Hugging Face's logo

Datasets:
embodied-ai
/
wx250s_put_aubergine_in_pot_100_slow_fixed_motor_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
Dataset Viewer
Auto-converted to Parquet
Full Screen
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
21.1
frame_index
int64
0
632
episode_index
int64
0
99
index
int64
0
44.7k
task_index
int64
0
0
[ 9.228515625, 116.103515625, 115.751953125, 150.380859375, 150.29296875, 0.791015625, 4.39453125, -10.986328125, 46.356163024902344 ]
[ 8.173828125, 115.6640625, 115.400390625, 150.64453125, 150.46875, -0.087890625, 4.921875, -10.546875, 50.301368713378906 ]
0
0
0
0
0
[ 9.404296875, 115.83984375, 115.48828125, 150.64453125, 150.556640625, 0.791015625, 3.8671875, -10.986328125, 46.356163024902344 ]
[ 8.349609375, 115.576171875, 115.13671875, 150.8203125, 150.64453125, -0.087890625, 4.833984375, -10.458984375, 50.356163024902344 ]
0.033333
1
0
1
0
[ 9.404296875, 115.6640625, 115.3125, 150.908203125, 150.8203125, 0.791015625, 3.515625, -11.07421875, 46.356163024902344 ]
[ 8.701171875, 115.13671875, 114.78515625, 150.908203125, 150.732421875, -0.087890625, 4.306640625, -10.458984375, 50.356163024902344 ]
0.066667
2
0
2
0
[ 9.4921875, 115.576171875, 115.224609375, 151.083984375, 150.99609375, 0.791015625, 3.076171875, -11.07421875, 46.356163024902344 ]
[ 8.7890625, 114.78515625, 114.43359375, 150.908203125, 150.732421875, -0.087890625, 3.955078125, -10.546875, 50.356163024902344 ]
0.1
3
0
3
0
[ 9.4921875, 115.400390625, 115.13671875, 151.083984375, 151.083984375, 0.791015625, 3.076171875, -11.07421875, 46.356163024902344 ]
[ 8.701171875, 114.697265625, 114.345703125, 151.34765625, 150.908203125, -0.087890625, 3.779296875, -10.72265625, 50.356163024902344 ]
0.133333
4
0
4
0
[ 9.4921875, 115.400390625, 115.13671875, 151.083984375, 151.083984375, 0.791015625, 3.076171875, -10.986328125, 46.356163024902344 ]
[ 8.7890625, 114.78515625, 114.43359375, 151.611328125, 151.34765625, -0.087890625, 3.69140625, -10.8984375, 50.356163024902344 ]
0.166667
5
0
5
0
[ 9.4921875, 115.400390625, 115.13671875, 151.083984375, 151.083984375, 0.87890625, 3.076171875, -10.986328125, 46.301368713378906 ]
[ 8.7890625, 114.78515625, 114.345703125, 151.875, 151.69921875, -0.087890625, 3.69140625, -10.72265625, 50.356163024902344 ]
0.2
6
0
6
0
[ 9.4921875, 115.3125, 115.048828125, 151.171875, 151.083984375, 0.791015625, 3.076171875, -10.986328125, 46.356163024902344 ]
[ 8.7890625, 114.697265625, 114.345703125, 152.05078125, 151.875, -0.087890625, 3.69140625, -10.546875, 50.356163024902344 ]
0.233333
7
0
7
0
[ 9.4921875, 115.3125, 114.9609375, 151.259765625, 151.171875, 0.791015625, 2.900390625, -10.986328125, 46.301368713378906 ]
[ 8.701171875, 114.697265625, 114.43359375, 152.05078125, 151.875, -0.087890625, 3.69140625, -10.458984375, 50.356163024902344 ]
0.266667
8
0
8
0
[ 9.404296875, 115.3125, 114.9609375, 151.34765625, 151.259765625, 0.791015625, 2.900390625, -10.8984375, 46.356163024902344 ]
[ 8.701171875, 114.697265625, 114.169921875, 152.05078125, 151.875, -0.087890625, 3.251953125, -10.37109375, 50.356163024902344 ]
0.3
9
0
9
0
[ 9.4921875, 115.224609375, 114.78515625, 151.34765625, 151.259765625, 0.791015625, 2.900390625, -10.634765625, 46.356163024902344 ]
[ 8.7890625, 114.521484375, 113.994140625, 152.05078125, 151.875, -0.087890625, 2.900390625, -10.37109375, 50.356163024902344 ]
0.333333
10
0
10
0
[ 9.4921875, 115.13671875, 114.697265625, 151.435546875, 151.34765625, 0.791015625, 2.900390625, -10.37109375, 46.356163024902344 ]
[ 8.7890625, 114.43359375, 113.90625, 152.05078125, 151.875, -0.087890625, 2.724609375, -10.37109375, 50.356163024902344 ]
