Hugging Face's logo

Datasets:
wszhaorobot
/
peg

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
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
59.8
frame_index
int64
0
1.79k
episode_index
int64
0
49
index
int64
0
28.5k
task_index
int64
0
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -6.224972724914551, 3.0036630630493164, -0.8547008633613586, 0.17094017565250397, -13.308913230895996, 0.3445899486541748 ]
0
0
0
0
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -6.224972724914551, 3.0036630630493164, -0.8547008633613586, 0.17094017565250397, -13.308913230895996, 0.3445899486541748 ]
0.033333
1
0
1
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -6.079359531402588, 2.857142925262451, -0.8058608174324036, 0.17094017565250397, -13.015872955322266, 0.3445899486541748 ]
0.066667
2
0
2
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -4.4048051834106445, 2.3199024200439453, -0.7570207715034485, 0.17094017565250397, -11.648351669311523, 0.3445899486541748 ]
0.1
3
0
3
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -3.094284772872925, 2.222222328186035, -0.7570207715034485, -0.12210012227296829, -9.645909309387207, 0.3445899486541748 ]
0.133333
4
0
4
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -2.511831045150757, 2.17338228225708, -0.7570207715034485, -0.07326007634401321, -7.789987564086914, 0.3445899486541748 ]
0.166667
5
0
5
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -2.2934110164642334, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -6.764346599578857, 0.3445899486541748 ]
0.2
6
0
6
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -2.07499098777771, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -6.227106094360352, 0.3445899486541748 ]
0.233333
7
0
7
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -2.0021841526031494, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.885225772857666, 0.3445899486541748 ]
0.266667
8
0
8
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -2.0021841526031494, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.641025543212891, 0.3445899486541748 ]
0.3
9
0
9
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.856570839881897, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.494505405426025, 0.3445899486541748 ]
0.333333
10
0
10
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.396825313568115, 0.3445899486541748 ]
0.366667
11
0
11
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.299145221710205, 0.3445899486541748 ]
0.4
12
0
12
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.433333
13
0
13
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.466667
14
0
14
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.5
15
0
15
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.533333
16
0
16
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.566667
17
0
17
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.6
18
0
18
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.633333
19
0
19
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.666667
20
0
20
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.7
21
0
21
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.733333
22
0
22
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.766667
23
0
23
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.8
24
0
24
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.833333
25
0
25
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.866667
26
0
26
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.9
27
0
27
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.933333
28
0
28
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
0.966667
29
0
29
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1
30
0
30
0
[ -0.8733624219894409, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.033333
31
0
31
0
[ -0.800582230091095, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.066667
32
0
32
0
[ -0.6550218462944031, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.1
33
0
33
0
[ -0.3639010190963745, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.133333
