Hugging Face's logo

Datasets:
legalaspro
/
so101-pnp-microsanity-20-30hz-v0

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
ros2
teleoperation
imitation-learning
so101-ros-physical-ai
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
observation.state
list
action
list
timestamp
float32
0
15.2
frame_index
int64
0
456
episode_index
int64
0
20
index
int64
0
8.01k
task_index
int64
0
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0
0
0
0
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.033333
1
0
1
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.066667
2
0
2
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.1
3
0
3
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.133333
4
0
4
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.166667
5
0
5
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.2
6
0
6
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.233333
7
0
7
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.266667
8
0
8
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.3
9
0
9
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05368932709097862, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.333333
10
0
10
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05368932709097862, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03374757617712021, -0.04448544234037399 ]
0.366667
11
0
11
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.4
12
0
12
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.433333
13
0
13
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.466667
14
0
14
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.5
15
0
15
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.533333
16
0
16
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.566667
17
0
17
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05368932709097862, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.6
18
0
18
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05215534567832947, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03528155758976936, -0.04448544234037399 ]
0.633333
19
0
19
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.04908738657832146, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.03067961521446705, -0.04448544234037399 ]
0.666667
20
0
20
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.029145635664463043, -0.04448544234037399 ]
0.7
21
0
21
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.02761165425181389, -0.04448544234037399 ]
0.733333
22
0
22
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.02761165425181389, -0.04448544234037399 ]
0.766667
23
0
23
0
[ -0.05215534567832947, -1.7073205709457397, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.02761165425181389, -0.04448544234037399 ]
0.8
24
0
24
0
[ -0.05215534567832947, -1.7088545560836792, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.02761165425181389, -0.04448544234037399 ]
0.833333
25
0
25
0
[ -0.05215534567832947, -1.7103885412216187, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5370486974716187, 0.9924855828285217, 0.02761165425181389, -0.04448544234037399 ]
0.866667
26
0
26
0
[ -0.05215534567832947, -1.7103885412216187, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5324468612670898, 0.9909515976905823, 0.02761165425181389, -0.04448544234037399 ]
0.9
27
0
27
0
[ -0.05215534567832947, -1.711922526359558, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.529378890991211, 0.9909515976905823, 0.02761165425181389, -0.04448544234037399 ]
0.933333
28
0
28
0
[ -0.05215534567832947, -1.711922526359558, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.5171070098876953, 0.9909515976905823, 0.029145635664463043, -0.04448544234037399 ]
0.966667
29
0
29
0
[ -0.05215534567832947, -1.711922526359558, 1.544718623161316, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.4971652030944824, 0.9970875382423401, 0.029145635664463043, -0.04448544234037399 ]
1
30
0
30
0
[ -0.05215534567832947, -1.711922526359558, 1.5431846380233765, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.796291470527649, 1.4879614114761353, 1.0001554489135742, 0.029145635664463043, -0.04448544234037399 ]
1.033333
31
0
31
0
[ -0.05215534567832947, -1.711922526359558, 1.538582682609558, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.79322350025177, 1.4649516344070435, 1.0001554489135742, 0.029145635664463043, -0.04448544234037399 ]
1.066667
32
0
32
0
