Hugging Face's logo

Datasets:
yathAg
/
so101_pick_place

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
24.4
frame_index
int64
0
732
episode_index
int64
0
24
index
int64
0
13.7k
task_index
int64
0
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0
0
0
0
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.033333
1
0
1
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.066667
2
0
2
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.1
3
0
3
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.133333
4
0
4
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1990232467651367, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.166667
5
0
5
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1990232467651367, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.2
6
0
6
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.233333
7
0
7
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.266667
8
0
8
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1990232467651367, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.3
9
0
9
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.333333
10
0
10
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.366667
11
0
11
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.4
12
0
12
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.433333
13
0
13
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.466667
14
0
14
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.5
15
0
15
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.533333
16
0
16
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.566667
17
0
17
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.296703338623047, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.6
18
0
18
0
[ -3.7154150009155273, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.296703338623047, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.633333
19
0
19
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.345543384552002, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.666667
20
0
20
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.7
21
0
21
0
[ -3.794466495513916, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1990232467651367, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.733333
22
0
22
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1501832008361816, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.766667
23
0
23
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.8
24
0
24
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.833333
25
0
25
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.866667
26
0
26
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1990232467651367, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.9
27
0
27
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.933333
28
0
28
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
0.966667
29
0
29
0
[ -3.8735177516937256, -99.25834655761719, 98.65531158447266, 50.629722595214844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1
30
0
30
0
[ -3.9525692462921143, -99.25834655761719, 98.65531158447266, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.033333
31
0
31
0
[ -3.9525692462921143, -99.25834655761719, 98.65531158447266, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.066667
32
0
32
0
[ -3.9525692462921143, -99.25834655761719, 98.65531158447266, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.1
33
0
33
0
[ -3.9525692462921143, -99.25834655761719, 98.65531158447266, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.133333
34
0
34
0
[ -3.794466495513916, -99.25834655761719, 98.56566619873047, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.166667
35
0
35
0
[ -3.7154150009155273, -99.17593383789062, 98.56566619873047, 50.54576110839844, -3.1013431549072266, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.2
36
0
36
0
[ -3.794466495513916, -99.17593383789062, 98.47602081298828, 50.54576110839844, -3.0525031089782715, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.233333
37
0
37
0
[ -3.8735177516937256, -99.17593383789062, 98.2967300415039, 50.54576110839844, -3.0525031089782715, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.266667
38
0
38
0
[ -3.9525692462921143, -99.17593383789062, 98.02779388427734, 50.54576110839844, -3.0525031089782715, 1.7014694213867188 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.3
39
0
39
0
[ -3.9525692462921143, -99.17593383789062, 97.84849548339844, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.333333
40
0
40
0
[ -3.9525692462921143, -99.17593383789062, 97.48991394042969, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.366667
41
0
41
0
