Hugging Face's logo

Datasets:
xBerry
/
so101_teleop_pap

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
observation.state
list
action
list
timestamp
float32
0
21.2
frame_index
int64
0
635
episode_index
int64
0
49
index
int64
0
18.1k
task_index
int64
0
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0
0
0
0
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.033333
1
0
1
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.066667
2
0
2
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.1
3
0
3
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.133333
4
0
4
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.077505111694336 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.166667
5
0
5
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.2
6
0
6
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.233333
7
0
7
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.266667
8
0
8
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.3
9
0
9
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.333333
10
0
10
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.366667
11
0
11
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.4
12
0
12
0
[ -1.3561248779296875, -99.04805755615234, 95.98782348632812, 66.71903991699219, -2.6735458374023438, 29.07750701904297 ]
[ -1.3560634851455688, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.433333
13
0
13
0
[ -1.2996978759765625, -99.0480728149414, 95.98783874511719, 66.71919250488281, -2.6734161376953125, 29.077491760253906 ]
[ -1.2785742282867432, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.466667
14
0
14
0
[ -1.111907958984375, -99.0480728149414, 95.98783874511719, 66.71931457519531, -2.673187255859375, 29.077468872070312 ]
[ -1.046106219291687, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.5
15
0
15
0
[ -0.9976348876953125, -99.04800415039062, 95.98786926269531, 66.71897888183594, -2.6735610961914062, 29.0775089263916 ]
[ -0.9686168432235718, -99.08026885986328, 95.03385925292969, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.533333
16
0
16
0
[ -0.915496826171875, -99.04385375976562, 95.9613037109375, 66.724609375, -2.6736297607421875, 29.077281951904297 ]
[ -0.8911274671554565, -99.08026885986328, 94.94356536865234, 66.32996368408203, -2.67324161529541, 29.146221160888672 ]
0.566667
17
0
17
0
[ -0.89404296875, -99.03716278076172, 95.87919616699219, 66.70758056640625, -2.6737823486328125, 29.076797485351562 ]
[ -0.8911274671554565, -99.08026885986328, 94.76297760009766, 66.24578857421875, -2.67324161529541, 29.146221160888672 ]
0.6
18
0
18
0
[ -0.947906494140625, -99.02162170410156, 95.66970825195312, 66.63064575195312, -2.6738967895507812, 29.065893173217773 ]
[ -0.9686168432235718, -99.08026885986328, 94.31151580810547, 65.9932632446289, -2.67324161529541, 29.09715461730957 ]
0.633333
19
0
19
0
[ -0.9660873413085938, -98.9932861328125, 95.13601684570312, 66.63052368164062, -2.673736572265625, 29.056224822998047 ]
[ -0.9686168432235718, -99.08026885986328, 93.22798919677734, 66.07743835449219, -2.67324161529541, 29.09715461730957 ]
0.666667
20
0
20
0
[ -0.9684219360351562, -98.99365997314453, 94.33837890625, 66.61109924316406, -2.6737060546875, 29.049192428588867 ]
[ -0.9686168432235718, -99.08026885986328, 92.2347640991211, 66.07743835449219, -2.67324161529541, 29.09715461730957 ]
0.7
21
0
21
0