0.366667
11
0
11
0
[ 9.4921875, 114.9609375, 114.609375, 151.5234375, 151.435546875, 0.791015625, 2.8125, -10.01953125, 46.356163024902344 ]
[ 8.7890625, 114.43359375, 113.818359375, 152.05078125, 151.875, -0.087890625, 2.724609375, -10.283203125, 50.356163024902344 ]
0.4
12
0
12
0
[ 9.404296875, 114.78515625, 114.345703125, 151.611328125, 151.435546875, 0.87890625, 2.724609375, -9.755859375, 46.301368713378906 ]
[ 8.701171875, 114.08203125, 113.818359375, 152.05078125, 151.875, -0.087890625, 2.63671875, -10.37109375, 50.356163024902344 ]
0.433333
13
0
13
0
[ 9.404296875, 114.697265625, 114.2578125, 151.611328125, 151.5234375, 0.791015625, 2.63671875, -9.4921875, 46.301368713378906 ]
[ 8.701171875, 113.90625, 113.5546875, 152.05078125, 151.875, -0.087890625, 2.63671875, -9.931640625, 50.356163024902344 ]
0.466667
14
0
14
0
[ 9.31640625, 114.609375, 114.169921875, 151.69921875, 151.5234375, 0.791015625, 2.4609375, -9.31640625, 46.301368713378906 ]
[ 8.701171875, 113.73046875, 113.466796875, 152.138671875, 151.875, -0.087890625, 2.63671875, -9.580078125, 50.356163024902344 ]
0.5
15
0
15
0
[ 9.404296875, 114.521484375, 114.08203125, 151.787109375, 151.69921875, 0.791015625, 2.197265625, -9.228515625, 46.356163024902344 ]
[ 8.7890625, 113.818359375, 113.466796875, 152.05078125, 151.875, -0.087890625, 2.63671875, -9.580078125, 50.301368713378906 ]
0.533333
16
0
16
0
[ 9.31640625, 114.43359375, 113.994140625, 151.875, 151.787109375, 0.791015625, 1.7578125, -9.228515625, 46.301368713378906 ]
[ 8.7890625, 113.818359375, 113.466796875, 152.05078125, 151.875, -0.087890625, 2.63671875, -9.4921875, 50.356163024902344 ]
0.566667
17
0
17
0
[ 9.31640625, 114.345703125, 113.818359375, 152.05078125, 151.875, 0.791015625, 1.40625, -9.228515625, 46.356163024902344 ]
[ 8.7890625, 113.73046875, 113.115234375, 152.05078125, 151.875, -0.087890625, 2.28515625, -9.404296875, 50.301368713378906 ]
0.6
18
0
18
0
[ 9.228515625, 114.169921875, 113.73046875, 152.138671875, 151.962890625, 0.791015625, 1.142578125, -9.228515625, 46.356163024902344 ]
[ 8.7890625, 113.466796875, 112.8515625, 152.314453125, 151.875, -0.087890625, 1.93359375, -9.404296875, 50.301368713378906 ]
0.633333
19
0
19
0
[ 9.228515625, 113.994140625, 113.5546875, 152.138671875, 151.962890625, 0.791015625, 1.142578125, -9.228515625, 46.356163024902344 ]
[ 8.701171875, 113.37890625, 112.763671875, 152.40234375, 152.05078125, -0.17578125, 1.7578125, -9.404296875, 50.301368713378906 ]
0.666667
20
0
20
0
[ 9.140625, 113.818359375, 113.37890625, 152.138671875, 151.962890625, 0.87890625, 0.966796875, -9.228515625, 46.356163024902344 ]
[ 8.701171875, 113.02734375, 112.67578125, 152.578125, 152.2265625, -0.087890625, 1.845703125, -9.404296875, 50.301368713378906 ]
0.7
21
0
21
0
[ 9.052734375, 113.642578125, 113.291015625, 152.138671875, 151.962890625, 0.791015625, 0.966796875, -9.228515625, 46.301368713378906 ]
[ 8.7890625, 112.763671875, 112.412109375, 152.490234375, 152.2265625, -0.087890625, 1.23046875, -9.404296875, 50.301368713378906 ]
0.733333
22
0
22
0
[ 8.96484375, 113.5546875, 113.115234375, 152.05078125, 151.962890625, 0.791015625, 0.966796875, -9.228515625, 46.356163024902344 ]
[ 8.701171875, 112.67578125, 112.412109375, 152.490234375, 152.2265625, -0.087890625, 1.0546875, -9.404296875, 50.301368713378906 ]
0.766667
23
0
23
0
[ 8.96484375, 113.466796875, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.87890625, -9.228515625, 47.17557144165039 ]
[ 8.701171875, 112.67578125, 112.32421875, 152.578125, 152.2265625, -0.087890625, 0.791015625, -9.404296875, 50.301368713378906 ]
