Hugging Face's logo

Datasets:
prateeks-iu
/
rebot_b601_rs_sugar

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
lerobot
vla
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
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3515625, 0, 0.1098632887005806, -0.3076172173023224, -3.757453203201294, 0, 1.16455078125 ]
0
0
0
0
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3515625, 0, 0.1098632887005806, -0.28564453125, -3.757453203201294, -0.06591796875, 1.1865234375 ]
0.016667
1
0
1
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.32958984375, 0, 0.087890625, -0.0439453125, -2.9883673191070557, 1.9995976686477661, 1.0766602754592896 ]
0.033333
2
0
2
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3515625, 0, 0.087890625, 0, -2.7906131744384766, 2.5049686431884766, 1.0546875 ]
0.05
3
0
3
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3515625, 0, 0.087890625, 0.0439453125, -2.5708866119384766, 3.0323123931884766, 1.03271484375 ]
0.066667
4
0
4
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3515625, 0, 0.06591796875, 0.06591796875, -2.4610235691070557, 3.4058475494384766, 1.03271484375 ]
0.083333
5
0
5
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.087890625, -2.3511600494384766, 3.8013553619384766, 1.03271484375 ]
0.1
6
0
6
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.087890625, -2.2852420806884766, 4.043054580688477, 1.03271484375 ]
0.116667
7
0
7
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1098632887005806, -2.2412970066070557, 4.218921661376953, 1.03271484375 ]
0.133333
8
0
8
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1098632887005806, -2.1534061431884766, 4.416675567626953, 1.03271484375 ]
0.15
9
0
9
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1098632887005806, -2.1534061431884766, 4.482594013214111, 1.03271484375 ]
0.166667
10
0
10
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1098632887005806, -2.1314334869384766, 4.526538848876953, 1.03271484375 ]
0.183333
11
0
11
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.1094608306884766, 4.526538848876953, 1.03271484375 ]
0.2
12
0
12
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.1318359375, -2.1094608306884766, 4.548511505126953, 1.03271484375 ]
0.216667
13
0
13
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0874454975128174, 4.548511505126953, 1.03271484375 ]
0.233333
14
0
14
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.1318359375, -2.0874454975128174, 4.570484161376953, 1.03271484375 ]
0.25
15
0
15
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1318359375, -2.0874454975128174, 4.570484161376953, 1.03271484375 ]
0.266667
16
0
16
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, -0.02197265625, 0.06591796875, 0.1318359375, -2.0874454975128174, 4.570484161376953, 1.03271484375 ]
0.283333
17
0
17
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.087890625, 0.1318359375, -2.0874454975128174, 4.592456817626953, 1.03271484375 ]
0.3
18
0
18
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.599999904632568, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1318359375, -2.0874454975128174, 4.592456817626953, 1.03271484375 ]
0.316667
19
0
19
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.599999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.333333
20
0
20
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.599999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.570484161376953, 1.03271484375 ]
0.35
21
0
21
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.570484161376953, 1.03271484375 ]
0.366667
22
0
22
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.570484161376953, 1.03271484375 ]
0.383333
23
0
23
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.4
24
0
24
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.416667
25
0
25
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.433333
26
0
26
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.45
27
0
27
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1538086086511612, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.466667
28
0
28
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.087890625, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.483333
29
0
29
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.5
30
0
30