[ -3.9525692462921143, -99.17593383789062, 97.31062316894531, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.4
42
0
42
0
[ -3.7154150009155273, -99.17593383789062, 97.31062316894531, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98.17391204833984, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.433333
43
0
43
0
[ -3.7154150009155273, -99.17593383789062, 97.22097778320312, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98.08695983886719, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.466667
44
0
44
0
[ -3.794466495513916, -99.17593383789062, 97.22097778320312, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 98, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.5
45
0
45
0
[ -3.7154150009155273, -99.17593383789062, 97.22097778320312, 50.54576110839844, -3.0525031089782715, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.533333
46
0
46
0
[ -3.6363637447357178, -99.17593383789062, 97.22097778320312, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.566667
47
0
47
0
[ -3.6363637447357178, -99.17593383789062, 97.13133239746094, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.6
48
0
48
0
[ -3.557312250137329, -99.0935287475586, 96.59345245361328, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.633333
49
0
49
0
[ -3.557312250137329, -98.8463134765625, 95.06947326660156, 50.629722595214844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.666667
50
0
50
0
[ -3.557312250137329, -98.02224731445312, 93.0972671508789, 50.629722595214844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.7
51
0
51
0
[ -3.8735177516937256, -96.5389404296875, 91.12505340576172, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.83138275146484, 97.47826385498047, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.733333
52
0
52
0
[ -3.9525692462921143, -94.80840301513672, 89.51142883300781, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.74790954589844, 96.9565200805664, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.766667
53
0
53
0
[ -3.7154150009155273, -93.07787322998047, 88.07709503173828, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -98.16360473632812, 95.82608795166016, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.8
54
0
54
0
[ -3.6363637447357178, -91.1001205444336, 86.37382507324219, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -96.9949951171875, 94, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.833333
55
0
55
0
[ -3.6363637447357178, -89.28718566894531, 84.76020050048828, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -95.65943145751953, 92.52173614501953, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.866667
56
0
56
0
[ -3.557312250137329, -87.72146606445312, 82.96727752685547, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -93.82303619384766, 91.0434799194336, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.9
57
0
57
0
[ -3.557312250137329, -85.99093627929688, 80.72613525390625, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -92.3205337524414, 89.65217590332031, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.933333
58
0
58
0
[ -3.557312250137329, -84.09558868408203, 78.39533996582031, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -90.31719207763672, 87.82608795166016, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
1.966667
59
0
59
0
[ -3.557312250137329, -81.78821563720703, 75.88525390625, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -88.89816284179688, 86.26087188720703, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2
60
0
60
0
[ -3.4782607555389404, -79.3984375, 73.64410400390625, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -86.89482116699219, 83.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.033333
61
0
61
0
[ -3.4782607555389404, -77.09105682373047, 71.49260711669922, 50.54576110839844, -3.0036630630493164, 1.7788089513778687 ]
[ -3.8065028190612793, -85.39231872558594, 81.91304016113281, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.066667
62
0
62
0
[ -3.4782607555389404, -74.8660888671875, 69.34110260009766, 50.54576110839844, -2.9548230171203613, 1.7788089513778687 ]
[ -3.8065028190612793, -82.80467224121094, 79.56521606445312, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.1
63
0
63
0
[ -3.4782607555389404, -73.13555908203125, 67.1895980834961, 50.54576110839844, -2.9548230171203613, 1.7788089513778687 ]
[ -3.8065028190612793, -80.71786499023438, 77.13043212890625, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.133333
64
0
64
0
[ -3.4782607555389404, -71.32262420654297, 64.7691650390625, 50.54576110839844, -2.9548230171203613, 1.7788089513778687 ]
[ -3.8065028190612793, -78.3806381225586, 74.9565200805664, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.166667
