Hugging Face's logo

Datasets:
vraiRobotLab
/
multicolor_block_tiles_joints

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
ros2
teleoperation
imitation-learning
so101-ros-physical-ai
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
observation.state
list
action
list
timestamp
float32
0
18.2
frame_index
int64
0
546
episode_index
int64
0
180
index
int64
0
61.5k
task_index
int64
0
25
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1672039031982422, -1.76407790184021, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0
0
0
0
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.76407790184021, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.033333
1
0
1
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.066667
2
0
2
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.685844898223877, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.1
3
0
3
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.133333
4
0
4
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.166667
5
0
5
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.2
6
0
6
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.233333
7
0
7
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.266667
8
0
8
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16873788833618164, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.3
9
0
9
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.333333
10
0
10
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.366667
11
0
11
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.7625439167022705, 1.5002331733703613, 1.0507768392562866, -1.6873788833618164, 0.003067961661145091 ]
0.4
12
0
12
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.7625439167022705, 1.5002331733703613, 1.052310824394226, -1.6873788833618164, 0.003067961661145091 ]
0.433333
13
0
13
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.761009931564331, 1.5002331733703613, 1.052310824394226, -1.6873788833618164, 0.006135923322290182 ]
0.466667
14
0
14
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.1702718734741211, -1.761009931564331, 1.5002331733703613, 1.052310824394226, -1.685844898223877, 0.006135923322290182 ]
0.5
15
0
15
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.16566991806030273, -1.7702138423919678, 1.5002331733703613, 1.0477088689804077, -1.6889128684997559, 0.006135923322290182 ]
0.533333
16
0
16
0
[ 0.1702718734741211, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6873788833618164, 0.004601942375302315 ]
[ 0.13805827498435974, -1.7702138423919678, 1.4910293817520142, 1.0400389432907104, -1.6950488090515137, 0.003067961661145091 ]
0.566667
17
0
17
0
[ 0.1672039031982422, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.10737865418195724, -1.7702138423919678, 1.483359456062317, 1.0400389432907104, -1.6965827941894531, 0.003067961661145091 ]
0.6
18
0
18
0
[ 0.1564660370349884, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6950488090515137, 0.004601942375302315 ]
[ 0.0951068103313446, -1.7702138423919678, 1.4818254709243774, 1.0400389432907104, -1.6965827941894531, 0.003067961661145091 ]
0.633333
19
0
19
0
[ 0.13805827498435974, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6950488090515137, 0.004601942375302315 ]
[ 0.08283495903015137, -1.7671458721160889, 1.4818254709243774, 1.0431069135665894, -1.6965827941894531, 0.003067961661145091 ]
0.666667
20
0
20
0
[ 0.11965049803256989, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6950488090515137, 0.004601942375302315 ]