[ -0.9685821533203125, -99.00653076171875, 93.372802734375, 66.60951232910156, -2.6736831665039062, 29.044275283813477 ]
[ -0.9686168432235718, -99.08026885986328, 91.1512451171875, 66.16161346435547, -2.67324161529541, 29.09715461730957 ]
0.733333
22
0
22
0
[ -0.9686737060546875, -99.05675506591797, 92.53460693359375, 66.58061218261719, -2.6736297607421875, 29.042627334594727 ]
[ -0.9686168432235718, -99.08026885986328, 90.79006958007812, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.766667
23
0
23
0
[ -1.0251388549804688, -99.087158203125, 91.94673156738281, 66.56134033203125, -2.6737060546875, 29.041370391845703 ]
[ -1.046106219291687, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.8
24
0
24
0
[ -1.04376220703125, -99.10325622558594, 91.62380981445312, 66.55075073242188, -2.6735153198242188, 29.040264129638672 ]
[ -1.046106219291687, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.833333
25
0
25
0
[ -1.0460357666015625, -99.09820556640625, 91.49176025390625, 66.56268310546875, -2.673492431640625, 29.038623809814453 ]
[ -1.046106219291687, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.866667
26
0
26
0
[ -0.9897918701171875, -99.08364868164062, 91.456787109375, 66.58660888671875, -2.6733779907226562, 29.036636352539062 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.9
27
0
27
0
[ -0.97119140625, -99.06942749023438, 91.45783996582031, 66.61094665527344, -2.6735458374023438, 29.034717559814453 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.933333
28
0
28
0
[ -0.9688873291015625, -99.05953979492188, 91.46609497070312, 66.63046264648438, -2.6735687255859375, 29.033039093017578 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
0.966667
29
0
29
0
[ -0.9686813354492188, -99.05392456054688, 91.47200012207031, 66.64398193359375, -2.6735763549804688, 29.031675338745117 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
1
30
0
30
0
[ -0.9686737060546875, -99.0512924194336, 91.47450256347656, 66.65260314941406, -2.6735763549804688, 29.030603408813477 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
1.033333
31
0
31
0
[ -0.9686737060546875, -99.05027770996094, 91.47491455078125, 66.65788269042969, -2.6735763549804688, 29.029767990112305 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
1.066667
32
0
32
0
[ -0.9686737060546875, -99.04996490478516, 91.4744873046875, 66.66110229492188, -2.6735763549804688, 29.02911376953125 ]
[ -0.9686168432235718, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.67324161529541, 29.09715461730957 ]
1.1
33
0
33
0
[ -1.0814971923828125, -99.04981231689453, 91.4739990234375, 66.66288757324219, -2.6845779418945312, 29.028629302978516 ]
[ -1.1235954761505127, -99.08026885986328, 90.5191879272461, 66.24578857421875, -2.725149154663086, 29.09715461730957 ]
1.133333
34
0
34
0
[ -1.11865234375, -99.04820251464844, 91.47869873046875, 66.61322021484375, -2.6928329467773438, 29.027965545654297 ]
[ -1.1235954761505127, -99.08026885986328, 90.5191879272461, 66.07743835449219, -2.725149154663086, 29.09715461730957 ]
1.166667
35
0
35
0
[ -1.06683349609375, -99.04817962646484, 91.47865295410156, 66.54933166503906, -2.6994552612304688, 29.037338256835938 ]
[ -1.046106219291687, -99.08026885986328, 90.5191879272461, 65.9932632446289, -2.725149154663086, 29.146221160888672 ]
1.2
36
0
36
0
[ -1.0486984252929688, -99.04345703125, 91.45318603515625, 66.45787048339844, -2.7372512817382812, 29.054340362548828 ]
