_v3_20260821_213834

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
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
18
frame_index
int64
0
541
episode_index
int64
0
29
index
int64
0
13.8k
task_index
int64
0
0
[ -2.065934181213379, -34.241756439208984, 3.296703338623047, -15.736263275146484, -4.703296661376953, 47.4547004699707 ]
[ -11.296703338623047, -44.70329666137695, -46.5494499206543, 56, 23.428571701049805, 41.739131927490234 ]
0
0
0
0
0
[ -2.3296704292297363, -33.89011001586914, 2.4175825119018555, -15.736263275146484, -4.263736248016357, 47.4547004699707 ]
[ -11.296703338623047, -44.70329666137695, -46.373626708984375, 56, 23.340660095214844, 41.89723205566406 ]
0.033333
1
0
1
0
[ -2.3296704292297363, -33.626373291015625, 1.7142857313156128, -15.736263275146484, -3.912087917327881, 47.4547004699707 ]
[ -9.626373291015625, -43.736263275146484, -45.406593322753906, 54.593406677246094, 21.58241844177246, 43.24110794067383 ]
0.066667
2
0
2
0
[ -2.3296704292297363, -33.36263656616211, 0.7472527623176575, -15.736263275146484, -3.7362637519836426, 47.4547004699707 ]
[ -7.07692289352417, -42.153846740722656, -42.5054931640625, 50.72527313232422, 18.329669952392578, 45.21739196777344 ]
0.1
3
0
3
0
[ -2.3296704292297363, -33.27472686767578, -0.3076923191547394, -15.736263275146484, -3.6483516693115234, 47.4547004699707 ]
[ -5.318681240081787, -40.30769348144531, -37.758243560791016, 45.80219650268555, 13.230769157409668, 46.007904052734375 ]
0.133333
4
0
4
0
[ -2.3296704292297363, -33.18681335449219, -1.0109890699386597, -15.736263275146484, -3.7362637519836426, 47.4547004699707 ]
[ -4.439560413360596, -38.28571319580078, -30.10988998413086, 38.769229888916016, 7.956043720245361, 46.32411193847656 ]
0.166667
5
0
5
0
[ -2.4175825119018555, -33.098899841308594, -1.5384615659713745, -15.648351669311523, -4, 47.4547004699707 ]
[ -3.8241758346557617, -35.82417678833008, -21.670330047607422, 30.769229888916016, 3.384615421295166, 46.640316009521484 ]
0.2
6
0
6
0
[ -2.5054945945739746, -33.18681335449219, -1.6263736486434937, -15.384614944458008, -4.175824165344238, 47.4547004699707 ]
[ -3.1208791732788086, -34.06593322753906, -13.934065818786621, 22.593406677246094, 0.3956044018268585, 46.956520080566406 ]
0.233333
7
0
7
0
[ -2.5054945945739746, -33.27472686767578, -1.0989011526107788, -15.296703338623047, -4.175824165344238, 47.4547004699707 ]
[ -2.9450550079345703, -32.57143020629883, -7.780219554901123, 13.978021621704102, -1.0109890699386597, 47.03557205200195 ]
0.266667
8
0
8
0
[ -2.3296704292297363, -33.27472686767578, -0.8351648449897766, -15.384614944458008, -3.912087917327881, 47.4547004699707 ]
[ -2.857142925262451, -31.78022003173828, -3.7362637519836426, 5.97802209854126, -2.065934181213379, 47.03557205200195 ]
0.3
9
0
9
0
[ -2.241758346557617, -33.098899841308594, -0.9230769276618958, -15.560439109802246, -3.912087917327881, 47.4547004699707 ]
[ -2.769230842590332, -31.516483306884766, -2.3296704292297363, -0.6153846383094788, -2.681318759918213, 47.19367599487305 ]
0.333333
10
0
10
0
[ -2.153846263885498, -32.83516311645508, -1.186813235282898, -15.560439109802246, -4.087912082672119, 47.4547004699707 ]
[ -2.769230842590332, -32.0439567565918, -1.5384615659713745, -6.153846263885498, -2.9450550079345703, 47.19367599487305 ]
0.366667
11
0
11
0