[ 0.07516505569219589, -1.7594759464263916, 1.4818254709243774, 1.0477088689804077, -1.6965827941894531, 0.003067961661145091 ]
0.7
21
0
21
0
[ 0.10277671366930008, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6889128684997559, 0.004601942375302315 ]
[ 0.06902913749217987, -1.7579419612884521, 1.4787575006484985, 1.0446408987045288, -1.6981167793273926, 0.003067961661145091 ]
0.733333
22
0
22
0
[ 0.08743690699338913, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.685844898223877, 0.004601942375302315 ]
[ 0.06596117466688156, -1.7579419612884521, 1.466485619544983, 1.0400389432907104, -1.6981167793273926, 0.003067961661145091 ]
0.766667
23
0
23
0
[ 0.07669904083013535, -1.7441362142562866, 1.4986991882324219, 1.0538448095321655, -1.6889128684997559, 0.004601942375302315 ]
[ 0.06596117466688156, -1.7564079761505127, 1.4434759616851807, 1.0400389432907104, -1.6981167793273926, 0.003067961661145091 ]
0.8
24
0
24
0
[ 0.07516505569219589, -1.7441362142562866, 1.495631217956543, 1.0538448095321655, -1.6904468536376953, 0.004601942375302315 ]
[ 0.06442718952894211, -1.73493230342865, 1.3867186307907104, 1.0492428541183472, -1.6981167793273926, 0.003067961661145091 ]
0.833333
25
0
25
0
[ 0.07516505569219589, -1.7441362142562866, 1.492563247680664, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.06442718952894211, -1.6935148239135742, 1.3330292701721191, 1.0492428541183472, -1.6981167793273926, 0.003067961661145091 ]
0.866667
26
0
26
0
[ 0.07516505569219589, -1.7395342588424683, 1.4818254709243774, 1.0538448095321655, -1.6935148239135742, 0.004601942375302315 ]
[ 0.06596117466688156, -1.636757493019104, 1.2701361179351807, 1.0492428541183472, -1.6981167793273926, 0.003067961661145091 ]
0.9
27
0
27
0
[ 0.07363107800483704, -1.699650764465332, 1.4204661846160889, 1.0538448095321655, -1.699650764465332, 0.004601942375302315 ]
[ 0.07363107800483704, -1.5155730247497559, 1.1458836793899536, 1.0507768392562866, -1.6965827941894531, 0.003067961661145091 ]
0.933333
28
0
28
0
[ 0.07363107800483704, -1.665903091430664, 1.3790487051010132, 1.0538448095321655, -1.6935148239135742, 0.004601942375302315 ]
[ 0.07363107800483704, -1.4112622737884521, 1.055378794670105, 1.0507768392562866, -1.6965827941894531, 0.003067961661145091 ]
0.966667
29
0
29
0
[ 0.07363107800483704, -1.6244856119155884, 1.3299612998962402, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.07363107800483704, -1.3253593444824219, 0.983281672000885, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1
30
0
30
0
[ 0.07363107800483704, -1.5738643407821655, 1.274738073348999, 1.0538448095321655, -1.6950488090515137, 0.004601942375302315 ]
[ 0.07363107800483704, -1.240990400314331, 0.9096506237983704, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.033333
31
0
31
0
[ 0.07363107800483704, -1.4035924673080444, 1.1029322147369385, 1.0538448095321655, -1.6950488090515137, 0.004601942375302315 ]
[ 0.07056311517953873, -1.0078253746032715, 0.6872233748435974, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.066667
32
0
32
0
[ 0.07363107800483704, -1.336097240447998, 1.0400389432907104, 1.0538448095321655, -1.6935148239135742, 0.004601942375302315 ]
[ 0.06596117466688156, -0.9725438356399536, 0.6488738656044006, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.1
33
0
33
0
[ 0.07363107800483704, -1.2640001773834229, 0.9725438356399536, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.06442718952894211, -0.9234564304351807, 0.5951845645904541, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.133333
34
0
34
0