[ -1.046106219291687, -99.08026885986328, 90.42889404296875, 65.82491302490234, -2.8808720111846924, 29.195289611816406 ]
1.233333
37
0
37
0
[ -1.0467910766601562, -99.02664947509766, 91.2838134765625, 66.41357421875, -3.01446533203125, 29.067317962646484 ]
[ -1.046106219291687, -99.08026885986328, 89.97742462158203, 65.82491302490234, -4.074747085571289, 29.195289611816406 ]
1.266667
38
0
38
0
[ -1.0466690063476562, -98.9918441772461, 90.78671264648438, 66.39215087890625, -3.611358642578125, 29.0761775970459 ]
[ -1.046106219291687, -99.08026885986328, 88.89390563964844, 65.74073791503906, -5.891512870788574, 29.195289611816406 ]
1.3
39
0
39
0
[ -1.2155380249023438, -98.96115112304688, 89.81794738769531, 66.39205932617188, -4.516143798828125, 29.082704544067383 ]
[ -1.2785742282867432, -99.08026885986328, 87.26862335205078, 65.74073791503906, -7.967817306518555, 29.195289611816406 ]
1.333333
40
0
40
0
[ -1.32720947265625, -98.9542007446289, 88.39817810058594, 66.38008117675781, -5.599510192871094, 29.08831787109375 ]
[ -1.3560634851455688, -99.08026885986328, 85.3724594116211, 65.74073791503906, -9.732675552368164, 29.195289611816406 ]
1.366667
41
0
41
0
[ -1.3522567749023438, -98.9748764038086, 86.68328857421875, 66.34056091308594, -6.73870849609375, 29.094135284423828 ]
[ -1.3560634851455688, -99.08026885986328, 83.4762954711914, 65.74073791503906, -11.082273483276367, 29.195289611816406 ]
1.4
42
0
42
0
[ -1.3548660278320312, -98.99197387695312, 84.74765014648438, 66.30859375, -7.8788909912109375, 29.099109649658203 ]
[ -1.3560634851455688, -99.08026885986328, 81.30925750732422, 65.74073791503906, -12.224241256713867, 29.195289611816406 ]
1.433333
43
0
43
0
[ -1.3551864624023438, -99.0132064819336, 82.66822814941406, 66.274658203125, -9.073226928710938, 29.103635787963867 ]
[ -1.3560634851455688, -99.08026885986328, 79.1422119140625, 65.74073791503906, -13.62574577331543, 29.195289611816406 ]
1.466667
44
0
44
0
[ -1.3553237915039062, -99.03045654296875, 80.49295043945312, 66.2493896484375, -10.385955810546875, 29.10741424560547 ]
[ -1.3560634851455688, -99.08026885986328, 76.88487243652344, 65.74073791503906, -15.390604972839355, 29.195289611816406 ]
1.5
45
0
45
0
[ -1.3557815551757812, -99.03997039794922, 78.41494750976562, 66.19477844238281, -11.878646850585938, 29.112016677856445 ]
[ -1.3560634851455688, -98.99665832519531, 75.16930389404297, 65.74073791503906, -17.570724487304688, 29.195289611816406 ]
1.533333
46
0
46
0
[ -1.3562088012695312, -99.06742858886719, 76.64065551757812, 66.13908386230469, -13.632537841796875, 29.116519927978516 ]
[ -1.3560634851455688, -98.99665832519531, 73.90518951416016, 65.74073791503906, -20.321826934814453, 29.195289611816406 ]
1.566667
47
0
47
0
[ -1.4129486083984375, -99.088623046875, 75.21640014648438, 66.10758972167969, -15.65850830078125, 29.120080947875977 ]
[ -1.433552861213684, -98.99665832519531, 72.9119644165039, 65.74073791503906, -23.384376525878906, 29.195289611816406 ]
1.6
48
0
48
0
[ -1.4877700805664062, -99.11389923095703, 74.20158386230469, 66.08110046386719, -17.953758239746094, 29.123167037963867 ]
[ -1.5110422372817993, -98.99665832519531, 72.46049499511719, 65.74073791503906, -26.706462860107422, 29.195289611816406 ]
1.633333
49
0
49
0
[ -1.5649490356445312, -99.1291275024414, 73.60951232910156, 66.06973266601562, -20.58092498779297, 29.12554168701172 ]