0.8
24
0
24
0
[ 8.7890625, 113.37890625, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.791015625, -9.228515625, 49.92366409301758 ]
[ 8.61328125, 112.67578125, 112.32421875, 152.490234375, 152.2265625, -0.087890625, 0.791015625, -9.404296875, 50.356163024902344 ]
0.833333
25
0
25
0
[ 8.7890625, 113.466796875, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.791015625, -9.228515625, 52.97709655761719 ]
[ 8.525390625, 112.67578125, 112.32421875, 152.490234375, 152.138671875, -0.087890625, 0.703125, -9.31640625, 50.520545959472656 ]
0.866667
26
0
26
0
[ 8.7890625, 113.466796875, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.791015625, -9.228515625, 55.013694763183594 ]
[ 8.525390625, 112.67578125, 112.32421875, 152.490234375, 152.138671875, -0.087890625, 0.703125, -9.31640625, 51.12328338623047 ]
0.9
27
0
27
0
[ 8.7890625, 113.37890625, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.791015625, -9.228515625, 56.21917724609375 ]
[ 8.349609375, 112.67578125, 112.412109375, 152.490234375, 152.138671875, -0.087890625, 0.703125, -9.31640625, 52.4383544921875 ]
0.933333
28
0
28
0
[ 8.7890625, 113.466796875, 113.02734375, 152.138671875, 151.962890625, 0.791015625, 0.791015625, -9.228515625, 57.64383316040039 ]
[ 8.349609375, 112.763671875, 112.32421875, 152.490234375, 152.2265625, -0.087890625, 0.703125, -9.31640625, 54.02739715576172 ]
0.966667
29
0
29
0
[ 8.7890625, 113.466796875, 113.02734375, 152.138671875, 152.05078125, 0.791015625, 0.791015625, -9.228515625, 59.39725875854492 ]
[ 8.349609375, 112.67578125, 112.32421875, 152.578125, 152.2265625, -0.087890625, 0.703125, -9.228515625, 55.61643981933594 ]
1
30
0
30
0
[ 8.7890625, 113.466796875, 113.02734375, 152.2265625, 152.05078125, 0.791015625, 0.791015625, -9.228515625, 60.82191848754883 ]
[ 8.349609375, 112.763671875, 112.32421875, 152.578125, 152.40234375, -0.087890625, 0.703125, -9.228515625, 57.095890045166016 ]
1.033333
31
0
31
0
[ 8.7890625, 113.466796875, 113.02734375, 152.2265625, 152.05078125, 0.791015625, 0.791015625, -9.228515625, 62.30137252807617 ]
[ 8.349609375, 112.67578125, 112.32421875, 152.666015625, 152.578125, -0.087890625, 0.703125, -9.31640625, 58.57534408569336 ]
1.066667
32
0
32
0
[ 8.876953125, 113.466796875, 113.02734375, 152.2265625, 152.05078125, 0.791015625, 0.791015625, -9.228515625, 63.61643981933594 ]
[ 8.349609375, 112.763671875, 112.32421875, 152.841796875, 152.578125, -0.087890625, 0.703125, -9.228515625, 59.94520950317383 ]
1.1
33
0
33
0
[ 8.7890625, 113.466796875, 113.02734375, 152.2265625, 152.05078125, 0.791015625, 0.87890625, -9.140625, 65.09589385986328 ]
[ 8.349609375, 112.67578125, 112.32421875, 152.841796875, 152.578125, -0.087890625, 0.703125, -9.228515625, 61.315067291259766 ]
1.133333
34
0
34
0
[ 8.7890625, 113.5546875, 113.115234375, 152.138671875, 152.05078125, 0.791015625, 0.87890625, -9.140625, 66.52054595947266 ]
[ 8.349609375, 112.67578125, 112.412109375, 152.841796875, 152.578125, -0.087890625, 0.703125, -9.228515625, 62.84931182861328 ]
1.166667
35
0
35
0
[ 8.7890625, 113.642578125, 113.203125, 152.05078125, 151.962890625, 0.791015625, 0.966796875, -9.140625, 67.93892669677734 ]
[ 8.349609375, 112.67578125, 112.32421875, 152.841796875, 152.666015625, -0.087890625, 0.703125, -9.228515625, 64.4383544921875 ]
1.2
36
0
36
0
[ 8.7890625, 113.818359375, 113.37890625, 152.05078125, 151.962890625, 0.791015625, 1.0546875, -9.140625, 67.93892669677734 ]
[ 8.26171875, 112.67578125, 112.32421875, 152.841796875, 152.578125, -0.087890625, 0.703125, -9.228515625, 65.75342559814453 ]
1.233333
37
0
37
0