[ 0.07363107800483704, -1.193437099456787, 0.9035146832466125, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.0613592304289341, -0.8436894416809082, 0.5092816352844238, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.166667
35
0
35
0
[ 0.07363107800483704, -1.1228739023208618, 0.8344855308532715, 1.0538448095321655, -1.6919808387756348, 0.004601942375302315 ]
[ 0.05062136426568031, -0.7838642001152039, 0.4463884234428406, 1.052310824394226, -1.6965827941894531, 0.003067961661145091 ]
1.2
36
0
36
0
[ 0.07209710031747818, -1.0507768392562866, 0.7654564380645752, 1.0538448095321655, -1.6935148239135742, 0.004601942375302315 ]
[ 0.03374757617712021, -0.7286408543586731, 0.3850291669368744, 1.052310824394226, -1.6965827941894531, 0.006135923322290182 ]
1.233333
37
0
37
0
[ 0.05982524901628494, -0.9817476868629456, 0.6964272856712341, 1.0538448095321655, -1.7011847496032715, 0.004601942375302315 ]
[ 0.015339807607233524, -0.6749515533447266, 0.3267379105091095, 1.0507768392562866, -1.6981167793273926, 0.006135923322290182 ]
1.266667
38
0
38
0
[ 0.0475534051656723, -0.9127185940742493, 0.6289321184158325, 1.0538448095321655, -1.7011847496032715, 0.004601942375302315 ]
[ -0.004601942375302315, -0.6197282671928406, 0.2684466242790222, 1.0492428541183472, -1.699650764465332, 0.007669903803616762 ]
1.3
39
0
39
0
[ 0.03528155758976936, -0.8620972037315369, 0.5798447132110596, 1.0538448095321655, -1.699650764465332, 0.004601942375302315 ]
[ -0.02147573046386242, -0.5767768025398254, 0.22549517452716827, 1.0492428541183472, -1.7027186155319214, 0.007669903803616762 ]
1.333333
40
0
40
0
[ 0.01840776950120926, -0.7915340662002563, 0.5138835906982422, 1.0538448095321655, -1.6981167793273926, 0.004601942375302315 ]
[ -0.058291271328926086, -0.5062136650085449, 0.15800002217292786, 1.0492428541183472, -1.7272623777389526, 0.006135923322290182 ]
1.366667
41
0
41
0
[ 0, -0.7271068692207336, 0.452524334192276, 1.0538448095321655, -1.7011847496032715, 0.004601942375302315 ]
[ -0.0920388475060463, -0.4555923044681549, 0.11044661700725555, 1.0492428541183472, -1.7548739910125732, 0.006135923322290182 ]
1.4
42
0
42
0
[ -0.02147573046386242, -0.6611457467079163, 0.38963112235069275, 1.0538448095321655, -1.7057865858078003, 0.004601942375302315 ]
[ -0.11811652034521103, -0.4218447208404541, 0.0782330185174942, 1.0492428541183472, -1.7794177532196045, 0.006135923322290182 ]
1.433333
43
0
43
0
[ -0.0475534051656723, -0.5951845645904541, 0.32827189564704895, 1.0538448095321655, -1.728796362876892, 0.004601942375302315 ]
[ -0.16260196268558502, -0.3742913007736206, 0.032213594764471054, 1.0492428541183472, -1.8177672624588013, 0.006135923322290182 ]
1.466667
44
0
44
0
[ -0.07669904083013535, -0.5338253378868103, 0.2715145945549011, 1.0538448095321655, -1.7564079761505127, 0.004601942375302315 ]
[ -0.19328157603740692, -0.3436116874217987, 0.004601942375302315, 1.0492428541183472, -1.8453788757324219, 0.006135923322290182 ]
1.5
45
0
45
0
[ -0.10431069135665894, -0.47860199213027954, 0.21629129350185394, 1.0538448095321655, -1.7794177532196045, 0.004601942375302315 ]
[ -0.2178252786397934, -0.32213595509529114, -0.015339807607233524, 1.0446408987045288, -1.8683886528015137, 0.006135923322290182 ]
1.533333
46
0
46
0
[ -0.13499030470848083, -0.4264466464519501, 0.16873788833618164, 1.0538448095321655, -1.8054953813552856, 0.004601942375302315 ]
[ -0.23930099606513977, -0.3067961633205414, -0.029145635664463043, 1.04157292842865, -1.8898643255233765, 0.006135923322290182 ]
1.566667
47
0
47
0
[ -0.16566991806030273, -0.3804272413253784, 0.1257864236831665, 1.0538448095321655, -1.826971173286438, 0.004601942375302315 ]