[ -2.065934181213379, -32.74725341796875, -1.4505494832992554, -15.560439109802246, -4.087912082672119, 47.4547004699707 ]
[ -2.857142925262451, -32.74725341796875, -1.3626374006271362, -9.670330047607422, -3.2087912559509277, 47.272727966308594 ]
0.4
12
0
12
0
[ -2.065934181213379, -32.659339904785156, -1.890109896659851, -15.120879173278809, -4.087912082672119, 47.4547004699707 ]
[ -2.681318759918213, -32.92307662963867, -1.4505494832992554, -11.692307472229004, -3.472527503967285, 47.35177993774414 ]
0.433333
13
0
13
0
[ -2.241758346557617, -32.659339904785156, -2.681318759918213, -14.593406677246094, -4.087912082672119, 47.4547004699707 ]
[ -2.681318759918213, -32.92307662963867, -1.4505494832992554, -12.835165023803711, -3.6483516693115234, 47.35177993774414 ]
0.466667
14
0
14
0
[ -2.5054945945739746, -32.659339904785156, -3.296703338623047, -14.15384578704834, -4.175824165344238, 47.4547004699707 ]
[ -2.5934066772460938, -32.21977996826172, -1.3626374006271362, -13.362637519836426, -3.8241758346557617, 47.35177993774414 ]
0.5
15
0
15
0
[ -2.769230842590332, -32.659339904785156, -3.472527503967285, -14.15384578704834, -4.175824165344238, 47.4547004699707 ]
[ -2.3296704292297363, -31.78022003173828, -1.186813235282898, -13.450549125671387, -3.912087917327881, 47.19367599487305 ]
0.533333
16
0
16
0
[ -2.9450550079345703, -32.659339904785156, -3.5604395866394043, -14.15384578704834, -4.175824165344238, 47.4547004699707 ]
[ -2.3296704292297363, -31.69230842590332, -1.0989011526107788, -13.450549125671387, -4, 47.19367599487305 ]
0.566667
17
0
17
0
[ -3.1208791732788086, -32.659339904785156, -3.5604395866394043, -14.15384578704834, -4, 47.4547004699707 ]
[ -2.3296704292297363, -31.78022003173828, -1.186813235282898, -13.450549125671387, -4, 47.19367599487305 ]
0.6
18
0
18
0
[ -3.2087912559509277, -32.659339904785156, -3.5604395866394043, -14.15384578704834, -3.7362637519836426, 47.4547004699707 ]
[ -2.3296704292297363, -32.131866455078125, -1.3626374006271362, -13.450549125671387, -4, 47.19367599487305 ]
0.633333
19
0
19
0
[ -3.296703338623047, -32.659339904785156, -3.912087917327881, -14.15384578704834, -3.6483516693115234, 47.4547004699707 ]
[ -2.769230842590332, -32.30769348144531, -1.4505494832992554, -13.450549125671387, -4, 47.35177993774414 ]
0.666667
20
0
20
0
[ -3.472527503967285, -32.57143020629883, -4.615384578704834, -13.802197456359863, -3.6483516693115234, 47.4547004699707 ]
[ -3.0329670906066895, -32.21977996826172, -1.4505494832992554, -13.450549125671387, -3.912087917327881, 47.35177993774414 ]
0.7
21
0
21
0
[ -3.7362637519836426, -32.57143020629883, -5.318681240081787, -13.362637519836426, -3.6483516693115234, 47.4547004699707 ]
[ -3.2087912559509277, -32.0439567565918, -1.5384615659713745, -13.450549125671387, -3.912087917327881, 47.19367599487305 ]
0.733333
22
0
22
0
[ -3.912087917327881, -32.57143020629883, -5.670329570770264, -13.362637519836426, -3.6483516693115234, 47.4547004699707 ]
[ -3.2087912559509277, -31.868131637573242, -1.5384615659713745, -13.450549125671387, -3.912087917327881, 47.19367599487305 ]
0.766667
23
0
23
0
[ -4, -32.659339904785156, -6.02197790145874, -13.362637519836426, -3.6483516693115234, 47.4547004699707 ]
[ -3.2087912559509277, -31.868131637573242, -1.802197813987732, -13.362637519836426, -3.912087917327881, 47.19367599487305 ]
0.8
24
0
24
0