[ 8.7890625, 113.994140625, 113.5546875, 151.962890625, 151.875, 0.791015625, 1.142578125, -9.140625, 67.93892669677734 ]
[ 8.349609375, 112.67578125, 112.412109375, 152.75390625, 152.578125, -0.087890625, 0.966796875, -9.228515625, 66.41095733642578 ]
1.266667
38
0
38
0
[ 8.701171875, 114.2578125, 113.818359375, 151.875, 151.787109375, 0.791015625, 1.318359375, -9.140625, 67.93892669677734 ]
[ 8.349609375, 112.67578125, 112.32421875, 152.841796875, 152.578125, -0.087890625, 1.142578125, -9.228515625, 66.63013458251953 ]
1.3
39
0
39
0
[ 8.525390625, 114.521484375, 114.08203125, 151.875, 151.875, 0.791015625, 1.494140625, -9.140625, 67.93892669677734 ]
[ 8.349609375, 112.8515625, 112.412109375, 152.75390625, 152.578125, -0.087890625, 1.142578125, -9.228515625, 66.7397232055664 ]
1.333333
40
0
40
0
[ 8.26171875, 114.873046875, 114.345703125, 151.787109375, 151.787109375, 0.791015625, 1.669921875, -9.140625, 67.93892669677734 ]
[ 8.349609375, 113.02734375, 112.587890625, 152.841796875, 152.578125, -0.17578125, 1.142578125, -9.228515625, 66.79451751708984 ]
1.366667
41
0
41
0
[ 7.822265625, 115.3125, 114.9609375, 151.787109375, 151.875, 0.791015625, 1.93359375, -9.140625, 67.93892669677734 ]
[ 8.349609375, 113.203125, 112.763671875, 152.75390625, 152.578125, -0.087890625, 1.142578125, -9.228515625, 66.84931182861328 ]
1.4
42
0
42
0
[ 7.470703125, 115.83984375, 115.48828125, 151.69921875, 151.787109375, 0.791015625, 2.197265625, -9.140625, 67.93892669677734 ]
[ 7.998046875, 113.466796875, 112.939453125, 152.841796875, 152.578125, -0.087890625, 1.142578125, -9.228515625, 66.90410614013672 ]
1.433333
43
0
43
0
[ 6.943359375, 116.455078125, 116.103515625, 151.69921875, 151.787109375, 0.791015625, 2.28515625, -9.140625, 67.93892669677734 ]
[ 7.734375, 113.818359375, 113.466796875, 152.841796875, 152.578125, -0.087890625, 1.7578125, -9.228515625, 66.90410614013672 ]
1.466667
44
0
44
0
[ 6.328125, 117.158203125, 116.806640625, 151.787109375, 151.787109375, 0.791015625, 2.373046875, -9.140625, 67.93892669677734 ]
[ 7.03125, 114.43359375, 114.08203125, 152.841796875, 152.578125, -0.087890625, 2.109375, -9.228515625, 66.90410614013672 ]
1.5
45
0
45
0
[ 5.80078125, 117.94921875, 117.509765625, 151.787109375, 151.787109375, 0.791015625, 2.28515625, -9.140625, 67.93892669677734 ]
[ 6.591796875, 115.13671875, 114.697265625, 152.75390625, 152.578125, -0.17578125, 2.109375, -9.228515625, 66.90410614013672 ]
1.533333
46
0
46
0
[ 5.361328125, 118.740234375, 118.212890625, 151.875, 151.787109375, 0.791015625, 2.28515625, -9.140625, 67.93892669677734 ]
[ 5.888671875, 115.751953125, 115.48828125, 152.75390625, 152.578125, -0.087890625, 2.109375, -9.228515625, 66.90410614013672 ]
1.566667
47
0
47
0
[ 4.921875, 119.443359375, 118.916015625, 151.962890625, 151.875, 0.791015625, 2.28515625, -9.140625, 67.93892669677734 ]
[ 5.537109375, 116.54296875, 116.3671875, 152.841796875, 152.578125, -0.087890625, 2.197265625, -9.228515625, 66.90410614013672 ]
1.6
48
0
48
0
[ 4.482421875, 120.146484375, 119.70703125, 152.05078125, 151.962890625, 0.791015625, 2.28515625, -9.140625, 67.93892669677734 ]
[ 4.921875, 117.421875, 116.982421875, 152.75390625, 152.578125, -0.087890625, 2.109375, -9.228515625, 66.90410614013672 ]
1.633333
49
0
49
0
[ 3.955078125, 120.9375, 120.498046875, 152.2265625, 152.05078125, 0.791015625, 2.197265625, -9.140625, 67.93892669677734 ]
[ 4.5703125, 118.125, 117.861328125, 152.75390625, 152.578125, -0.087890625, 2.109375, -9.228515625, 66.90410614013672 ]
1.666667
50
0
50
0
[ 3.69140625, 121.46484375, 121.11328125, 152.314453125, 152.2265625, 0.791015625, 2.197265625, -9.140625, 67.93892669677734 ]