[ -0.2623107135295868, -0.29452431201934814, -0.03681553900241852, 1.0400389432907104, -1.9144079685211182, 0.006135923322290182 ]
1.6
48
0
48
0
[ -0.18867963552474976, -0.3497476279735565, 0.09817477315664291, 1.0538448095321655, -1.842310905456543, 0.004601942375302315 ]
[ -0.26998060941696167, -0.29145634174346924, -0.03988350182771683, 1.038504958152771, -1.9220778942108154, 0.006135923322290182 ]
1.633333
49
0
49
0
[ -0.2208932340145111, -0.3067961633205414, 0.06289321184158325, 1.0538448095321655, -1.8760584592819214, 0.004601942375302315 ]
[ -0.32520392537117004, -0.27765053510665894, -0.0613592304289341, 1.038504958152771, -1.9819031953811646, 0.006135923322290182 ]
1.666667
50
0
50
0
[ -0.24083498120307922, -0.2883884012699127, 0.04601942375302315, 1.0538448095321655, -1.8975342512130737, 0.004601942375302315 ]
[ -0.33900976181030273, -0.2730485796928406, -0.06749515235424042, 1.038504958152771, -2.001844882965088, 0.006135923322290182 ]
1.7
51
0
51
0
[ -0.2684466242790222, -0.26998060941696167, 0.029145635664463043, 1.0538448095321655, -1.9297478199005127, 0.004601942375302315 ]
[ -0.35588353872299194, -0.26077672839164734, -0.08130098134279251, 1.038504958152771, -2.0417284965515137, 0.004601942375302315 ]
1.733333
52
0
52
0
[ -0.29452431201934814, -0.25770875811576843, 0.013805827125906944, 1.0538448095321655, -1.9619613885879517, 0.004601942375302315 ]
[ -0.3650874197483063, -0.25003886222839355, -0.08897088468074799, 1.038504958152771, -2.0647380352020264, 0.004601942375302315 ]
1.766667
53
0
53
0
[ -0.3206019699573517, -0.24390295147895813, -0.004601942375302315, 1.0538448095321655, -1.986505150794983, 0.004601942375302315 ]
[ -0.36968937516212463, -0.2208932340145111, -0.10431069135665894, 1.038504958152771, -2.087747812271118, 0.003067961661145091 ]
1.8
54
0
54
0
[ -0.3466796576976776, -0.22856314480304718, -0.02147573046386242, 1.0538448095321655, -2.0202527046203613, 0.004601942375302315 ]
[ -0.3712233603000641, -0.1902136206626892, -0.11965049803256989, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
1.833333
55
0
55
0
[ -0.35895150899887085, -0.2070874124765396, -0.03834952041506767, 1.0538448095321655, -2.0447964668273926, 0.004601942375302315 ]
[ -0.3712233603000641, -0.1564660370349884, -0.1365242898464203, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
1.866667
56
0
56
0
[ -0.36201947927474976, -0.18254370987415314, -0.05215534567832947, 1.0538448095321655, -2.0616700649261475, 0.004601942375302315 ]
[ -0.3712233603000641, -0.1257864236831665, -0.1564660370349884, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
1.9
57
0
57
0
[ -0.3604854941368103, -0.16106797754764557, -0.06442718952894211, 1.0538448095321655, -2.0724079608917236, 0.004601942375302315 ]
[ -0.3712233603000641, -0.10584467649459839, -0.1733398288488388, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
1.933333
58
0
58
0
[ -0.35588353872299194, -0.13345633447170258, -0.0782330185174942, 1.0538448095321655, -2.080077886581421, 0.004601942375302315 ]
[ -0.3681553900241852, -0.07209710031747818, -0.2040194422006607, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
1.966667
59
0
59
0
[ -0.3543495535850525, -0.10584467649459839, -0.0951068103313446, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.3650874197483063, -0.05062136426568031, -0.22396118938922882, 1.038504958152771, -2.0923497676849365, 0.003067961661145091 ]
2
60
0
60
0