[ -4.351648330688477, -32.659339904785156, -6.8131866455078125, -13.01098918914795, -3.6483516693115234, 47.3684196472168 ]
[ -3.296703338623047, -31.956043243408203, -2.153846263885498, -13.362637519836426, -4, 47.19367599487305 ]
0.833333
25
0
25
0
[ -4.703296661376953, -32.659339904785156, -8.04395580291748, -12.571428298950195, -3.6483516693115234, 47.3684196472168 ]
[ -3.472527503967285, -32.0439567565918, -2.681318759918213, -13.362637519836426, -4, 47.19367599487305 ]
0.866667
26
0
26
0
[ -5.05494499206543, -32.57143020629883, -9.538461685180664, -12.04395580291748, -3.296703338623047, 47.3684196472168 ]
[ -3.7362637519836426, -32.0439567565918, -3.5604395866394043, -13.362637519836426, -4, 47.19367599487305 ]
0.9
27
0
27
0
[ -5.758241653442383, -32.483516693115234, -12.175824165344238, -11.604395866394043, -3.1208791732788086, 47.28213882446289 ]
[ -4.351648330688477, -32.0439567565918, -4.439560413360596, -13.186813354492188, -4, 47.19367599487305 ]
0.933333
28
0
28
0
[ -6.8131866455078125, -32.483516693115234, -15.252747535705566, -10.10988998413086, -2.9450550079345703, 47.28213882446289 ]
[ -4.791208744049072, -31.956043243408203, -5.494505405426025, -12.747252464294434, -3.7362637519836426, 47.19367599487305 ]
0.966667
29
0
29
0
[ -8.131868362426758, -32.483516693115234, -18.505495071411133, -8.087912559509277, -2.5934066772460938, 47.28213882446289 ]
[ -5.142857074737549, -31.956043243408203, -7.07692289352417, -12.219779968261719, -3.6483516693115234, 47.19367599487305 ]
1
30
0
30
0
[ -9.626373291015625, -32.659339904785156, -20.791208267211914, -6.4175825119018555, -2.065934181213379, 47.3684196472168 ]
[ -5.670329570770264, -31.956043243408203, -9.186813354492188, -11.516483306884766, -3.384615421295166, 47.19367599487305 ]
1.033333
31
0
31
0
[ -10.94505500793457, -33.098899841308594, -22.0219783782959, -5.362637519836426, -1.9780219793319702, 47.3684196472168 ]
[ -6.725274562835693, -31.956043243408203, -11.912087440490723, -10.021978378295898, -3.1208791732788086, 47.19367599487305 ]
1.066667
32
0
32
0
[ -12.175824165344238, -33.80219650268555, -22.10988998413086, -4.92307710647583, -1.7142857313156128, 47.3684196472168 ]
[ -7.868131637573242, -32.0439567565918, -14.637362480163574, -8.439560890197754, -2.769230842590332, 47.19367599487305 ]
1.1
33
0
33
0
[ -12.967033386230469, -34.41758346557617, -21.58241844177246, -4.395604610443115, -1.4505494832992554, 47.4547004699707 ]
[ -9.186813354492188, -32.131866455078125, -16.923076629638672, -7.208791255950928, -2.5054945945739746, 47.19367599487305 ]
1.133333
34
0
34
0
[ -13.230769157409668, -35.20878982543945, -20, -4.219780445098877, -1.3626374006271362, 47.540985107421875 ]
[ -10.681318283081055, -32.483516693115234, -18.153846740722656, -6.241758346557617, -2.153846263885498, 47.19367599487305 ]
1.166667
35
0
35
0
[ -13.230769157409668, -35.82417678833008, -17.538461685180664, -4.659340858459473, -1.0989011526107788, 47.540985107421875 ]
[ -11.648351669311523, -33.010990142822266, -18.681318283081055, -5.538461685180664, -1.802197813987732, 47.272727966308594 ]
1.2
36
0
36
0
[ -12.439560890197754, -36.17582321166992, -14.98901081085205, -5.97802209854126, -0.8351648449897766, 47.540985107421875 ]
[ -12.351648330688477, -33.626373291015625, -18.681318283081055, -5.1868133544921875, -1.6263736486434937, 47.272727966308594 ]
1.233333
37
0
37
0