[ -1.5885316133499146, -98.99665832519531, 72.37020111083984, 65.74073791503906, -30.599533081054688, 29.195289611816406 ]
1.666667
50
0
50
0
[ -2.1515884399414062, -99.10354614257812, 73.26216125488281, 66.10171508789062, -23.461776733398438, 29.12706756591797 ]
[ -2.3634250164031982, -98.99665832519531, 72.09931945800781, 65.74073791503906, -34.440696716308594, 29.195289611816406 ]
1.7
51
0
51
0
[ -3.3531570434570312, -99.0784683227539, 73.05923461914062, 66.10800170898438, -26.413467407226562, 29.127952575683594 ]
[ -3.7582333087921143, -98.99665832519531, 72.00902557373047, 65.65656280517578, -37.658966064453125, 29.195289611816406 ]
1.733333
52
0
52
0
[ -4.437843322753906, -99.04325103759766, 72.85185241699219, 66.11277770996094, -29.31226348876953, 29.12636947631836 ]
[ -4.765594959259033, -98.99665832519531, 71.64785766601562, 65.5723876953125, -40.35816192626953, 29.195289611816406 ]
1.766667
53
0
53
0
[ -5.286231994628906, -99.02256774902344, 72.57841491699219, 66.11697387695312, -32.05152130126953, 29.125452041625977 ]
[ -5.540488243103027, -98.99665832519531, 71.28668212890625, 65.5723876953125, -42.48637390136719, 29.195289611816406 ]
1.8
54
0
54
0
[ -5.957878112792969, -99.04558563232422, 72.28199768066406, 65.88603210449219, -34.63188171386719, 29.124711990356445 ]
[ -6.160402774810791, -99.08026885986328, 70.92550659179688, 64.81481170654297, -44.4588623046875, 29.195289611816406 ]
1.833333
55
0
55
0
[ -6.414741516113281, -99.0464859008789, 71.88665771484375, 65.20687866210938, -37.05401611328125, 29.123659133911133 ]
[ -6.547849655151367, -99.08026885986328, 70.29345703125, 63.13131332397461, -46.275630950927734, 29.195289611816406 ]
1.866667
56
0
56
0
[ -7.2084808349609375, -99.06666564941406, 71.47900390625, 64.05592346191406, -39.39369201660156, 29.125539779663086 ]
[ -7.477721691131592, -99.08026885986328, 70.02257537841797, 61.11111068725586, -48.300025939941406, 29.195289611816406 ]
1.9
57
0
57
0
[ -7.949333190917969, -99.05438995361328, 71.18719482421875, 62.284515380859375, -41.67798614501953, 29.135597229003906 ]
[ -8.175126075744629, -98.99665832519531, 69.93228149414062, 58.080806732177734, -50.3763313293457, 29.24435806274414 ]
1.933333
58
0
58
0
[ -8.483078002929688, -98.9718246459961, 71.0185546875, 59.981658935546875, -43.768470764160156, 29.1440372467041 ]
[ -8.64006233215332, -98.82942962646484, 69.93228149414062, 54.71380615234375, -51.725929260253906, 29.24435806274414 ]
1.966667
59
0
59
0
[ -9.127029418945312, -98.87466430664062, 70.932373046875, 57.430084228515625, -45.55466842651367, 29.162256240844727 ]
[ -9.3374662399292, -98.74581909179688, 69.93228149414062, 51.683502197265625, -52.348819732666016, 29.293424606323242 ]
2
60
0
60
0
[ -9.534774780273438, -98.75038146972656, 70.86886596679688, 54.90251159667969, -46.98017883300781, 29.175907135009766 ]
[ -9.64742374420166, -98.57859802246094, 69.93228149414062, 49.24242401123047, -52.400726318359375, 29.293424606323242 ]
2.033333
61
0
61
0
[ -9.802131652832031, -98.5566177368164, 70.84391784667969, 52.70001220703125, -48.10899353027344, 29.1881046295166 ]
[ -9.879891395568848, -98.24414825439453, 70.11286926269531, 47.81144714355469, -52.400726318359375, 29.293424606323242 ]
2.066667
62
0
62
0
[ -9.983116149902344, -98.02027893066406, 70.75575256347656, 51.0975341796875, -49.013648986816406, 29.19826889038086 ]