[ 3.8671875, 118.916015625, 118.65234375, 152.841796875, 152.666015625, -0.087890625, 2.109375, -9.228515625, 66.95890808105469 ]
1.7
51
0
51
0
[ 3.427734375, 122.080078125, 121.728515625, 152.490234375, 152.40234375, 0.791015625, 2.197265625, -9.140625, 67.93892669677734 ]
[ 3.515625, 119.70703125, 119.53125, 152.841796875, 152.666015625, -0.087890625, 2.197265625, -9.228515625, 66.95890808105469 ]
1.733333
52
0
52
0
[ 3.251953125, 122.6953125, 122.255859375, 152.578125, 152.490234375, 0.791015625, 2.109375, -9.140625, 67.93892669677734 ]
[ 3.251953125, 120.498046875, 120.146484375, 152.841796875, 152.578125, -0.087890625, 2.197265625, -9.140625, 66.90410614013672 ]
1.766667
53
0
53
0
[ 3.076171875, 123.310546875, 122.958984375, 152.75390625, 152.578125, 0.791015625, 2.109375, -9.140625, 67.93892669677734 ]
[ 3.1640625, 121.201171875, 120.849609375, 152.841796875, 152.666015625, -0.087890625, 2.197265625, -9.140625, 66.95890808105469 ]
1.8
54
0
54
0
[ 2.98828125, 124.013671875, 123.486328125, 152.841796875, 152.666015625, 0.791015625, 2.109375, -9.140625, 67.93892669677734 ]
[ 3.1640625, 121.81640625, 121.376953125, 152.841796875, 152.666015625, -0.087890625, 2.109375, -9.140625, 66.90410614013672 ]
1.833333
55
0
55
0
[ 2.98828125, 124.62890625, 124.189453125, 152.9296875, 152.841796875, 0.791015625, 2.021484375, -9.140625, 67.93892669677734 ]
[ 2.900390625, 122.431640625, 121.9921875, 152.841796875, 152.666015625, -0.087890625, 2.109375, -9.140625, 66.95890808105469 ]
1.866667
56
0
56
0
[ 2.98828125, 125.33203125, 124.892578125, 153.10546875, 152.9296875, 0.791015625, 1.845703125, -9.140625, 67.93892669677734 ]
[ 2.63671875, 123.046875, 122.6953125, 152.841796875, 152.666015625, -0.087890625, 2.197265625, -9.140625, 66.95890808105469 ]
1.9
57
0
57
0
[ 2.900390625, 126.123046875, 125.68359375, 153.28125, 153.10546875, 0.791015625, 1.669921875, -9.140625, 67.93892669677734 ]
[ 2.28515625, 123.75, 123.310546875, 153.193359375, 152.75390625, -0.087890625, 1.845703125, -9.052734375, 66.90410614013672 ]
1.933333
58
0
58
0
[ 2.98828125, 126.826171875, 126.38671875, 153.45703125, 153.28125, 0.791015625, 1.494140625, -9.140625, 67.93892669677734 ]
[ 2.197265625, 124.541015625, 124.1015625, 153.544921875, 153.28125, -0.087890625, 1.7578125, -9.052734375, 66.90410614013672 ]
1.966667
59
0
59
0
[ 2.98828125, 127.6171875, 127.353515625, 153.6328125, 153.45703125, 0.791015625, 1.142578125, -9.140625, 67.93892669677734 ]
[ 2.109375, 125.15625, 124.98046875, 153.896484375, 153.6328125, -0.17578125, 1.7578125, -9.052734375, 66.90410614013672 ]
2
60
0
60
0
[ 2.98828125, 128.583984375, 128.232421875, 153.80859375, 153.720703125, 0.791015625, 0.791015625, -9.140625, 67.93892669677734 ]
[ 2.109375, 125.947265625, 125.68359375, 153.984375, 153.80859375, -0.087890625, 1.7578125, -9.052734375, 66.90410614013672 ]
2.033333
61
0
61
0
[ 2.98828125, 129.55078125, 129.111328125, 154.072265625, 153.984375, 0.791015625, 0.263671875, -9.140625, 67.93892669677734 ]
[ 2.109375, 126.73828125, 126.474609375, 154.072265625, 153.896484375, -0.087890625, 1.23046875, -9.052734375, 66.95890808105469 ]
2.066667
62
0
62
0
[ 2.98828125, 130.60546875, 130.166015625, 154.423828125, 154.3359375, 0.791015625, -0.3515625, -9.140625, 67.93892669677734 ]
[ 2.109375, 127.79296875, 127.529296875, 154.3359375, 153.896484375, -0.087890625, 0.87890625, -9.052734375, 66.95890808105469 ]
2.1
63
0
63
0
[ 2.98828125, 131.748046875, 131.30859375, 154.6875, 154.599609375, 0.791015625, -0.87890625, -9.140625, 67.93892669677734 ]