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3735351860523224, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.516667
31
0
31
0
[ -0.30000001192092896, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.533333
32
0
32
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.55
33
0
33
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.566667
34
0
34
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.7999999523162842, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.583333
35
0
35
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.899999976158142, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.6
36
0
36
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.899999976158142, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.616667
37
0
37
0
[ -0.4000000059604645, -1, 0.4000000059604645, -1.899999976158142, 1.2999999523162842, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1318359375, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.633333
38
0
38
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.0999999046325684, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.1318359375, -2.0654726028442383, 4.614429473876953, 1.03271484375 ]
0.65
39
0
39
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.200000047683716, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.1538086086511612, -2.0654726028442383, 4.614429473876953, 1.03271484375 ]
0.666667
40
0
40
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.299999952316284, 1.399999976158142, 4.699999809265137, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.1538086086511612, -2.0654726028442383, 4.592456817626953, 1.03271484375 ]
0.683333
41
0
41
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.5, 1.5, 4.599999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.17578125, -2.0654726028442383, 4.614429473876953, 1.03271484375 ]
0.7
42
0
42
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.700000047683716, 1.600000023841858, 4.599999904632568, 0 ]
[ -0.3955078125, -0.02197265625, 0.087890625, 0.19775390625, -2.0434999465942383, 4.592456817626953, 1.03271484375 ]
0.716667
43
0
43
0
[ -0.4000000059604645, -1, 0.4000000059604645, -2.799999952316284, 1.600000023841858, 4.599999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.2197265774011612, -2.0215272903442383, 4.592456817626953, 1.03271484375 ]
0.733333
44
0
44
0
[ -0.4000000059604645, -1, 0.4000000059604645, -3, 1.7000000476837158, 4.599999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.2416992336511612, -2.0434999465942383, 4.592456817626953, 1.03271484375 ]
0.75
45
0
45
0
[ -0.4000000059604645, -1, 0.4000000059604645, -3.0999999046325684, 1.7000000476837158, 4.5, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.28564453125, -2.0434999465942383, 4.592456817626953, 1.03271484375 ]
0.766667
46
0
46
0
[ -0.30000001192092896, -1, 0.4000000059604645, -3.200000047683716, 1.7000000476837158, 4.5, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.3515625, -2.0434999465942383, 4.592456817626953, 1.03271484375 ]
0.783333
47
0
47
0
[ -0.30000001192092896, -1, 0.4000000059604645, -3.200000047683716, 1.7000000476837158, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.3955078125, -2.0215272903442383, 4.570484161376953, 1.03271484375 ]
0.8
48
0
48
0
[ -0.30000001192092896, -1, 0.4000000059604645, -3.4000000953674316, 1.7000000476837158, 4.400000095367432, 0 ]
[ -0.3735351860523224, 0, 0.087890625, 0.4394531548023224, -2.0215272903442383, 4.570484161376953, 1.03271484375 ]
0.816667
49
0
49
0
[ -0.30000001192092896, -1, 0.4000000059604645, -3.5, 1.7000000476837158, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.087890625, 0.4833984673023224, -2.0215272903442383, 4.548511505126953, 1.03271484375 ]
0.833333
50
0
50
0
[ -0.4000000059604645, -1, 0.4000000059604645, -3.700000047683716, 1.7000000476837158, 4.400000095367432, 0 ]
[ -0.3735351860523224, 0, 0.087890625, 0.50537109375, -1.9995547533035278, 4.526538848876953, 1.03271484375 ]
0.85
51
0
51
0
[ -0.4000000059604645, -1, 0.4000000059604645, -3.9000000953674316, 1.7999999523162842, 4.400000095367432, 0 ]
[ -0.3735351860523224, -0.02197265625, 0.06591796875, 0.59326171875, -1.9995547533035278, 4.526538848876953, 1.03271484375 ]
0.866667
52
0
52
0
[ -0.4000000059604645, -1, 0.4000000059604645, -4, 1.7999999523162842, 4.400000095367432, 0 ]