[ -10.034870147705078, -97.24079895019531, 70.02257537841797, 47.47474670410156, -52.452632904052734, 29.293424606323242 ]
2.1
63
0
63
0
[ -10.536033630371094, -97.30911254882812, 70.70188903808594, 50.00738525390625, -49.730648040771484, 29.208070755004883 ]
[ -10.732274055480957, -96.4046859741211, 69.93228149414062, 47.39057159423828, -52.452632904052734, 29.293424606323242 ]
2.133333
64
0
64
0
[ -11.215530395507812, -96.484375, 70.66813659667969, 49.294586181640625, -50.298561096191406, 29.214393615722656 ]
[ -11.429677963256836, -95.48494720458984, 69.84198760986328, 47.39057159423828, -52.452632904052734, 29.293424606323242 ]
2.166667
65
0
65
0
[ -11.51763916015625, -95.54741668701172, 70.55874633789062, 48.848907470703125, -50.74856185913086, 29.217506408691406 ]
[ -11.584656715393066, -94.48160552978516, 69.4808120727539, 47.39057159423828, -52.452632904052734, 29.293424606323242 ]
2.2
66
0
66
0
[ -11.690467834472656, -94.51607513427734, 70.41885375976562, 48.534881591796875, -51.10499954223633, 29.22162628173828 ]
[ -11.739635467529297, -93.31103515625, 69.39051818847656, 47.39057159423828, -52.452632904052734, 29.293424606323242 ]
2.233333
67
0
67
0
[ -12.015022277832031, -93.33757019042969, 70.12242126464844, 48.33978271484375, -51.38798522949219, 29.225711822509766 ]
[ -12.127082824707031, -92.05685424804688, 68.66817474365234, 47.306396484375, -52.452632904052734, 29.293424606323242 ]
2.266667
68
0
68
0
[ -12.227676391601562, -91.90907287597656, 69.57135009765625, 48.20245361328125, -51.60112380981445, 29.237411499023438 ]
[ -12.282061576843262, -90.3010025024414, 67.85552978515625, 47.306396484375, -52.400726318359375, 29.342493057250977 ]
2.3
69
0
69
0
[ -12.333076477050781, -90.34436798095703, 68.8330078125, 48.11097717285156, -51.7376823425293, 29.256940841674805 ]
[ -12.359550476074219, -88.6287612915039, 66.8623046875, 47.306396484375, -52.24500274658203, 29.391559600830078 ]
2.333333
70
0
70
0
[ -12.636787414550781, -88.80801391601562, 68.10842895507812, 47.788818359375, -51.824275970458984, 29.33241081237793 ]
[ -12.746996879577637, -87.12374877929688, 66.2302474975586, 46.54882049560547, -52.14118957519531, 29.68596649169922 ]
2.366667
71
0
71
0
[ -13.183685302734375, -87.48126220703125, 67.62454223632812, 47.10832214355469, -51.892486572265625, 29.529325485229492 ]
[ -13.366911888122559, -86.03678894042969, 66.13995361328125, 45.20201873779297, -52.14118957519531, 30.372915267944336 ]
2.4
72
0
72
0
[ -13.965095520019531, -86.37621307373047, 67.407958984375, 46.12565612792969, -51.946502685546875, 29.882156372070312 ]
[ -14.219294548034668, -85.20066833496094, 66.2302474975586, 43.60269546508789, -52.14118957519531, 31.35426902770996 ]
2.433333
73
0
73
0
[ -14.701622009277344, -85.46656799316406, 67.38768005371094, 44.97111511230469, -51.989166259765625, 30.417131423950195 ]
[ -14.916699409484863, -84.53176879882812, 66.41083526611328, 42.08754348754883, -52.14118957519531, 32.630027770996094 ]
2.466667
74
0
74
0
[ -15.181724548339844, -84.70142364501953, 67.43524169921875, 43.89350891113281, -52.022911071777344, 31.147565841674805 ]
[ -15.304145812988281, -83.94648742675781, 66.50112915039062, 41.161617279052734, -52.14118957519531, 34.151126861572266 ]
2.5
75
0
75
0
[ -15.686378479003906, -84.15105438232422, 67.49317932128906, 43.06634521484375, -52.050025939941406, 32.046791076660156 ]