[ -0.3543495535850525, -0.07669904083013535, -0.11504855751991272, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.3650874197483063, -0.012271846644580364, -0.251572847366333, 1.038504958152771, -2.090815782546997, 0.006135923322290182 ]
2.033333
61
0
61
0
[ -0.3574175238609314, -0.0475534051656723, -0.13499030470848083, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.36968937516212463, 0.015339807607233524, -0.26384469866752625, 1.038504958152771, -2.090815782546997, 0.007669903803616762 ]
2.066667
62
0
62
0
[ -0.35895150899887085, -0.016873788088560104, -0.15800002217292786, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.3712233603000641, 0.04448544234037399, -0.2761165499687195, 1.038504958152771, -2.090815782546997, 0.00920388475060463 ]
2.1
63
0
63
0
[ -0.35895150899887085, 0.012271846644580364, -0.18100973963737488, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.3742913007736206, 0.10124272853136063, -0.2991262674331665, 1.0369709730148315, -2.090815782546997, 0.01073786523193121 ]
2.133333
64
0
64
0
[ -0.3604854941368103, 0.04601942375302315, -0.200951486825943, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.1595340073108673, -0.32827189564704895, 1.0369709730148315, -2.090815782546997, 0.012271846644580364 ]
2.166667
65
0
65
0
[ -0.36201947927474976, 0.07516505569219589, -0.21629129350185394, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.18254370987415314, -0.34207770228385925, 1.0369709730148315, -2.090815782546997, 0.012271846644580364 ]
2.2
66
0
66
0
[ -0.3650874197483063, 0.12425244599580765, -0.24083498120307922, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.2485048919916153, -0.3957670331001282, 1.0369709730148315, -2.0923497676849365, 0.012271846644580364 ]
2.233333
67
0
67
0
[ -0.3681553900241852, 0.19941750168800354, -0.28071847558021545, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.31446605920791626, -0.4586602449417114, 1.0369709730148315, -2.096951723098755, 0.012271846644580364 ]
2.266667
68
0
68
0
[ -0.3681553900241852, 0.24390295147895813, -0.3129320740699768, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.3604854941368103, -0.5062136650085449, 1.0369709730148315, -2.096951723098755, 0.012271846644580364 ]
2.3
69
0
69
0
[ -0.3666214048862457, 0.2883884012699127, -0.3466796576976776, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37582528591156006, 0.38963112235069275, -0.5414952039718628, 1.0369709730148315, -2.096951723098755, 0.012271846644580364 ]
2.333333
70
0
70
0
[ -0.3650874197483063, 0.33133983612060547, -0.38196122646331787, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.37889325618743896, 0.42337870597839355, -0.5890486240386963, 1.0369709730148315, -2.096951723098755, 0.012271846644580364 ]
2.366667
71
0
71
0
[ -0.3635534346103668, 0.3712233603000641, -0.4187767505645752, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.3957670331001282, 0.4586602449417114, -0.6427379250526428, 1.038504958152771, -2.096951723098755, 0.012271846644580364 ]
2.4
72
0
72
0
[ -0.3635534346103668, 0.401902973651886, -0.4494563639163971, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.41264083981513977, 0.480135977268219, -0.676485538482666, 1.038504958152771, -2.096951723098755, 0.012271846644580364 ]
2.433333
73
0
73
0
[ -0.3712233603000641, 0.4387184977531433, -0.49240782856941223, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.424912691116333, 0.5016117095947266, -0.7010292410850525, 1.038504958152771, -2.096951723098755, 0.012271846644580364 ]
2.466667
74
0
74
0