[ -0.3735351860523224, -0.02197265625, 0.06591796875, 0.68115234375, -1.9775819778442383, 4.526538848876953, 1.03271484375 ]
0.883333
53
0
53
0
[ -0.4000000059604645, -1, 0.30000001192092896, -4.099999904632568, 1.7999999523162842, 4.400000095367432, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 0.7690430283546448, -1.9775819778442383, 4.526538848876953, 1.03271484375 ]
0.9
54
0
54
0
[ -0.4000000059604645, -1, 0.30000001192092896, -4.400000095367432, 1.899999976158142, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.85693359375, -1.9775819778442383, 4.526538848876953, 1.03271484375 ]
0.916667
55
0
55
0
[ -0.4000000059604645, -1, 0.30000001192092896, -4.699999809265137, 2, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.06591796875, 0.9667969346046448, -1.9775819778442383, 4.504566192626953, 1.03271484375 ]
0.933333
56
0
56
0
[ -0.4000000059604645, -1, 0.30000001192092896, -5, 2.0999999046325684, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.06591796875, 1.142578125, -1.9995547533035278, 4.504566192626953, 1.03271484375 ]
0.95
57
0
57
0
[ -0.4000000059604645, -1, 0.30000001192092896, -5.199999809265137, 2.0999999046325684, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.06591796875, 1.2744140625, -2.0215272903442383, 4.504566192626953, 1.03271484375 ]
0.966667
58
0
58
0
[ -0.4000000059604645, -1, 0.30000001192092896, -5.300000190734863, 2.0999999046325684, 4.5, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 1.4283086061477661, -2.0215272903442383, 4.504566192626953, 1.03271484375 ]
0.983333
59
0
59
0
[ -0.4000000059604645, -1, 0.30000001192092896, -5.900000095367432, 2.200000047683716, 4.400000095367432, 0 ]
[ -0.3955078125, 0, 0.06591796875, 1.5601444244384766, -2.0434999465942383, 4.504566192626953, 1.03271484375 ]
1
60
0
60
0
[ -0.4000000059604645, -1, 0.30000001192092896, -6.400000095367432, 2.200000047683716, 4.400000095367432, 0 ]
[ -0.3955078125, -0.02197265625, 0.06591796875, 1.8018436431884766, -2.0654726028442383, 4.526538848876953, 1.03271484375 ]
1.016667
61
0
61
0
[ -0.4000000059604645, -1, 0.30000001192092896, -7.099999904632568, 2.200000047683716, 4.300000190734863, 0 ]
[ -0.3955078125, 0, 0.087890625, 2.1314334869384766, -2.1094608306884766, 4.526538848876953, 1.03271484375 ]
1.033333
62
0
62
0
[ -0.4000000059604645, -1, 0.30000001192092896, -7.5, 2.0999999046325684, 4.300000190734863, 0 ]
[ -0.3955078125, 0, 0.06591796875, 2.5489141941070557, -2.1534061431884766, 4.504566192626953, 1.03271484375 ]
1.05
63
0
63
0
[ -0.4000000059604645, -1, 0.30000001192092896, -8, 2, 4.199999809265137, 0 ]
[ -0.3955078125, -0.02197265625, 0.087890625, 2.9224493503570557, -2.1534061431884766, 4.504566192626953, 1.03271484375 ]
1.066667
64
0
64
0
[ -0.4000000059604645, -1, -0.30000001192092896, -8.5, 2, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 3.2959845066070557, -2.1753790378570557, 4.482594013214111, 1.03271484375 ]
1.083333
65
0
65
0
[ -0.4000000059604645, -1, -0.30000001192092896, -9.100000381469727, 2, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.06591796875, 3.6255741119384766, -2.1534061431884766, 4.482594013214111, 1.03271484375 ]
1.1
66
0
66
0
[ -0.4000000059604645, -1, -0.30000001192092896, -9.5, 2, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.1318359375, 4.218921661376953, -2.1534061431884766, 4.438648223876953, 1.03271484375 ]
1.116667
67
0
67
0
[ -0.4000000059604645, -1, -0.30000001192092896, -9.800000190734863, 2, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.1318359375, 4.834156036376953, -2.1534061431884766, 4.416675567626953, 1.03271484375 ]
1.133333
68
0
68
0
[ -0.4000000059604645, -1, -0.4000000059604645, -9.899999618530273, 2.0999999046325684, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.1318359375, 5.295581817626953, -2.1534061431884766, 4.394702911376953, 1.03271484375 ]
1.15
69
0
69
0
[ -0.4000000059604645, -1, -0.6000000238418579, -10.100000381469727, 2.200000047683716, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.1318359375, 5.713062763214111, -2.1314334869384766, 4.394702911376953, 1.03271484375 ]
1.166667
70
0
70
0
[ -0.4000000059604645, -1, -0.800000011920929, -10.100000381469727, 2.299999952316284, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.1538086086511612, 6.020679950714111, -2.1534061431884766, 4.372730255126953, 1.03271484375 ]