65
0
65
0
[ -3.399209499359131, -69.59208679199219, 62.61766052246094, 50.54576110839844, -2.759462833404541, 1.7788089513778687 ]
[ -3.8065028190612793, -76.12687683105469, 72.78260803222656, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.2
66
0
66
0
[ -3.320158004760742, -67.86155700683594, 60.645450592041016, 50.54576110839844, -2.124542236328125, 1.7788089513778687 ]
[ -3.8065028190612793, -74.29048156738281, 70.60869598388672, 51.2355842590332, -3.1013431549072266, 2.031144142150879 ]
2.233333
67
0
67
0
[ -3.2411067485809326, -65.718994140625, 58.673240661621094, 50.54576110839844, -1.196581244468689, 1.7788089513778687 ]
[ -3.8065028190612793, -72.37062072753906, 68.26087188720703, 51.2355842590332, -3.0525031089782715, 2.031144142150879 ]
2.266667
68
0
68
0
[ -2.3715415000915527, -63.49402618408203, 56.88032150268555, 50.71368408203125, -0.3663003742694855, 1.7788089513778687 ]
[ -3.8065028190612793, -70.53422546386719, 66, 51.2355842590332, -2.710622787475586, 2.031144142150879 ]
2.3
69
0
69
0
[ -0.395256906747818, -60.939430236816406, 54.81846618652344, 50.629722595214844, 0.2686202824115753, 1.7788089513778687 ]
[ -3.8065028190612793, -68.86477661132812, 64.08695983886719, 51.2355842590332, -2.222222328186035, 2.031144142150879 ]
2.333333
70
0
70
0
[ 1.9762846231460571, -58.632057189941406, 52.9359016418457, 50.629722595214844, 0.6105006337165833, 1.7788089513778687 ]
[ -3.409991979598999, -66.52754211425781, 61.739131927490234, 51.2355842590332, -1.3919414281845093, 2.031144142150879 ]
2.366667
71
0
71
0
[ 4.268774509429932, -56.32468032836914, 50.96369171142578, 50.629722595214844, 0.8058608174324036, 1.7788089513778687 ]
[ -2.696272850036621, -64.60768127441406, 60.173912048339844, 51.2355842590332, -0.7570207715034485, 2.031144142150879 ]
2.4
72
0
72
0
[ 6.561264991760254, -54.09971237182617, 48.812191009521484, 50.629722595214844, 0.9035409092903137, 1.7788089513778687 ]
[ -1.1102299690246582, -62.18697738647461, 58.173912048339844, 51.2355842590332, -0.12210012227296829, 2.031144142150879 ]
2.433333
73
0
73
0
[ 8.142292022705078, -52.286773681640625, 47.0192756652832, 50.79764938354492, 1.0012210607528687, 1.7788089513778687 ]
[ 0.9516257047653198, -59.682804107666016, 56.173912048339844, 51.2355842590332, 0.3174603283405304, 2.031144142150879 ]
2.466667
74
0
74
0
[ 9.328063011169434, -50.39142990112305, 45.226356506347656, 50.88161087036133, 1.1477411985397339, 1.7788089513778687 ]
[ 2.85487699508667, -57.51251983642578, 54.34782791137695, 51.2355842590332, 0.5616605877876282, 2.031144142150879 ]
2.5
75
0
75
0
[ 10.197628021240234, -48.74330520629883, 43.792022705078125, 50.88161087036133, 1.1477411985397339, 1.7788089513778687 ]
[ 5.392545700073242, -54.92487335205078, 52, 51.2355842590332, 0.7570207715034485, 2.031144142150879 ]
2.533333
76
0
76
0
[ 10.830039978027344, -47.09518051147461, 42.44733428955078, 50.88161087036133, 1.1477411985397339, 1.7788089513778687 ]
[ 6.978588581085205, -53.17195510864258, 50.34782791137695, 51.2355842590332, 0.8547008633613586, 2.031144142150879 ]
2.566667
77
0
77
0
[ 11.30434799194336, -45.28224182128906, 40.9233512878418, 50.88161087036133, 1.1477411985397339, 1.7788089513778687 ]
[ 8.088818550109863, -51.16861343383789, 48.60869598388672, 51.2355842590332, 1.0012210607528687, 2.031144142150879 ]
2.6
78
0
78
0
[ 11.699604988098145, -43.469303131103516, 39.57866287231445, 50.965576171875, 1.1477411985397339, 1.7788089513778687 ]
[ 9.35765266418457, -49.33222198486328, 46.956520080566406, 51.2355842590332, 1.0012210607528687, 2.031144142150879 ]
2.633333
79
0
79
0
[ 12.09486198425293, -41.40914535522461, 38.41326904296875, 50.965576171875, 1.1477411985397339, 1.7788089513778687 ]
[ 10.150673866271973, -47.74624252319336, 45.565216064453125, 51.2355842590332, 1.0012210607528687, 2.031144142150879 ]
2.666667
80
0
80
0
[ 12.25296401977539, -39.59621047973633, 37.427162170410156, 50.965576171875, 1.196581244468689, 1.7788089513778687 ]
[ 10.626486778259277, -45.74290466308594, 43.91304397583008, 51.2355842590332, 1.0012210607528687, 2.031144142150879 ]
2.7
81
0
81
0
[ 12.25296401977539, -37.94808578491211, 36.70999526977539, 50.965576171875, 1.196581244468689, 1.7788089513778687 ]
[ 11.181601524353027, -44.073455810546875, 42.60869598388672, 51.2355842590332, 1.0012210607528687, 2.031144142150879 ]
2.733333
82
0
82
0
[ 12.885375022888184, -36.13514709472656, 35.81353759765625, 51.049537658691406, 1.196581244468689, 1.7788089513778687 ]
[ 11.578112602233887, -42.15359115600586, 41.39130401611328, 51.2355842590332, 1.0500611066818237, 2.031144142150879 ]
2.766667
83
0
83
0
[ 14.071146011352539, -34.40461349487305, 34.73778533935547, 51.049537658691406, 1.245421290397644, 1.7788089513778687 ]