[ -0.3850291669368744, 0.4770680367946625, -0.5368932485580444, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.4356505572795868, 0.5230874419212341, -0.7163690328598022, 1.038504958152771, -2.0984857082366943, 0.012271846644580364 ]
2.5
75
0
75
0
[ -0.40036898851394653, 0.5062136650085449, -0.5706408619880676, 1.0538448095321655, -2.0816118717193604, 0.004601942375302315 ]
[ -0.4494563639163971, 0.5430291891098022, -0.7225049734115601, 1.038504958152771, -2.100019693374634, 0.012271846644580364 ]
2.533333
76
0
76
0
[ -0.4187767505645752, 0.5292233824729919, -0.6013204455375671, 1.0538448095321655, -2.0892817974090576, 0.004601942375302315 ]
[ -0.46479618549346924, 0.558368980884552, -0.7240389585494995, 1.038504958152771, -2.1015536785125732, 0.012271846644580364 ]
2.566667
77
0
77
0
[ -0.43411657214164734, 0.5553010702133179, -0.6289321184158325, 1.0538448095321655, -2.093883752822876, 0.004601942375302315 ]
[ -0.47860199213027954, 0.5691068768501282, -0.7240389585494995, 1.038504958152771, -2.1015536785125732, 0.012271846644580364 ]
2.6
78
0
78
0
[ -0.44332045316696167, 0.5691068768501282, -0.6412039399147034, 1.0538448095321655, -2.090815782546997, 0.004601942375302315 ]
[ -0.4862719178199768, 0.5798447132110596, -0.7225049734115601, 1.038504958152771, -2.1015536785125732, 0.012271846644580364 ]
2.633333
79
0
79
0
[ -0.4601942300796509, 0.5905826091766357, -0.6504078507423401, 1.0538448095321655, -2.0954177379608154, 0.004601942375302315 ]
[ -0.4908738434314728, 0.5905826091766357, -0.7179030179977417, 1.038504958152771, -2.1015536785125732, 0.012271846644580364 ]
2.666667
80
0
80
0
[ -0.47093209624290466, 0.6028544306755066, -0.6504078507423401, 1.0538448095321655, -2.100019693374634, 0.004601942375302315 ]
[ -0.49240782856941223, 0.604388415813446, -0.7163690328598022, 1.0400389432907104, -2.1015536785125732, 0.012271846644580364 ]
2.7
81
0
81
0
[ -0.4770680367946625, 0.6135923266410828, -0.6504078507423401, 1.0538448095321655, -2.0954177379608154, 0.004601942375302315 ]
[ -0.49240782856941223, 0.6105243563652039, -0.7163690328598022, 1.0400389432907104, -2.1015536785125732, 0.012271846644580364 ]
2.733333
82
0
82
0
[ -0.48473793268203735, 0.6273981332778931, -0.6504078507423401, 1.0538448095321655, -2.093883752822876, 0.004601942375302315 ]
[ -0.49240782856941223, 0.6320000886917114, -0.7179030179977417, 1.0400389432907104, -2.100019693374634, 0.012271846644580364 ]
2.766667
83
0
83
0
[ -0.48780590295791626, 0.6381360292434692, -0.6504078507423401, 1.0538448095321655, -2.093883752822876, 0.004601942375302315 ]
[ -0.4908738434314728, 0.6427379250526428, -0.7209709882736206, 1.0400389432907104, -2.0984857082366943, 0.012271846644580364 ]
2.8
84
0
84
0
[ -0.48780590295791626, 0.6488738656044006, -0.6504078507423401, 1.0538448095321655, -2.0923497676849365, 0.004601942375302315 ]
[ -0.4908738434314728, 0.6473398804664612, -0.7209709882736206, 1.0400389432907104, -2.0984857082366943, 0.012271846644580364 ]
2.833333
85
0
85
0
[ -0.4862719178199768, 0.6611457467079163, -0.6504078507423401, 1.0538448095321655, -2.0923497676849365, 0.004601942375302315 ]
[ -0.48780590295791626, 0.6504078507423401, -0.7209709882736206, 1.0400389432907104, -2.0984857082366943, 0.012271846644580364 ]
2.866667
86
0
86
0
[ -0.48166996240615845, 0.6734175682067871, -0.6504078507423401, 1.0538448095321655, -2.0954177379608154, 0.004601942375302315 ]
[ -0.48473793268203735, 0.6504078507423401, -0.7209709882736206, 1.0400389432907104, -2.0984857082366943, 0.01073786523193121 ]
2.9
87
0
87
0
[ -0.480135977268219, 0.6795535087585449, -0.6488738656044006, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.4832039475440979, 0.6504078507423401, -0.7209709882736206, 1.0400389432907104, -2.0954177379608154, 0.01073786523193121 ]