1.183333
71
0
71
0
[ -0.30000001192092896, -1, -1, -10.100000381469727, 2.299999952316284, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.17578125, 6.394214630126953, -2.1534061431884766, 4.372730255126953, 1.03271484375 ]
1.2
72
0
72
0
[ -0.4000000059604645, -1, -1.399999976158142, -10, 2.4000000953674316, 4.199999809265137, 0 ]
[ -0.3955078125, 0, 0.19775390625, 6.657886505126953, -2.1973514556884766, 4.372730255126953, 1.03271484375 ]
1.216667
73
0
73
0
[ -0.4000000059604645, -1, -1.7000000476837158, -9.899999618530273, 2.4000000953674316, 4.199999809265137, 0 ]
[ -0.3955078125, 0, 0.2197265774011612, 6.877613544464111, -2.2193241119384766, 4.372730255126953, 1.03271484375 ]
1.233333
74
0
74
0
[ -0.4000000059604645, -1, -1.899999976158142, -9.899999618530273, 2.4000000953674316, 4.199999809265137, 0 ]
[ -0.3955078125, 0, 0.2416992336511612, 7.03150749206543, -2.2412970066070557, 4.372730255126953, 1.03271484375 ]
1.25
75
0
75
0
[ -0.4000000059604645, -1, -2.299999952316284, -9.899999618530273, 2.4000000953674316, 4.199999809265137, 0 ]
[ -0.3955078125, 0, 0.28564453125, 7.11939811706543, -2.2852420806884766, 4.372730255126953, 1.03271484375 ]
1.266667
76
0
76
0
[ -0.4000000059604645, -1, -2.5999999046325684, -9.800000190734863, 2.4000000953674316, 4.300000190734863, 0 ]
[ -0.3955078125, -0.02197265625, 0.3076172173023224, 7.16334342956543, -2.3072147369384766, 4.372730255126953, 1.03271484375 ]
1.283333
77
0
77
0
[ -0.4000000059604645, -1, -2.9000000953674316, -9.800000190734863, 2.4000000953674316, 4.300000190734863, 0 ]
[ -0.3955078125, 0, 0.32958984375, 7.18531608581543, -2.3291873931884766, 4.394702911376953, 1.03271484375 ]
1.3
78
0
78
0
[ -0.4000000059604645, -1, -3.5, -9.699999809265137, 2.4000000953674316, 4.300000190734863, 0 ]
[ -0.3955078125, 0, 0.3735351860523224, 7.207289218902588, -2.3511600494384766, 4.394702911376953, 1.03271484375 ]
1.316667
79
0
79
0
[ -0.30000001192092896, -1, -3.9000000953674316, -9.699999809265137, 2.4000000953674316, 4.300000190734863, 0 ]
[ -0.3955078125, 0, 0.3735351860523224, 7.251234531402588, -2.3511600494384766, 4.416675567626953, 1.03271484375 ]
1.333333
80
0
80
0
[ -0.30000001192092896, -1, -4.300000190734863, -9.699999809265137, 2.4000000953674316, 4.300000190734863, 0 ]
[ -0.3955078125, -0.02197265625, 0.4394531548023224, 7.229261875152588, -2.3731327056884766, 4.416675567626953, 1.03271484375 ]
1.35
81
0
81
0
[ -0.30000001192092896, -1, -4.800000190734863, -9.699999809265137, 2.4000000953674316, 4.199999809265137, 0 ]
[ -0.3955078125, 0, 0.50537109375, 7.18531608581543, -2.3731327056884766, 4.416675567626953, 1.03271484375 ]
1.366667
82
0
82
0
[ -0.30000001192092896, -1, -5.300000190734863, -9.800000190734863, 2.4000000953674316, 4.099999904632568, 0 ]
[ -0.3955078125, 0, 0.72509765625, 7.14137077331543, -2.3731327056884766, 4.416675567626953, 1.03271484375 ]
1.383333
83
0
83
0
[ -0.30000001192092896, -1, -6.300000190734863, -9.699999809265137, 2.299999952316284, 4, 0 ]
[ -0.3735351860523224, 0, 1.03271484375, 7.14137077331543, -2.3951056003570557, 4.416675567626953, 1.03271484375 ]
1.4
84
0
84
0
[ -0.30000001192092896, -1, -6.900000095367432, -9.699999809265137, 2.299999952316284, 4, 0 ]
[ -0.3735351860523224, 0, 1.6040897369384766, 7.207289218902588, -2.3951056003570557, 4.394702911376953, 1.03271484375 ]
1.416667
85
0
85
0
[ -0.30000001192092896, -1, -7.5, -9.699999809265137, 2.299999952316284, 3.9000000953674316, 0 ]
[ -0.3735351860523224, 0, 2.1973514556884766, 7.14137077331543, -2.3951056003570557, 4.372730255126953, 1.03271484375 ]
1.433333
86
0
86
0
[ -0.30000001192092896, -1, -7.900000095367432, -9.699999809265137, 2.200000047683716, 3.799999952316284, 0 ]
[ -0.3735351860523224, 0, 2.6368045806884766, 7.14137077331543, -2.3731327056884766, 4.350758075714111, 1.03271484375 ]
1.45
87
0
87
0
[ -0.30000001192092896, -1, -8.399999618530273, -9.699999809265137, 2.200000047683716, 3.799999952316284, 0 ]
[ -0.3955078125, 0, 3.2520389556884766, 7.16334342956543, -2.3731327056884766, 4.306812286376953, 1.03271484375 ]
1.466667
88
0
88
0
[ -0.30000001192092896, -1, -8.800000190734863, -9.699999809265137, 2.200000047683716, 3.799999952316284, 0 ]
[ -0.3735351860523224, 0, 3.8233282566070557, 7.229261875152588, -2.3731327056884766, 4.262866973876953, 1.03271484375 ]