34
0
34
0
[ -0.21834060549736023, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.166667
35
0
35
0
[ -0.14556041359901428, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.2
36
0
36
0
[ -0.14556041359901428, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.233333
37
0
37
0
[ -0.14556041359901428, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.783764123916626, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.266667
38
0
38
0
[ -0.14556041359901428, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.565343976020813, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.3
39
0
39
0
[ -0.07278020679950714, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.3469239473342896, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.333333
40
0
40
0
[ -0.07278020679950714, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.2013105154037476, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.366667
41
0
41
0
[ -0.07278020679950714, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.4
42
0
42
0
[ -0.07278020679950714, -0.07326007634401321, -0.02442002482712269, -0.12210012227296829, -5.006104946136475, 0.10341261327266693 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.433333
43
0
43
0
[ -0.07278020679950714, -0.07326007634401321, -0.02442002482712269, -0.07326007634401321, -4.9084248542785645, 0.20682522654533386 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.466667
44
0
44
0
[ 0, -0.07326007634401321, -0.02442002482712269, 0.2686202824115753, -4.810744762420654, 1.240951418876648 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.5
45
0
45
0
[ 0, -0.07326007634401321, -0.02442002482712269, 1.5384615659713745, -4.713064670562744, 4.860393047332764 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.533333
46
0
46
0
[ 0.07278020679950714, -0.07326007634401321, -0.12210012227296829, 2.612942695617676, -4.273504257202148, 6.82523250579834 ]
[ -1.1285037994384766, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.25030517578125, 0.3445899486541748 ]
1.566667
47
0
47
0
[ 0.07278020679950714, -0.07326007634401321, -0.3663003742694855, 4.078144073486328, -3.7362637519836426, 8.99689769744873 ]
[ -1.0556970834732056, 2.17338228225708, -0.7570207715034485, 0.07326007634401321, -5.201465129852295, 0.8959338665008545 ]
1.6
48
0
48
0
[ 0.21834060549736023, -0.07326007634401321, -0.8547008633613586, 6.031745910644531, -3.247863292694092, 10.13443660736084 ]
[ -0.9100837111473083, 2.17338228225708, -0.7570207715034485, 0.7081807255744934, -4.810744762420654, 2.5499656200408936 ]
1.633333
49
0
49
0
[ 0.5094614028930664, -0.07326007634401321, -1.3919414281845093, 7.936507701873779, -2.710622787475586, 10.65149974822998 ]
[ -0.9100837111473083, 2.17338228225708, -0.7570207715034485, 2.124542236328125, -4.3223443031311035, 5.031013011932373 ]
1.666667
50
0
50
0
[ 1.0189228057861328, -0.07326007634401321, -1.9291819334030151, 9.548229217529297, -2.5152626037597656, 10.65149974822998 ]
[ -0.9100837111473083, 2.17338228225708, -0.8547008633613586, 3.492063522338867, -3.882783889770508, 7.167470932006836 ]
1.7
51
0
51
0
[ 1.8922853469848633, -0.07326007634401321, -2.612942695617676, 11.40415096282959, -2.5152626037597656, 10.65149974822998 ]
[ -0.9100837111473083, 2.17338228225708, -0.9523809552192688, 4.713064670562744, -3.394383430480957, 8.545830726623535 ]
1.733333
52
0
52
0
[ 2.474526882171631, -0.07326007634401321, -2.9059829711914062, 12.478632926940918, -2.5152626037597656, 10.754912376403809 ]
[ -0.4732435345649719, 2.17338228225708, -1.1477411985397339, 6.373626232147217, -3.1013431549072266, 9.235010147094727 ]
1.766667
53
0
53
0
[ 3.0567686557769775, -0.07326007634401321, -3.247863292694092, 13.84615421295166, -2.5152626037597656, 10.754912376403809 ]
[ 0.1820167452096939, 2.17338228225708, -1.4896215200424194, 8.424908638000488, -2.9548230171203613, 9.717435836791992 ]
1.8
54
0
54
0
[ 3.566230058670044, -0.07326007634401321, -3.5897436141967773, 15.311355590820312, -2.4664225578308105, 10.961737632751465 ]