[ -11.472527503967285, -36.263736724853516, -12.79120922088623, -7.560439586639404, -0.6593406796455383, 47.540985107421875 ]
[ -12.527472496032715, -34.241756439208984, -17.80219841003418, -5.098901271820068, -1.6263736486434937, 47.272727966308594 ]
1.266667
38
0
38
0
[ -10.593406677246094, -36.17582321166992, -11.736263275146484, -7.824175834655762, -0.48351648449897766, 47.540985107421875 ]
[ -12.351648330688477, -34.769229888916016, -16.30769157409668, -5.274725437164307, -1.5384615659713745, 47.272727966308594 ]
1.3
39
0
39
0
[ -9.626373291015625, -36.17582321166992, -10.769230842590332, -7.560439586639404, -0.6593406796455383, 47.540985107421875 ]
[ -11.912087440490723, -35.03296661376953, -14.637362480163574, -6.065934181213379, -1.274725317955017, 47.35177993774414 ]
1.333333
40
0
40
0
[ -8.483516693115234, -36.17582321166992, -9.09890079498291, -7.208791255950928, -1.0989011526107788, 47.540985107421875 ]
[ -11.384614944458008, -35.03296661376953, -13.05494499206543, -6.505494594573975, -1.0109890699386597, 47.35177993774414 ]
1.366667
41
0
41
0
[ -6.901098728179932, -36.43955993652344, -6.373626232147217, -6.857142925262451, -1.274725317955017, 47.540985107421875 ]
[ -10.769230842590332, -34.94505310058594, -11.736263275146484, -6.505494594573975, -1.0109890699386597, 47.272727966308594 ]
1.4
42
0
42
0
[ -4.879120826721191, -36.52747344970703, -3.296703338623047, -7.0329670906066895, -1.3626374006271362, 47.540985107421875 ]
[ -9.89011001586914, -34.94505310058594, -10.241758346557617, -6.505494594573975, -0.9230769276618958, 47.19367599487305 ]
1.433333
43
0
43
0
[ -2.9450550079345703, -36.61538314819336, -0.3956044018268585, -7.560439586639404, -1.3626374006271362, 47.540985107421875 ]
[ -8.659340858459473, -34.94505310058594, -8.395604133605957, -6.505494594573975, -0.9230769276618958, 47.19367599487305 ]
1.466667
44
0
44
0
[ -1.0989011526107788, -36.61538314819336, 1.274725317955017, -7.736263751983643, -0.9230769276618958, 47.540985107421875 ]
[ -7.164834976196289, -35.03296661376953, -6.109889984130859, -6.505494594573975, -0.9230769276618958, 47.19367599487305 ]
1.5
45
0
45
0
[ 0.5714285969734192, -36.96703338623047, 2.065934181213379, -7.472527503967285, -0.7472527623176575, 47.540985107421875 ]
[ -5.5824174880981445, -35.120880126953125, -3.5604395866394043, -6.681318759918213, -0.9230769276618958, 47.19367599487305 ]
1.533333
46
0
46
0
[ 1.802197813987732, -37.67033004760742, 2.153846263885498, -5.97802209854126, -0.8351648449897766, 47.28213882446289 ]
[ -3.7362637519836426, -35.20878982543945, -1.0109890699386597, -6.681318759918213, -0.8351648449897766, 47.19367599487305 ]
1.566667
47
0
47
0
[ 2.4175825119018555, -38.19780349731445, 1.186813235282898, -3.9560439586639404, -1.3626374006271362, 47.10957717895508 ]
[ -2.065934181213379, -35.03296661376953, 0.7472527623176575, -6.681318759918213, -0.8351648449897766, 47.19367599487305 ]
1.6
48
0
48
0
[ 2.769230842590332, -38.46154022216797, -0.04395604506134987, -2.1978023052215576, -2.153846263885498, 47.10957717895508 ]
[ -0.3956044018268585, -34.94505310058594, 1.6263736486434937, -6.241758346557617, -0.9230769276618958, 47.19367599487305 ]
1.633333
49
0
49
0
[ 3.0329670906066895, -38.5494499206543, -0.9230769276618958, -1.3186813592910767, -2.5054945945739746, 47.10957717895508 ]
[ 0.8351648449897766, -34.94505310058594, 1.7142857313156128, -5.098901271820068, -1.0989011526107788, 47.19367599487305 ]