[ 2.109375, 128.935546875, 128.759765625, 154.51171875, 154.423828125, -0.087890625, 0.703125, -9.052734375, 66.90410614013672 ]
2.133333
64
0
64
0
[ 2.98828125, 132.890625, 132.451171875, 154.951171875, 154.86328125, 0.791015625, -1.40625, -9.140625, 67.93892669677734 ]
[ 2.197265625, 130.078125, 129.90234375, 154.951171875, 154.775390625, -0.087890625, 0.615234375, -9.052734375, 66.90410614013672 ]
2.166667
65
0
65
0
[ 2.98828125, 134.208984375, 133.76953125, 155.302734375, 155.21484375, 0.791015625, -1.7578125, -9.140625, 67.93892669677734 ]
[ 2.109375, 131.044921875, 130.95703125, 155.0390625, 154.86328125, -0.087890625, 0.263671875, -9.052734375, 66.95890808105469 ]
2.2
66
0
66
0
[ 2.98828125, 135.615234375, 135.087890625, 155.654296875, 155.56640625, 0.791015625, -2.197265625, -9.140625, 67.93892669677734 ]
[ 2.109375, 132.275390625, 132.01171875, 155.390625, 155.302734375, -0.087890625, -0.17578125, -9.052734375, 66.90410614013672 ]
2.233333
67
0
67
0
[ 2.98828125, 137.109375, 136.669921875, 156.005859375, 156.005859375, 0.791015625, -2.724609375, -9.140625, 67.93892669677734 ]
[ 2.109375, 133.681640625, 133.41796875, 155.830078125, 155.7421875, -0.087890625, -0.615234375, -9.052734375, 66.95890808105469 ]
2.266667
68
0
68
0
[ 2.98828125, 138.427734375, 138.076171875, 156.4453125, 156.357421875, 0.791015625, -3.33984375, -9.140625, 67.93892669677734 ]
[ 2.109375, 135.3515625, 135, 156.357421875, 156.357421875, -0.087890625, -0.966796875, -9.052734375, 66.95890808105469 ]
2.3
69
0
69
0
[ 2.98828125, 139.921875, 139.658203125, 156.884765625, 156.884765625, 0.791015625, -3.779296875, -9.140625, 67.93892669677734 ]
[ 2.109375, 136.7578125, 136.669921875, 156.884765625, 156.796875, -0.087890625, -1.58203125, -9.052734375, 66.90410614013672 ]
2.333333
70
0
70
0
[ 2.98828125, 141.50390625, 141.064453125, 157.32421875, 157.412109375, 0.791015625, -4.21875, -9.228515625, 67.93892669677734 ]
[ 2.109375, 138.251953125, 138.1640625, 157.060546875, 156.97265625, -0.087890625, -1.93359375, -9.052734375, 66.90410614013672 ]
2.366667
71
0
71
0
[ 2.98828125, 142.91015625, 142.646484375, 157.8515625, 157.8515625, 0.791015625, -4.39453125, -9.228515625, 67.93892669677734 ]
[ 2.109375, 139.833984375, 139.921875, 157.412109375, 157.32421875, -0.087890625, -2.724609375, -9.052734375, 66.90410614013672 ]
2.4
72
0
72
0
[ 2.98828125, 144.4921875, 144.052734375, 158.291015625, 158.203125, 0.791015625, -4.39453125, -9.228515625, 67.93892669677734 ]
[ 2.109375, 141.15234375, 141.416015625, 157.8515625, 157.67578125, -0.087890625, -3.076171875, -9.052734375, 66.90410614013672 ]
2.433333
73
0
73
0
[ 2.98828125, 145.986328125, 145.546875, 158.642578125, 158.642578125, 0.791015625, -4.39453125, -9.31640625, 67.93892669677734 ]
[ 2.109375, 142.734375, 142.822265625, 158.37890625, 158.203125, -0.087890625, -3.251953125, -9.052734375, 66.90410614013672 ]
2.466667
74
0
74
0
[ 2.98828125, 147.48046875, 147.12890625, 158.994140625, 158.994140625, 0.791015625, -4.306640625, -9.31640625, 67.93892669677734 ]
[ 2.197265625, 144.052734375, 144.31640625, 158.90625, 158.818359375, -0.087890625, -3.251953125, -8.96484375, 66.95890808105469 ]
2.5
75
0
75
0
[ 2.98828125, 149.0625, 148.53515625, 159.43359375, 159.43359375, 0.791015625, -4.130859375, -9.404296875, 67.93892669677734 ]
[ 2.109375, 145.634765625, 145.810546875, 159.08203125, 158.994140625, -0.087890625, -3.251953125, -8.96484375, 66.95890808105469 ]
2.533333
76
0
76
0
[ 2.98828125, 150.556640625, 150.1171875, 159.78515625, 159.78515625, 0.791015625, -4.04296875, -9.404296875, 67.93892669677734 ]
[ 2.109375, 147.392578125, 147.216796875, 159.43359375, 159.43359375, -0.087890625, -3.33984375, -9.052734375, 66.95890808105469 ]