[ 0.9100837111473083, 2.17338228225708, -1.7338217496871948, 9.98779010772705, -2.857142925262451, 10.062026023864746 ]
1.833333
55
0
55
0
[ 4.221251964569092, -0.02442002482712269, -4.078144073486328, 17.069597244262695, -2.4175825119018555, 11.065150260925293 ]
[ 1.565343976020813, 2.17338228225708, -1.9780219793319702, 11.452991485595703, -2.759462833404541, 10.337697982788086 ]
1.866667
56
0
56
0
[ 5.094614028930664, -0.02442002482712269, -5.006104946136475, 19.951160430908203, -2.3199024200439453, 11.375388145446777 ]
[ 2.1477975845336914, 2.17338228225708, -2.124542236328125, 12.967033386230469, -2.710622787475586, 10.613369941711426 ]
1.9
57
0
57
0
[ 6.040756702423096, -0.02442002482712269, -6.129426002502441, 22.58852195739746, -2.2710623741149902, 11.375388145446777 ]
[ 2.657444477081299, 2.17338228225708, -2.4175825119018555, 14.481074333190918, -2.710622787475586, 10.751206398010254 ]
1.933333
58
0
58
0
[ 6.6229987144470215, -0.02442002482712269, -7.155066967010498, 25.128204345703125, -2.2710623741149902, 11.375388145446777 ]
[ 3.3855113983154297, 2.17338228225708, -2.857142925262451, 16.043956756591797, -2.5641026496887207, 11.026878356933594 ]
1.966667
59
0
59
0
[ 7.496360778808594, -0.02442002482712269, -8.620268821716309, 28.4981689453125, -2.2710623741149902, 11.375388145446777 ]
[ 4.259191989898682, 2.17338228225708, -3.7362637519836426, 18.095237731933594, -2.5152626037597656, 11.095795631408691 ]
2
60
0
60
0
[ 8.515283584594727, -0.02442002482712269, -10.134309768676758, 32.014652252197266, -2.3687424659729004, 11.375388145446777 ]
[ 4.9872589111328125, 2.17338228225708, -4.761904716491699, 20.488401412963867, -2.5152626037597656, 11.095795631408691 ]
2.033333
61
0
61
0
[ 9.315866470336914, -0.02442002482712269, -11.5018310546875, 35.28693389892578, -2.4664225578308105, 11.375388145446777 ]
[ 5.715325832366943, 2.17338228225708, -5.787545680999756, 23.125762939453125, -2.5152626037597656, 11.164713859558105 ]
2.066667
62
0
62
0
[ 10.334789276123047, -0.02442002482712269, -12.625152587890625, 38.266178131103516, -2.612942695617676, 11.375388145446777 ]
[ 6.589006423950195, 2.17338228225708, -6.910866737365723, 25.86080551147461, -2.5152626037597656, 11.164713859558105 ]
2.1
63
0
63
0
[ 11.935953140258789, -0.02442002482712269, -13.94383430480957, 41.92918014526367, -3.0036630630493164, 11.375388145446777 ]
[ 7.3898797035217285, 2.124542236328125, -8.229548454284668, 28.791208267211914, -2.5152626037597656, 11.164713859558105 ]
2.133333
64
0
64
0
[ 13.245997428894043, -0.02442002482712269, -14.969474792480469, 44.56654357910156, -3.394383430480957, 11.375388145446777 ]
[ 8.26356029510498, 2.124542236328125, -9.450549125671387, 31.868131637573242, -2.5152626037597656, 11.23363208770752 ]
2.166667
65
0
65
0
[ 14.192139625549316, 0.21978022158145905, -16.092796325683594, 46.9597053527832, -3.394383430480957, 11.375388145446777 ]
[ 9.282854080200195, 2.124542236328125, -10.573870658874512, 34.993896484375, -2.661782741546631, 11.23363208770752 ]
2.2
66
0
66
0
[ 14.992721557617188, 0.7570207715034485, -16.923076629638672, 48.27838897705078, -3.443223476409912, 11.375388145446777 ]
[ 10.666181564331055, 2.124542236328125, -11.69719123840332, 37.97313690185547, -3.0036630630493164, 11.23363208770752 ]
2.233333
67
0
67
0
[ 15.866084098815918, 1.245421290397644, -17.80219841003418, 50.08546829223633, -3.443223476409912, 11.375388145446777 ]
[ 11.831088066101074, 2.124542236328125, -12.820512771606445, 41.14773941040039, -3.1013431549072266, 11.23363208770752 ]
2.266667
68
0
68
0
[ 16.448326110839844, 1.7338217496871948, -18.632478713989258, 51.74603271484375, -3.345543384552002, 11.375388145446777 ]
[ 12.777575492858887, 2.124542236328125, -13.84615421295166, 43.93162536621094, -3.1990232467651367, 11.23363208770752 ]
2.3
69
0
69
0
[ 16.957786560058594, 2.5641026496887207, -19.41391944885254, 52.82051467895508, -3.345543384552002, 11.375388145446777 ]
[ 13.7240629196167, 2.124542236328125, -14.725275039672852, 46.42246627807617, -3.1990232467651367, 11.23363208770752 ]