[ 11.736717224121094, -40.15024948120117, 40.260868072509766, 51.2355842590332, 1.0500611066818237, 2.031144142150879 ]
2.8
84
0
84
0
[ 15.256916999816895, -33.25092697143555, 33.75168228149414, 51.049537658691406, 1.245421290397644, 1.7788089513778687 ]
[ 11.895320892333984, -38.48080062866211, 39.4782600402832, 51.2355842590332, 1.0500611066818237, 2.031144142150879 ]
2.833333
85
0
85
0
[ 16.205533981323242, -32.344459533691406, 32.67593002319336, 51.049537658691406, 1.5873016119003296, 1.7788089513778687 ]
[ 12.291831970214844, -36.97829818725586, 38.78260803222656, 51.2355842590332, 1.0500611066818237, 2.031144142150879 ]
2.866667
86
0
86
0
[ 16.916996002197266, -31.520395278930664, 31.510534286499023, 51.049537658691406, 2.124542236328125, 1.8561484813690186 ]
[ 13.164155006408691, -35.22537612915039, 37.826087951660156, 51.2355842590332, 1.0500611066818237, 2.031144142150879 ]
2.9
87
0
87
0
[ 17.62845802307129, -30.696332931518555, 30.345136642456055, 51.049537658691406, 2.661782741546631, 1.8561484813690186 ]
[ 14.195083618164062, -33.88981628417969, 36.956520080566406, 51.2355842590332, 1.0989011526107788, 2.031144142150879 ]
2.933333
88
0
88
0
[ 18.18181800842285, -29.70745849609375, 29.17974090576172, 51.049537658691406, 3.1501832008361816, 1.8561484813690186 ]
[ 15.146708488464355, -32.7212028503418, 36, 51.2355842590332, 1.4407814741134644, 2.031144142150879 ]
2.966667
89
0
89
0
[ 18.81422996520996, -28.63617706298828, 28.103988647460938, 51.13350296020508, 3.6385836601257324, 1.8561484813690186 ]
[ 15.939730644226074, -31.80300521850586, 34.869564056396484, 51.2355842590332, 1.88034188747406, 2.031144142150879 ]
3
90
0
90
0
[ 19.288537979125977, -27.23526954650879, 27.117883682250977, 51.13350296020508, 4.029304027557373, 1.8561484813690186 ]
[ 16.65345001220703, -30.884807586669922, 33.65217208862305, 51.2355842590332, 2.3199024200439453, 2.031144142150879 ]
3.033333
91
0
91
0
[ 19.683794021606445, -25.751956939697266, 26.131778717041016, 51.217464447021484, 4.371184349060059, 1.8561484813690186 ]
[ 17.367168426513672, -29.966611862182617, 32.5217399597168, 51.2355842590332, 2.808302879333496, 2.031144142150879 ]
3.066667
92
0
92
0
[ 20.237154006958008, -24.351051330566406, 25.145673751831055, 51.55331802368164, 4.615384578704834, 1.8561484813690186 ]
[ 18.0015869140625, -28.964941024780273, 31.478260040283203, 51.2355842590332, 3.247863292694092, 2.031144142150879 ]
3.1
93
0
93
0
[ 20.711462020874023, -22.78533172607422, 23.98027801513672, 52.81276321411133, 4.859584808349609, 1.8561484813690186 ]
[ 18.55670166015625, -27.629383087158203, 30.34782600402832, 51.2355842590332, 3.6874237060546875, 2.031144142150879 ]
3.133333
94
0
94
0
[ 21.027667999267578, -21.46683120727539, 22.635589599609375, 54.3240966796875, 5.006104946136475, 1.8561484813690186 ]
[ 19.11181640625, -26.210350036621094, 29.30434799194336, 51.2355842590332, 4.029304027557373, 2.031144142150879 ]
3.166667
95
0
95
0
[ 21.106719970703125, -19.901111602783203, 21.021963119506836, 56.08732223510742, 5.201465129852295, 1.8561484813690186 ]
[ 19.50832748413086, -25.041736602783203, 28.434782028198242, 51.31795883178711, 4.3223443031311035, 2.031144142150879 ]
3.2
96
0
96
0
[ 21.106719970703125, -18.41779899597168, 19.229045867919922, 57.85054397583008, 5.201465129852295, 1.8561484813690186 ]
[ 20.06344223022461, -23.455759048461914, 27.130434036254883, 52.388797760009766, 4.615384578704834, 2.031144142150879 ]
3.233333
97
0
97
0
[ 21.106719970703125, -16.934486389160156, 17.2568359375, 59.361881256103516, 5.201465129852295, 1.8561484813690186 ]
[ 20.45995330810547, -22.036727905273438, 25.913043975830078, 53.62438201904297, 4.810744762420654, 2.031144142150879 ]
3.266667
98
0
98
0
[ 21.18577003479004, -15.533580780029297, 15.374271392822266, 60.453399658203125, 5.201465129852295, 1.8561484813690186 ]
[ 20.61855697631836, -20.45075035095215, 24.434782028198242, 55.189456939697266, 4.9572649002075195, 2.031144142150879 ]
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": "so_follower",
    "total_episodes": 25,
    "total_frames": 13708,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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_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.camera1": {
            "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.camera2": {
            "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
            }
        },
        "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
64
License:
apache-2.0
Number of rows:
13,708
Total file size:
1.61 GB

Models trained or fine-tuned on yathAg/so101_pick_place