[ -15.84657096862793, -83.6956558227539, 66.50112915039062, 40.82491683959961, -52.14118957519531, 35.72129440307617 ]
2.533333
76
0
76
0
[ -16.11480712890625, -83.8521728515625, 67.53651428222656, 42.51606750488281, -52.07151794433594, 33.06880569458008 ]
[ -16.234018325805664, -83.6956558227539, 66.50112915039062, 40.82491683959961, -52.14118957519531, 37.242393493652344 ]
2.566667
77
0
77
0
[ -16.28473663330078, -83.71131134033203, 67.54936218261719, 42.147552490234375, -52.088592529296875, 34.18942642211914 ]
[ -16.311506271362305, -83.6956558227539, 66.50112915039062, 40.82491683959961, -52.14118957519531, 38.763492584228516 ]
2.6
78
0
78
0
[ -16.311729431152344, -83.6501235961914, 67.54136657714844, 41.89678955078125, -52.10228729248047, 35.34198760986328 ]
[ -16.311506271362305, -83.6956558227539, 66.50112915039062, 40.82491683959961, -52.14118957519531, 40.03925323486328 ]
2.633333
79
0
79
0
[ -16.31175994873047, -83.62554168701172, 67.52754211425781, 41.72613525390625, -52.14552307128906, 36.52925109863281 ]
[ -16.311506271362305, -83.6956558227539, 66.50112915039062, 40.82491683959961, -52.296913146972656, 41.36408233642578 ]
2.666667
80
0
80
0
[ -16.36614990234375, -83.58360290527344, 67.50942993164062, 41.60896301269531, -52.19074249267578, 37.6370964050293 ]
[ -16.388996124267578, -83.6120376586914, 66.50112915039062, 40.82491683959961, -52.348819732666016, 42.149166107177734 ]
2.7
81
0
81
0
[ -16.331809997558594, -83.45896911621094, 67.47866821289062, 41.577484130859375, -52.22640609741211, 38.59219741821289 ]
[ -16.311506271362305, -83.3612060546875, 66.50112915039062, 40.99326705932617, -52.348819732666016, 42.49264144897461 ]
2.733333
82
0
82
0
[ -16.2574462890625, -82.99714660644531, 67.36158752441406, 41.55482482910156, -52.254764556884766, 39.36774444580078 ]
[ -16.234018325805664, -82.44147491455078, 66.32054138183594, 40.99326705932617, -52.348819732666016, 42.54170608520508 ]
2.766667
83
0
83
0
[ -16.23517608642578, -81.90371704101562, 67.112548828125, 41.490081787109375, -52.27688217163086, 39.98959732055664 ]
[ -16.234018325805664, -80.51839447021484, 66.0496597290039, 40.90909194946289, -52.348819732666016, 42.54170608520508 ]
2.8
84
0
84
0
[ -16.23381805419922, -80.19393157958984, 66.72709655761719, 41.455780029296875, -52.294620513916016, 40.487178802490234 ]
[ -16.234018325805664, -78.17725372314453, 65.41761016845703, 40.90909194946289, -52.348819732666016, 42.54170608520508 ]
2.833333
85
0
85
0
[ -16.233909606933594, -77.93798065185547, 66.0787353515625, 41.46723937988281, -52.3094596862793, 40.88523864746094 ]
[ -16.234018325805664, -75.41806030273438, 64.24378967285156, 40.90909194946289, -52.348819732666016, 42.54170608520508 ]
2.866667
86
0
86
0
[ -16.233779907226562, -75.1607894897461, 64.96438598632812, 41.513336181640625, -52.30059814453125, 41.20364761352539 ]
[ -16.234018325805664, -72.15718841552734, 62.34762954711914, 40.90909194946289, -52.24500274658203, 42.54170608520508 ]
2.9
87
0
87
0
[ -16.287818908691406, -71.91436004638672, 63.32887268066406, 41.540496826171875, -52.28280258178711, 41.4589729309082 ]
[ -16.311506271362305, -68.39464569091797, 60.090293884277344, 40.90909194946289, -52.19309616088867, 42.54170608520508 ]
2.933333
88
0
88
0
[ -16.36461639404297, -68.3104476928711, 61.28074645996094, 41.533721923828125, -52.25739288330078, 41.663265228271484 ]