2.333333
70
0
70
0
[ 17.176128387451172, 3.247863292694092, -20.097681045532227, 53.69963455200195, -3.247863292694092, 11.375388145446777 ]
[ 14.597743034362793, 2.124542236328125, -15.604395866394043, 48.66910934448242, -3.247863292694092, 11.23363208770752 ]
2.366667
71
0
71
0
[ 17.24890899658203, 4.029304027557373, -20.683761596679688, 54.28571319580078, -2.9059829711914062, 11.375388145446777 ]
[ 15.253003120422363, 2.3199024200439453, -16.385835647583008, 50.42734909057617, -3.247863292694092, 11.23363208770752 ]
2.4
72
0
72
0
[ 17.321687698364258, 4.859584808349609, -21.22100067138672, 54.96947479248047, -2.612942695617676, 11.375388145446777 ]
[ 15.908263206481934, 2.808302879333496, -17.41147804260254, 51.990230560302734, -3.247863292694092, 11.23363208770752 ]
2.433333
73
0
73
0
[ 17.540029525756836, 5.689865589141846, -21.904762268066406, 56.14163589477539, -2.2710623741149902, 11.375388145446777 ]
[ 16.272296905517578, 3.296703338623047, -18.19291877746582, 53.11355209350586, -3.1501832008361816, 11.23363208770752 ]
2.466667
74
0
74
0
[ 17.83115005493164, 6.617826461791992, -22.58852195739746, 57.16727828979492, -1.9780219793319702, 11.375388145446777 ]
[ 16.56352424621582, 3.7362637519836426, -18.925518035888672, 53.89499282836914, -2.9059829711914062, 11.23363208770752 ]
2.5
75
0
75
0
[ 17.9039306640625, 7.789987564086914, -23.27228355407715, 58.241756439208984, -1.4896215200424194, 11.375388145446777 ]
[ 16.92755699157715, 4.420024394989014, -19.658119201660156, 54.82295608520508, -2.661782741546631, 11.23363208770752 ]
2.533333
76
0
76
0
[ 17.9039306640625, 8.669108390808105, -23.85836410522461, 59.16971969604492, -1.0500611066818237, 11.375388145446777 ]
[ 17.21878433227539, 5.25030517578125, -20.439559936523438, 55.848594665527344, -2.3687424659729004, 11.23363208770752 ]
2.566667
77
0
77
0
[ 17.9039306640625, 9.841269493103027, -24.63980484008789, 60.19536209106445, -0.5128205418586731, 11.375388145446777 ]
[ 17.364397048950195, 6.1782660484313965, -21.074481964111328, 56.82539749145508, -2.026862144470215, 11.23363208770752 ]
2.6
78
0
78
0
[ 17.97671127319336, 10.915750503540039, -25.323564529418945, 61.07448196411133, -0.3174603283405304, 11.375388145446777 ]
[ 17.510011672973633, 7.203907012939453, -21.80708122253418, 57.851036071777344, -1.5873016119003296, 11.23363208770752 ]
2.633333
79
0
79
0
[ 18.267831802368164, 12.039072036743164, -26.05616569519043, 61.85592269897461, -0.17094017565250397, 11.375388145446777 ]
[ 17.510011672973633, 8.229548454284668, -22.39316177368164, 58.876678466796875, -1.1477411985397339, 11.23363208770752 ]
2.666667
80
0
80
0
[ 18.41339111328125, 13.113553047180176, -26.64224624633789, 62.24664306640625, 0.02442002482712269, 11.375388145446777 ]
[ 17.58281707763672, 9.450549125671387, -23.174602508544922, 59.85348129272461, -0.8547008633613586, 11.23363208770752 ]
2.7
81
0
81
0
[ 18.41339111328125, 14.188034057617188, -27.179487228393555, 62.78388214111328, 0.5616605877876282, 11.375388145446777 ]
[ 17.801237106323242, 10.476190567016602, -23.809524536132812, 60.78144073486328, -0.6105006337165833, 11.23363208770752 ]
2.733333
82
0
82
0
[ 18.48617172241211, 14.969474792480469, -27.765567779541016, 63.80952453613281, 0.9035409092903137, 11.375388145446777 ]
[ 18.019657135009766, 11.59951114654541, -24.493284225463867, 61.514041900634766, -0.3174603283405304, 11.23363208770752 ]
2.766667
83
0
83
0
[ 18.48617172241211, 15.897436141967773, -28.4981689453125, 65.4212417602539, 1.2942613363265991, 11.375388145446777 ]
[ 18.092464447021484, 12.722832679748535, -25.03052520751953, 62.148963928222656, 0.02442002482712269, 11.23363208770752 ]
2.8
84
0
84
0
[ 18.48617172241211, 16.678876876831055, -29.035409927368164, 66.64225006103516, 1.6849817037582397, 11.375388145446777 ]
[ 18.092464447021484, 13.894993782043457, -25.66544532775879, 62.83272171020508, 0.3663003742694855, 11.23363208770752 ]
2.833333
85
0
85
0
[ 18.48617172241211, 17.509157180786133, -29.426130294799805, 67.57020568847656, 1.9780219793319702, 11.375388145446777 ]