1.666667
50
0
50
0
[ 3.1208791732788086, -38.63736343383789, -1.3626374006271362, -1.2307692766189575, -2.5934066772460938, 47.10957717895508 ]
[ 1.6263736486434937, -35.38461685180664, 1.4505494832992554, -3.8681318759918213, -1.5384615659713745, 47.19367599487305 ]
1.7
51
0
51
0
[ 3.2087912559509277, -38.901100158691406, -1.6263736486434937, -0.9670329689979553, -2.5934066772460938, 47.10957717895508 ]
[ 2.153846263885498, -36, 1.274725317955017, -2.7252748012542725, -1.9780219793319702, 47.19367599487305 ]
1.733333
52
0
52
0
[ 3.384615421295166, -39.16483688354492, -2.065934181213379, -0.08791209012269974, -2.681318759918213, 47.10957717895508 ]
[ 2.5054945945739746, -36.43955993652344, 1.0109890699386597, -2.0219781398773193, -2.065934181213379, 47.19367599487305 ]
1.766667
53
0
53
0
[ 3.7362637519836426, -39.516483306884766, -2.5054945945739746, 0.9670329689979553, -2.857142925262451, 47.10957717895508 ]
[ 2.5054945945739746, -36.70329666137695, 0.9230769276618958, -1.582417607307434, -2.153846263885498, 47.19367599487305 ]
1.8
54
0
54
0
[ 3.912087917327881, -40.39560317993164, -2.5054945945739746, 1.4065934419631958, -3.2087912559509277, 47.10957717895508 ]
[ 2.681318759918213, -36.96703338623047, 0.7472527623176575, -0.8791208863258362, -2.3296704292297363, 47.19367599487305 ]
1.833333
55
0
55
0
[ 3.912087917327881, -41.098899841308594, -2.3296704292297363, 1.582417607307434, -3.8241758346557617, 47.10957717895508 ]
[ 2.9450550079345703, -37.230770111083984, 0.48351648449897766, 0, -2.5054945945739746, 47.19367599487305 ]
1.866667
56
0
56
0
[ 4, -41.80219650268555, -2.065934181213379, 1.8461538553237915, -4.175824165344238, 47.10957717895508 ]
[ 3.296703338623047, -37.758243560791016, 0.3956044018268585, 0.7032967209815979, -2.857142925262451, 47.19367599487305 ]
1.9
57
0
57
0
[ 4.263736248016357, -42.593406677246094, -1.3626374006271362, 1.9340659379959106, -4.263736248016357, 47.10957717895508 ]
[ 3.6483516693115234, -38.373626708984375, 0.3956044018268585, 1.1428571939468384, -3.296703338623047, 47.19367599487305 ]
1.933333
58
0
58
0
[ 4.351648330688477, -43.64834976196289, -0.5714285969734192, 1.8461538553237915, -4.879120826721191, 47.10957717895508 ]
[ 3.7362637519836426, -39.07692337036133, 0.3956044018268585, 1.494505524635315, -3.8241758346557617, 47.19367599487305 ]
1.966667
59
0
59
0
[ 4.439560413360596, -44.43955993652344, -0.04395604506134987, 2.2857143878936768, -5.494505405426025, 47.10957717895508 ]
[ 3.8241758346557617, -39.78022003173828, 0.3956044018268585, 1.6703296899795532, -3.912087917327881, 47.19367599487305 ]
2
60
0
60
0
[ 4.703296661376953, -45.58241653442383, 1.0109890699386597, 2.373626470565796, -5.846153736114502, 47.10957717895508 ]
[ 3.8241758346557617, -40.659339904785156, 0.3956044018268585, 1.6703296899795532, -4.175824165344238, 47.19367599487305 ]
2.033333
61
0
61
0
[ 4.703296661376953, -46.901100158691406, 2.5054945945739746, 2.373626470565796, -6.637362480163574, 47.10957717895508 ]
[ 3.8241758346557617, -41.53845977783203, 0.6593406796455383, 1.9340659379959106, -4.791208744049072, 47.19367599487305 ]
2.066667
62
0
62
0
[ 4.527472496032715, -47.9560432434082, 3.384615421295166, 3.164835214614868, -7.4285712242126465, 47.10957717895508 ]
[ 4.087912082672119, -42.769229888916016, 1.0989011526107788, 2.1098902225494385, -5.230769157409668, 47.19367599487305 ]