[ -16.388996124267578, -64.38127136230469, 57.65237045288086, 40.90909194946289, -52.14118957519531, 42.54170608520508 ]
2.966667
89
0
89
0
[ -16.548316955566406, -64.73973083496094, 59.10990905761719, 41.503997802734375, -52.23693084716797, 41.82742691040039 ]
[ -16.621463775634766, -60.95317840576172, 55.39503479003906, 40.90909194946289, -52.14118957519531, 42.54170608520508 ]
3
90
0
90
0
[ -16.6756591796875, -61.36048889160156, 56.909912109375, 41.48193359375, -52.20968246459961, 41.95735549926758 ]
[ -16.69895362854004, -57.85953140258789, 53.137699127197266, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.033333
91
0
91
0
[ -16.755592346191406, -58.079586029052734, 54.72785949707031, 41.43626403808594, -52.187522888183594, 42.06230926513672 ]
[ -16.776443481445312, -54.598663330078125, 51.151241302490234, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.066667
92
0
92
0
[ -16.93236541748047, -55.027618408203125, 52.695770263671875, 41.40399169921875, -52.170166015625, 42.14714431762695 ]
[ -17.0089111328125, -51.92307662963867, 49.25507736206055, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.1
93
0
93
0
[ -17.065673828125, -52.196434020996094, 50.82786560058594, 41.37409973144531, -52.15587615966797, 42.21358108520508 ]
[ -17.086400985717773, -49.33110427856445, 47.62979507446289, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.133333
94
0
94
0
[ -17.1453857421875, -49.483577728271484, 49.00439453125, 41.37751770019531, -52.145164489746094, 42.26711654663086 ]
[ -17.163890838623047, -46.8227424621582, 45.73363494873047, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.166667
95
0
95
0
[ -17.218490600585938, -46.853065490722656, 47.15776062011719, 41.38328552246094, -52.13682174682617, 42.3101806640625 ]
[ -17.241378784179688, -44.31438064575195, 43.83747100830078, 40.90909194946289, -52.08927917480469, 42.54170608520508 ]
3.2
96
0
96
0
[ -17.486923217773438, -44.29613494873047, 45.26219177246094, 41.39076232910156, -52.12000274658203, 42.34653854370117 ]
[ -17.628826141357422, -41.88963317871094, 41.851016998291016, 40.90909194946289, -52.03737258911133, 42.54170608520508 ]
3.233333
97
0
97
0
[ -17.741836547851562, -41.71477127075195, 43.28558349609375, 41.38294982910156, -52.10562515258789, 42.372867584228516 ]
[ -17.783803939819336, -39.214046478271484, 39.864559173583984, 40.90909194946289, -52.03737258911133, 42.54170608520508 ]
3.266667
98
0
98
0
[ -18.137535095214844, -39.15423583984375, 41.25505065917969, 41.38401794433594, -52.09516143798828, 42.3968505859375 ]
[ -18.326231002807617, -36.78929901123047, 37.69751739501953, 40.90909194946289, -52.03737258911133, 42.54170608520508 ]
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",
    "robot_type": "so101_follower",
    "total_episodes": 50,
    "total_frames": 18109,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "fps": 30,
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.ego": {
            "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.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "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.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "fps": 30,
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "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]
Downloads last month
518
License:
apache-2.0
Number of rows:
18,109
Total file size:
114 MB

Models trained or fine-tuned on xBerry/so101_teleop_pap