2.566667
77
0
77
0
[ 2.98828125, 152.138671875, 151.69921875, 160.13671875, 160.048828125, 0.791015625, -3.955078125, -9.404296875, 67.93892669677734 ]
[ 2.109375, 148.974609375, 149.150390625, 159.9609375, 159.78515625, -0.087890625, -3.33984375, -8.96484375, 66.90410614013672 ]
2.6
78
0
78
0
[ 2.98828125, 153.6328125, 153.28125, 160.48828125, 160.48828125, 0.791015625, -3.779296875, -9.404296875, 67.93892669677734 ]
[ 2.109375, 150.556640625, 150.64453125, 160.400390625, 160.3125, -0.087890625, -2.98828125, -9.052734375, 66.95890808105469 ]
2.633333
79
0
79
0
[ 2.98828125, 155.126953125, 154.775390625, 160.927734375, 160.751953125, 0.791015625, -3.779296875, -9.31640625, 67.93892669677734 ]
[ 2.109375, 152.05078125, 152.314453125, 160.927734375, 160.751953125, -0.087890625, -2.8125, -8.96484375, 66.90410614013672 ]
2.666667
80
0
80
0
[ 2.98828125, 156.708984375, 156.26953125, 161.279296875, 161.19140625, 0.791015625, -3.8671875, -9.228515625, 67.93892669677734 ]
[ 2.109375, 153.6328125, 153.6328125, 161.19140625, 161.103515625, -0.087890625, -2.724609375, -8.96484375, 66.90410614013672 ]
2.7
81
0
81
0
[ 2.98828125, 158.203125, 157.763671875, 161.630859375, 161.630859375, 0.791015625, -3.955078125, -9.31640625, 67.86259460449219 ]
[ 2.109375, 154.951171875, 155.126953125, 161.455078125, 161.455078125, -0.087890625, -2.724609375, -8.96484375, 66.90410614013672 ]
2.733333
82
0
82
0
[ 3.076171875, 159.609375, 159.345703125, 161.982421875, 161.89453125, 0.791015625, -3.69140625, -9.404296875, 67.93892669677734 ]
[ 2.109375, 156.708984375, 156.708984375, 161.89453125, 161.806640625, -0.17578125, -2.724609375, -8.96484375, 66.95890808105469 ]
2.766667
83
0
83
0
[ 3.076171875, 161.015625, 160.6640625, 162.333984375, 162.24609375, 0.791015625, -3.603515625, -9.404296875, 67.93892669677734 ]
[ 2.197265625, 158.203125, 158.37890625, 162.0703125, 161.982421875, -0.087890625, -2.724609375, -9.052734375, 66.95890808105469 ]
2.8
84
0
84
0
[ 3.076171875, 162.24609375, 161.982421875, 162.59765625, 162.59765625, 0.791015625, -3.427734375, -9.404296875, 67.93892669677734 ]
[ 2.28515625, 159.697265625, 159.697265625, 162.333984375, 162.333984375, -0.087890625, -2.8125, -8.96484375, 66.90410614013672 ]
2.833333
85
0
85
0
[ 3.076171875, 163.564453125, 163.30078125, 162.94921875, 162.94921875, 0.791015625, -3.076171875, -9.4921875, 67.86259460449219 ]
[ 2.4609375, 161.19140625, 161.103515625, 162.861328125, 162.7734375, -0.087890625, -2.8125, -8.96484375, 66.90410614013672 ]
2.866667
86
0
86
0
[ 3.076171875, 164.794921875, 164.443359375, 163.212890625, 163.212890625, 0.791015625, -2.548828125, -9.4921875, 67.93892669677734 ]
[ 2.63671875, 162.333984375, 162.509765625, 163.037109375, 162.94921875, -0.17578125, -2.724609375, -9.052734375, 66.95890808105469 ]
2.9
87
0
87
0
[ 3.076171875, 165.9375, 165.76171875, 163.564453125, 163.4765625, 0.791015625, -1.93359375, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 163.564453125, 163.740234375, 163.388671875, 163.30078125, -0.087890625, -2.28515625, -9.052734375, 66.95890808105469 ]
2.933333
88
0
88
0
[ 3.076171875, 167.34375, 166.9921875, 163.916015625, 163.828125, 0.791015625, -1.494140625, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 164.794921875, 164.970703125, 163.828125, 163.740234375, -0.087890625, -1.318359375, -9.052734375, 66.95890808105469 ]
2.966667
89
0
89
0
[ 3.1640625, 168.662109375, 168.3984375, 164.35546875, 164.35546875, 0.791015625, -1.494140625, -9.404296875, 67.86259460449219 ]