2.1
63
0
63
0
[ 4.439560413360596, -49.4505500793457, 5.142857074737549, 3.3406593799591064, -7.604395389556885, 47.10957717895508 ]
[ 4.175824165344238, -44, 2.065934181213379, 2.1978023052215576, -5.846153736114502, 47.19367599487305 ]
2.133333
64
0
64
0
[ 4.175824165344238, -51.120880126953125, 6.989010810852051, 3.5164835453033447, -7.604395389556885, 47.10957717895508 ]
[ 4.439560413360596, -45.230770111083984, 3.1208791732788086, 2.6373627185821533, -6.637362480163574, 47.19367599487305 ]
2.166667
65
0
65
0
[ 4, -52.79121017456055, 8.659340858459473, 4.5714287757873535, -7.252747058868408, 47.02329635620117 ]
[ 4.439560413360596, -46.5494499206543, 4.175824165344238, 2.98901104927063, -6.989010810852051, 47.19367599487305 ]
2.2
66
0
66
0
[ 4, -54.901100158691406, 10.681318283081055, 5.8021979331970215, -6.8131866455078125, 46.937015533447266 ]
[ 4.439560413360596, -48.0439567565918, 5.846153736114502, 3.2527472972869873, -7.07692289352417, 47.19367599487305 ]
2.233333
67
0
67
0
[ 3.912087917327881, -56.57143020629883, 11.560439109802246, 8.087912559509277, -6.637362480163574, 46.50560760498047 ]
[ 4.439560413360596, -49.626373291015625, 7.516483306884766, 3.780219793319702, -7.07692289352417, 47.19367599487305 ]
2.266667
68
0
68
0
[ 3.8241758346557617, -57.53845977783203, 12.175824165344238, 9.670330047607422, -6.637362480163574, 46.50560760498047 ]
[ 4.263736248016357, -51.29670333862305, 9.274724960327148, 4.747252941131592, -7.07692289352417, 47.19367599487305 ]
2.3
69
0
69
0
[ 4.263736248016357, -58.94505310058594, 14.285714149475098, 8.967033386230469, -6.549450397491455, 46.50560760498047 ]
[ 4.175824165344238, -53.05494689941406, 10.593406677246094, 6.153846263885498, -6.989010810852051, 46.956520080566406 ]
2.333333
70
0
70
0
[ 4.351648330688477, -59.736263275146484, 15.340659141540527, 8.615385055541992, -6.549450397491455, 46.333045959472656 ]
[ 4.175824165344238, -54.46154022216797, 11.560439109802246, 7.648351669311523, -6.989010810852051, 46.79841995239258 ]
2.366667
71
0
71
0
[ 4.351648330688477, -59.29670333862305, 14.549450874328613, 10.549450874328613, -7.164834976196289, 42.79551315307617 ]
[ 4.351648330688477, -55.868133544921875, 12.79120922088623, 8.175824165344238, -6.989010810852051, 46.79841995239258 ]
2.4
72
0
72
0
[ 4.791208744049072, -57.89011001586914, 13.84615421295166, 12.307692527770996, -6.637362480163574, 44.00345230102539 ]
[ 4.439560413360596, -57.27472686767578, 14.285714149475098, 8.351648330688477, -6.989010810852051, 46.640316009521484 ]
2.433333
73
0
73
0
[ 5.142857074737549, -57.53845977783203, 16.21977996826172, 9.142857551574707, -6.373626232147217, 45.297672271728516 ]
[ 4.439560413360596, -57.626373291015625, 14.461538314819336, 9.05494499206543, -7.07692289352417, 45.92885208129883 ]
2.466667
74
0
74
0
[ 5.05494499206543, -57.53845977783203, 18.065933227539062, 4.92307710647583, -7.516483306884766, 44.86626434326172 ]
[ 4.439560413360596, -57.626373291015625, 14.461538314819336, 10.549450874328613, -6.989010810852051, 44.90118408203125 ]
2.5
75
0
75
0
[ 5.758241653442383, -56.0439567565918, 16.74725341796875, 4.659340858459473, -8.747252464294434, 44.952545166015625 ]
[ 4.439560413360596, -57.4505500793457, 15.252747535705566, 10.98901081085205, -6.8131866455078125, 45.13833999633789 ]
2.533333
76
0
76
0