1.483333
89
0
89
0
[ -0.30000001192092896, -1, -9.100000381469727, -9.699999809265137, 2.200000047683716, 3.700000047683716, 0 ]
[ -0.3735351860523224, 0, 4.262866973876953, 7.295179843902588, -2.3511600494384766, 4.218921661376953, 1.03271484375 ]
1.5
90
0
90
0
[ -0.30000001192092896, -0.6000000238418579, -9.5, -9.699999809265137, 2.200000047683716, 3.700000047683716, 0 ]
[ -0.3955078125, 0, 4.768238067626953, 7.295179843902588, -2.3731327056884766, 4.218921661376953, 1.03271484375 ]
1.516667
91
0
91
0
[ -0.30000001192092896, -0.30000001192092896, -9.800000190734863, -9.800000190734863, 2.200000047683716, 3.700000047683716, 0 ]
[ -0.3735351860523224, -0.02197265625, 5.251636981964111, 7.295179843902588, -2.3511600494384766, 4.174890995025635, 1.03271484375 ]
1.533333
92
0
92
0
[ -0.30000001192092896, -0.30000001192092896, -10.100000381469727, -9.800000190734863, 2.200000047683716, 3.700000047683716, 0 ]
[ -0.3735351860523224, 0, 5.669116973876953, 7.295179843902588, -2.3511600494384766, 4.152917861938477, 1.03271484375 ]
1.55
93
0
93
0
[ -0.30000001192092896, 0.30000001192092896, -10.399999618530273, -9.899999618530273, 2.200000047683716, 3.700000047683716, 0 ]
[ -0.3735351860523224, -0.02197265625, 6.064624786376953, 7.317152500152588, -2.3511600494384766, 4.130945205688477, 1.03271484375 ]
1.566667
94
0
94
0
[ -0.30000001192092896, 0.800000011920929, -10.800000190734863, -10.100000381469727, 2.0999999046325684, 3.5999999046325684, 0 ]
[ -0.3955078125, -0.02197265625, 6.460133075714111, 7.38306999206543, -2.3511600494384766, 4.130945205688477, 1.03271484375 ]
1.583333
95
0
95
0
[ -0.30000001192092896, 1.399999976158142, -11.399999618530273, -10.199999809265137, 2.0999999046325684, 3.5999999046325684, 0 ]
[ -0.3955078125, 0.02197265625, 6.833667755126953, 7.42701530456543, -2.3511600494384766, 4.108972549438477, 1.03271484375 ]
1.6
96
0
96
0
[ -0.30000001192092896, 2.0999999046325684, -11.899999618530273, -10.300000190734863, 2.0999999046325684, 3.5, 0 ]
[ -0.3735351860523224, 0.06591796875, 7.251234531402588, 7.492933750152588, -2.3291873931884766, 4.065027236938477, 1.03271484375 ]
1.616667
97
0
97
0
[ -0.30000001192092896, 2.700000047683716, -12.5, -10.399999618530273, 2.0999999046325684, 3.5, 0 ]
[ -0.3735351860523224, 0.17578125, 7.64674186706543, 7.492933750152588, -2.3072147369384766, 4.043054580688477, 1.03271484375 ]
1.633333
98
0
98
0
[ -0.30000001192092896, 3.700000047683716, -13.199999809265137, -10.399999618530273, 2.0999999046325684, 3.5, 0 ]
[ -0.3735351860523224, 0.4833984673023224, 8.15211296081543, 7.536879062652588, -2.3072147369384766, 3.9991095066070557, 1.03271484375 ]
1.65
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": "seeed_b601_rs_follower",
    "total_episodes": 103,
    "total_frames": 77694,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 1,
    "fps": 60,
    "splits": {
        "train": "0:103"
    },
    "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_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.scene": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.scene_depth": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_depth": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    }
}

Citation

BibTeX:

[More Information Needed]

Depth (RGB-D)

This dataset includes raw metric depth alongside the RGB videos above, for scene, wrist. It is not part of the standard LeRobot schema, so generic loaders will not see it automatically.

depth/<camera>_depth/episode_NNNNNN.mkv   FFV1, gray16le, lossless uint16
meta/depth_info.json                      depth_scale_m + intrinsics per camera

Depth is aligned to its colour camera on capture, so depth[y, x] and the matching observation.images.<camera>[y, x] are the same physical point. metres = pixel_value * depth_scale_m; 0 means no return.

Read it with read_depth.py from the collection tooling used to record this dataset, or directly:

import av, json, numpy as np
info = json.load(open("meta/depth_info.json"))
with av.open("depth/wrist_depth/episode_000000.mkv") as c:
    depth = np.stack([f.to_ndarray() for f in c.decode(video=0)])
depth_m = depth.astype(np.float32) * info["cameras"]["wrist_depth"]["depth_scale_m"]
Downloads last month
84
License:
apache-2.0
Number of rows:
77,694
Total file size:
11.8 GB