[ 18.092464447021484, 14.774114608764648, -26.25152587890625, 63.907203674316406, 0.7570207715034485, 11.23363208770752 ]
2.866667
86
0
86
0
[ 18.48617172241211, 18.241758346557617, -29.816850662231445, 68.25396728515625, 2.124542236328125, 11.375388145446777 ]
[ 18.092464447021484, 15.702075958251953, -26.83760643005371, 65.12820434570312, 1.0989011526107788, 11.23363208770752 ]
2.9
87
0
87
0
[ 18.48617172241211, 19.169719696044922, -30.207571029663086, 68.93772888183594, 2.3687424659729004, 11.375388145446777 ]
[ 18.092464447021484, 16.483516693115234, -27.374847412109375, 66.25152587890625, 1.4407814741134644, 11.23363208770752 ]
2.933333
88
0
88
0
[ 18.55895233154297, 19.853479385375977, -30.402931213378906, 69.23076629638672, 2.612942695617676, 11.375388145446777 ]
[ 18.092464447021484, 17.118436813354492, -27.814407348632812, 67.22832489013672, 1.6849817037582397, 11.23363208770752 ]
2.966667
89
0
89
0
[ 18.55895233154297, 20.732601165771484, -30.5006103515625, 69.37728881835938, 2.808302879333496, 11.375388145446777 ]
[ 18.092464447021484, 17.80219841003418, -28.205127716064453, 67.96092987060547, 1.9780219793319702, 11.23363208770752 ]
3
90
0
90
0
[ 18.631732940673828, 21.367521286010742, -30.549449920654297, 69.52381134033203, 2.9548230171203613, 11.375388145446777 ]
[ 18.092464447021484, 18.485958099365234, -28.547008514404297, 68.54701232910156, 2.222222328186035, 11.23363208770752 ]
3.033333
91
0
91
0
[ 18.777292251586914, 22.05128288269043, -30.598291397094727, 69.86569213867188, 3.1501832008361816, 11.375388145446777 ]
[ 18.092464447021484, 19.169719696044922, -28.69352912902832, 68.986572265625, 2.4175825119018555, 11.23363208770752 ]
3.066667
92
0
92
0
[ 18.922853469848633, 22.63736343383789, -30.549449920654297, 70.15872955322266, 3.296703338623047, 11.375388145446777 ]
[ 18.092464447021484, 20.097681045532227, -28.791208267211914, 69.23076629638672, 2.612942695617676, 11.23363208770752 ]
3.1
93
0
93
0
[ 19.141193389892578, 23.369962692260742, -30.549449920654297, 70.5982894897461, 3.6385836601257324, 11.375388145446777 ]
[ 18.165271759033203, 20.9768009185791, -28.840049743652344, 69.52381134033203, 2.759462833404541, 11.23363208770752 ]
3.133333
94
0
94
0
[ 19.432313919067383, 24.05372428894043, -30.549449920654297, 70.94017028808594, 3.980463981628418, 11.375388145446777 ]
[ 18.383691787719727, 21.758241653442383, -28.840049743652344, 69.86569213867188, 3.0036630630493164, 11.23363208770752 ]
3.166667
95
0
95
0
[ 19.723434448242188, 25.03052520751953, -30.793651580810547, 71.42857360839844, 4.273504257202148, 11.375388145446777 ]
[ 18.52930450439453, 22.490842819213867, -28.840049743652344, 70.20757293701172, 3.247863292694092, 11.23363208770752 ]
3.2
96
0
96
0
[ 20.16011619567871, 26.05616569519043, -31.037851333618164, 71.52625274658203, 4.273504257202148, 11.375388145446777 ]
[ 18.89333724975586, 23.27228355407715, -28.840049743652344, 70.5982894897461, 3.5409035682678223, 11.23363208770752 ]
3.233333
97
0
97
0
[ 20.451236724853516, 27.179487228393555, -31.184371948242188, 71.18437194824219, 4.3223443031311035, 11.375388145446777 ]
[ 19.111759185791016, 24.102563858032227, -28.937728881835938, 70.94017028808594, 3.7851037979125977, 11.23363208770752 ]
3.266667
98
0
98
0
[ 20.669578552246094, 28.351648330688477, -31.379732131958008, 70.79364776611328, 4.420024394989014, 11.375388145446777 ]
[ 19.475791931152344, 25.079364776611328, -29.035409927368164, 71.18437194824219, 3.931623935699463, 11.23363208770752 ]
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": 28495,
    "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": {
        "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.wrist": {
            "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.exterior": {
            "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
38
License:
apache-2.0
Size of downloaded dataset files:
1.55 MB
Size of the auto-converted Parquet files:
1.55 MB
Number of rows:
28,495