[ 6.373626232147217, -54.5494499206543, 15.076923370361328, 3.692307710647583, -9.714285850524902, 45.12510681152344 ]
[ 4.527472496032715, -57.4505500793457, 16.923076629638672, 10.197802543640137, -6.989010810852051, 45.13833999633789 ]
2.566667
77
0
77
0
[ 6.725274562835693, -53.406593322753906, 14.021978378295898, 2.1098902225494385, -10.329669952392578, 45.211387634277344 ]
[ 4.9670329093933105, -56.57143020629883, 17.538461685180664, 8.439560890197754, -7.868131637573242, 45.059288024902344 ]
2.6
78
0
78
0
[ 7.252747058868408, -52.96703338623047, 13.670330047607422, 0.2637362778186798, -11.384614944458008, 45.297672271728516 ]
[ 5.5824174880981445, -55.25274658203125, 17.36263656616211, 6.769230842590332, -8.659340858459473, 45.059288024902344 ]
2.633333
79
0
79
0
[ 7.780219554901123, -52.79121017456055, 13.494505882263184, -0.4395604431629181, -11.912087440490723, 45.211387634277344 ]
[ 6.1978020668029785, -54.19780349731445, 16.83516502380371, 5.274725437164307, -9.538461685180664, 45.059288024902344 ]
2.666667
80
0
80
0
[ 8.131868362426758, -52.61538314819336, 13.582417488098145, -1.1428571939468384, -12.087912559509277, 45.211387634277344 ]
[ 6.637362480163574, -53.58241653442383, 16.571428298950195, 3.780219793319702, -10.241758346557617, 45.059288024902344 ]
2.7
81
0
81
0
[ 8.659340858459473, -52.70329666137695, 14.021978378295898, -1.494505524635315, -12.703296661376953, 45.12510681152344 ]
[ 7.07692289352417, -53.14285659790039, 16.571428298950195, 2.373626470565796, -11.032966613769531, 45.059288024902344 ]
2.733333
82
0
82
0
[ 9.626373291015625, -53.58241653442383, 15.340659141540527, -1.9340659379959106, -13.758241653442383, 44.607421875 ]
[ 7.340659141540527, -52.879119873046875, 16.571428298950195, 1.4065934419631958, -11.296703338623047, 45.059288024902344 ]
2.766667
83
0
83
0
[ 10.769230842590332, -54.81318664550781, 17.186813354492188, -3.692307710647583, -15.340659141540527, 43.48576354980469 ]
[ 7.868131637573242, -52.79121017456055, 16.571428298950195, 0.7032967209815979, -11.912087440490723, 45.059288024902344 ]
2.8
84
0
84
0
[ 11.384614944458008, -55.516483306884766, 18.41758155822754, -4.92307710647583, -16.74725341796875, 42.709232330322266 ]
[ 8.571428298950195, -52.79121017456055, 16.659339904785156, 0.08791209012269974, -12.703296661376953, 44.90118408203125 ]
2.833333
85
0
85
0
[ 11.736263275146484, -56.0439567565918, 19.560440063476562, -5.274725437164307, -17.714284896850586, 43.14064025878906 ]
[ 9.450549125671387, -53.31867980957031, 17.36263656616211, -1.0549451112747192, -13.934065818786621, 44.34782791137695 ]
2.866667
86
0
86
0
[ 11.912087440490723, -56.57143020629883, 20.615385055541992, -5.626373767852783, -18.505495071411133, 43.22692108154297 ]
[ 10.417582511901855, -53.93406677246094, 18.329669952392578, -2.373626470565796, -15.252747535705566, 43.6363639831543 ]
2.9
87
0
87
0
[ 11.912087440490723, -56.659339904785156, 21.230770111083984, -6.329670429229736, -18.94505500793457, 44.00345230102539 ]
[ 10.94505500793457, -54.46154022216797, 19.296703338623047, -3.164835214614868, -16.21977996826172, 43.6363639831543 ]
2.933333
88
0
88
0
[ 12.175824165344238, -56.659339904785156, 21.934066772460938, -8.351648330688477, -19.384614944458008, 44.1760139465332 ]
[ 11.296703338623047, -54.901100158691406, 20.263736724853516, -3.780219793319702, -17.186813354492188, 43.55731201171875 ]
2.966667
89
0
89
0