2.933333
88
0
88
0
[ -0.480135977268219, 0.6810874938964844, -0.6488738656044006, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.47860199213027954, 0.6504078507423401, -0.7163690328598022, 1.0400389432907104, -2.093883752822876, 0.01073786523193121 ]
2.966667
89
0
89
0
[ -0.480135977268219, 0.6810874938964844, -0.6488738656044006, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.46479618549346924, 0.6504078507423401, -0.7133010625839233, 1.0400389432907104, -2.0923497676849365, 0.01073786523193121 ]
3
90
0
90
0
[ -0.48166996240615845, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.0954177379608154, 0.004601942375302315 ]
[ -0.4494563639163971, 0.6519418358802795, -0.7117670774459839, 1.0400389432907104, -2.0923497676849365, 0.01073786523193121 ]
3.033333
91
0
91
0
[ -0.48166996240615845, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.093883752822876, 0.004601942375302315 ]
[ -0.44025248289108276, 0.653475821018219, -0.7117670774459839, 1.04157292842865, -2.090815782546997, 0.01073786523193121 ]
3.066667
92
0
92
0
[ -0.475534051656723, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.0923497676849365, 0.004601942375302315 ]
[ -0.43718451261520386, 0.653475821018219, -0.7117670774459839, 1.04157292842865, -2.090815782546997, 0.01073786523193121 ]
3.1
93
0
93
0
[ -0.46786412596702576, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.0923497676849365, 0.004601942375302315 ]
[ -0.43411657214164734, 0.653475821018219, -0.7117670774459839, 1.04157292842865, -2.090815782546997, 0.01073786523193121 ]
3.133333
94
0
94
0
[ -0.4555923044681549, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.093883752822876, 0.004601942375302315 ]
[ -0.4264466464519501, 0.6580777764320374, -0.7102330923080444, 1.04157292842865, -2.090815782546997, 0.01073786523193121 ]
3.166667
95
0
95
0
[ -0.4463884234428406, 0.6810874938964844, -0.6504078507423401, 1.0538448095321655, -2.096951723098755, 0.004601942375302315 ]
[ -0.4157087802886963, 0.6734175682067871, -0.7133010625839233, 1.0400389432907104, -2.090815782546997, 0.01073786523193121 ]
3.2
96
0
96
0
[ -0.4387184977531433, 0.6826214790344238, -0.6504078507423401, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.40650489926338196, 0.6902913451194763, -0.7209709882736206, 1.038504958152771, -2.090815782546997, 0.01073786523193121 ]
3.233333
97
0
97
0
[ -0.43104860186576843, 0.6933593153953552, -0.6504078507423401, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.40650489926338196, 0.7010292410850525, -0.7225049734115601, 1.038504958152771, -2.090815782546997, 0.007669903803616762 ]
3.266667
98
0
98
0
[ -0.4279806315898895, 0.7040972113609314, -0.6550098061561584, 1.0538448095321655, -2.0984857082366943, 0.004601942375302315 ]
[ -0.40650489926338196, 0.708699107170105, -0.7225049734115601, 1.038504958152771, -2.090815782546997, 0.006135923322290182 ]
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",
    "total_episodes": 181,
    "total_frames": 61503,
    "total_tasks": 26,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:181"
    },
    "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.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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "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
57
Homepage:
github.com
License:
apache-2.0
Number of rows:
61,503
Total file size:
795 MB

Models trained or fine-tuned on vraiRobotLab/multicolor_block_tiles_joints