[ 2.8125, 166.025390625, 166.025390625, 164.091796875, 164.00390625, -0.087890625, -0.87890625, -8.96484375, 66.90410614013672 ]
3
90
0
90
0
[ 3.1640625, 170.068359375, 169.892578125, 164.794921875, 164.794921875, 0.791015625, -1.494140625, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 167.16796875, 167.431640625, 164.443359375, 164.443359375, -0.17578125, -0.791015625, -8.96484375, 66.90410614013672 ]
3.033333
91
0
91
0
[ 3.251953125, 171.5625, 171.38671875, 165.146484375, 165.146484375, 0.791015625, -1.23046875, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 168.92578125, 168.92578125, 164.8828125, 164.794921875, -0.17578125, -0.703125, -8.96484375, 66.90410614013672 ]
3.066667
92
0
92
0
[ 3.251953125, 173.056640625, 172.880859375, 165.5859375, 165.498046875, 0.791015625, -1.142578125, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 170.419921875, 170.68359375, 165.41015625, 165.322265625, -0.087890625, -0.791015625, -9.052734375, 66.90410614013672 ]
3.1
93
0
93
0
[ 3.251953125, 174.55078125, 174.375, 165.9375, 165.9375, 0.791015625, -0.966796875, -9.4921875, 67.86259460449219 ]
[ 2.724609375, 171.9140625, 172.001953125, 165.9375, 165.849609375, -0.087890625, -0.791015625, -9.052734375, 66.95890808105469 ]
3.133333
94
0
94
0
[ 3.251953125, 176.044921875, 175.869140625, 166.376953125, 166.376953125, 0.791015625, -0.703125, -9.580078125, 67.86259460449219 ]
[ 2.724609375, 173.232421875, 173.583984375, 166.11328125, 165.9375, -0.087890625, -0.17578125, -9.052734375, 66.95890808105469 ]
3.166667
95
0
95
0
[ 3.251953125, 177.5390625, 177.36328125, 166.81640625, 166.81640625, 0.791015625, -0.263671875, -9.66796875, 67.86259460449219 ]
[ 2.8125, 174.90234375, 174.990234375, 166.46484375, 166.376953125, -0.087890625, 0.087890625, -9.052734375, 66.90410614013672 ]
3.2
96
0
96
0
[ 3.251953125, 178.9453125, 178.76953125, 167.255859375, 167.16796875, 0.791015625, 0.263671875, -9.84375, 67.86259460449219 ]
[ 2.8125, 176.396484375, 176.748046875, 166.904296875, 166.728515625, -0.087890625, 0.263671875, -8.96484375, 66.95890808105469 ]
3.233333
97
0
97
0
[ 3.251953125, 180.439453125, 180.263671875, 167.6953125, 167.607421875, 0.791015625, 0.966796875, -9.84375, 67.86259460449219 ]
[ 2.724609375, 177.71484375, 178.06640625, 167.431640625, 167.255859375, -0.087890625, 0.263671875, -8.96484375, 66.95890808105469 ]
3.266667
98
0
98
0
[ 3.251953125, 181.845703125, 181.7578125, 168.310546875, 168.134765625, 0.791015625, 1.669921875, -9.84375, 67.93892669677734 ]
[ 2.8125, 179.296875, 179.560546875, 167.958984375, 167.783203125, -0.087890625, 0.263671875, -9.052734375, 66.90410614013672 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 100,
    "total_frames": 44721,
    "total_tasks": 1,
    "total_videos": 300,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "main_waist",
                "main_shoulder",
                "main_shoulder_shadow",
                "main_elbow",
                "main_elbow_shadow",
                "main_forearm_roll",
                "main_wrist_angle",
                "main_wrist_rotate",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "main_waist",
                "main_shoulder",
                "main_shoulder_shadow",
                "main_elbow",
                "main_elbow_shadow",
                "main_forearm_roll",
                "main_wrist_angle",
                "main_wrist_rotate",
                "main_gripper"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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
26
License:
apache-2.0
Size of downloaded dataset files:
3.01 MB
Size of the auto-converted Parquet files:
3.01 MB
Number of rows:
44,721