[ 12, -56.30769348144531, 21.758241653442383, -9.494505882263184, -20.263736724853516, 44.952545166015625 ]
[ 11.472527503967285, -55.16483688354492, 21.05494499206543, -4.483516693115234, -17.9780216217041, 43.6363639831543 ]
3
90
0
90
0
[ 11.120879173278809, -55.868133544921875, 20.439559936523438, -8.351648330688477, -21.670330047607422, 46.333045959472656 ]
[ 11.560439109802246, -55.16483688354492, 21.758241653442383, -5.538461685180664, -18.41758155822754, 43.87351608276367 ]
3.033333
91
0
91
0
[ 10.769230842590332, -55.78022003173828, 18.94505500793457, -5.714285850524902, -23.076923370361328, 47.3684196472168 ]
[ 11.472527503967285, -55.07692337036133, 21.846153259277344, -6.857142925262451, -19.208791732788086, 44.268775939941406 ]
3.066667
92
0
92
0
[ 10.769230842590332, -55.516483306884766, 17.80219841003418, -3.8681318759918213, -24.395605087280273, 48.4037971496582 ]
[ 11.296703338623047, -55.07692337036133, 21.846153259277344, -7.120879173278809, -20.263736724853516, 45.21739196777344 ]
3.1
93
0
93
0
[ 10.417582511901855, -54.989009857177734, 16.395605087280273, -2.461538553237915, -24.923076629638672, 49.69801712036133 ]
[ 11.296703338623047, -55.16483688354492, 21.406593322753906, -6.4175825119018555, -21.58241844177246, 46.16600799560547 ]
3.133333
94
0
94
0
[ 9.978021621704102, -54.989009857177734, 15.252747535705566, 0.2637362778186798, -24.659339904785156, 50.64710998535156 ]
[ 11.120879173278809, -55.16483688354492, 20.703296661376953, -5.274725437164307, -22.813186645507812, 47.03557205200195 ]
3.166667
95
0
95
0
[ 10.681318283081055, -55.69230651855469, 14.90109920501709, 4.747252941131592, -24.21977996826172, 52.6315803527832 ]
[ 10.769230842590332, -55.07692337036133, 19.91208839416504, -4.043956279754639, -23.604394912719727, 48.14229202270508 ]
3.2
96
0
96
0
[ 11.472527503967285, -56.39560317993164, 15.164834976196289, 8.263736724853516, -24.21977996826172, 54.702327728271484 ]
[ 10.593406677246094, -55.07692337036133, 18.94505500793457, -2.373626470565796, -23.78022003173828, 49.169960021972656 ]
3.233333
97
0
97
0
[ 12.087912559509277, -56.92307662963867, 16.83516502380371, 8.703296661376953, -24.659339904785156, 54.96117401123047 ]
[ 10.505494117736816, -55.16483688354492, 18.329669952392578, 0, -23.868131637573242, 50.35573196411133 ]
3.266667
98
0
98
0
[ 12.703296661376953, -57.098899841308594, 18.769229888916016, 7.912087917327881, -24.74725341796875, 54.96117401123047 ]
[ 10.94505500793457, -55.60439682006836, 18.065933227539062, 2.98901104927063, -23.868131637573242, 52.0948600769043 ]
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": {
        "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.front": {
            "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": 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": {}
            }
        },
        "observation.images.top": {
            "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": 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": {}
            }
        },
        "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": 30,
    "total_frames": 13772,
    "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": "so_follower",
    "splits": {
        "train": "0:30"
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
49
License:
apache-2.0
Number of rows:
13,772
Total file size:
460 MB