[ -0.05215534567832947, -1.711922526359558, 1.5355147123336792, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.7855536937713623, 1.4388740062713623, 0.9986214637756348, 0.03067961521446705, -0.04448544234037399 ]
1.1
33
0
33
0
[ -0.05215534567832947, -1.711922526359558, 1.5309128761291504, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.7840197086334229, 1.4235341548919678, 1.0001554489135742, 0.029145635664463043, -0.04448544234037399 ]
1.133333
34
0
34
0
[ -0.05215534567832947, -1.711922526359558, 1.5171070098876953, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.7824857234954834, 1.3897866010665894, 0.9986214637756348, 0.03067961521446705, -0.04448544234037399 ]
1.166667
35
0
35
0
[ -0.05215534567832947, -1.711922526359558, 1.5033011436462402, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.780951738357544, 1.3729127645492554, 0.9940195679664612, 0.03374757617712021, -0.04448544234037399 ]
1.2
36
0
36
0
[ -0.05215534567832947, -1.711922526359558, 1.4879614114761353, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.0475534051656723, -1.7748157978057861, 1.3345632553100586, 0.9909515976905823, 0.03681553900241852, -0.04601942375302315 ]
1.233333
37
0
37
0
[ -0.05215534567832947, -1.711922526359558, 1.4680196046829224, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.04908738657832146, -1.7548739910125732, 1.2854758501052856, 0.9909515976905823, 0.03834952041506767, -0.04601942375302315 ]
1.266667
38
0
38
0
[ -0.05215534567832947, -1.711922526359558, 1.4404079914093018, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05062136426568031, -1.7395342588424683, 1.2593982219696045, 0.9909515976905823, 0.03834952041506767, -0.04601942375302315 ]
1.3
39
0
39
0
[ -0.05215534567832947, -1.711922526359558, 1.4158642292022705, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05522330850362778, -1.6950488090515137, 1.208776831626892, 0.9909515976905823, 0.03988350182771683, -0.04601942375302315 ]
1.333333
40
0
40
0
[ -0.05215534567832947, -1.711922526359558, 1.38825261592865, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05675728991627693, -1.6321555376052856, 1.1535536050796509, 0.9909515976905823, 0.04601942375302315, -0.04601942375302315 ]
1.366667
41
0
41
0
[ -0.05215534567832947, -1.7088545560836792, 1.3483691215515137, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05675728991627693, -1.5938060283660889, 1.1228739023208618, 0.9909515976905823, 0.05522330850362778, -0.04601942375302315 ]
1.4
42
0
42
0
[ -0.05215534567832947, -1.699650764465332, 1.3161555528640747, 1.0047574043273926, 0.03681553900241852, -0.03374757617712021 ]
[ -0.05675728991627693, -1.5079030990600586, 1.0507768392562866, 0.9909515976905823, 0.07363107800483704, -0.04601942375302315 ]
1.433333
43
0
43
0
[ -0.05062136426568031, -1.6797089576721191, 1.2716701030731201, 1.0047574043273926, 0.04601942375302315, -0.03374757617712021 ]
[ -0.05675728991627693, -1.4127962589263916, 0.9710098505020142, 0.9970875382423401, 0.08436894416809082, -0.04601942375302315 ]
1.466667
44
0
44
0
[ -0.05062136426568031, -1.6582332849502563, 1.2348545789718628, 1.0047574043273926, 0.05675728991627693, -0.03374757617712021 ]
[ -0.05675728991627693, -1.3606410026550293, 0.9234564304351807, 1.0032234191894531, 0.08897088468074799, -0.04601942375302315 ]
1.5
45
0
45
0
[ -0.05062136426568031, -1.61988365650177, 1.193437099456787, 1.0047574043273926, 0.06749515235424042, -0.03374757617712021 ]
[ -0.058291271328926086, -1.2563302516937256, 0.8283496499061584, 1.0139613151550293, 0.09817477315664291, -0.04601942375302315 ]
1.533333
46
0
46
0
[ -0.05062136426568031, -1.5569905042648315, 1.133611798286438, 1.006291389465332, 0.07976700365543365, -0.03374757617712021 ]
[ -0.058291271328926086, -1.147417664527893, 0.7255728840827942, 1.0431069135665894, 0.10737865418195724, -0.04601942375302315 ]
1.566667
47
0
47
0
[ -0.05062136426568031, -1.5033011436462402, 1.0860583782196045, 1.0139613151550293, 0.08743690699338913, -0.03374757617712021 ]
[ -0.05982524901628494, -1.0952622890472412, 0.6734175682067871, 1.0584467649459839, 0.11198059469461441, -0.04601942375302315 ]
1.6
48
0
48
0
[ -0.05062136426568031, -1.4450099468231201, 1.035436987876892, 1.023165225982666, 0.0951068103313446, -0.03374757617712021 ]
[ -0.06442718952894211, -0.9894176125526428, 0.5629709362983704, 1.0937283039093018, 0.11965049803256989, -0.04601942375302315 ]
1.633333
49
0
49
0
[ -0.05215534567832947, -1.3836506605148315, 0.9848156571388245, 1.0369709730148315, 0.10277671366930008, -0.03374757617712021 ]
[ -0.07516505569219589, -0.8881748914718628, 0.45405831933021545, 1.1320778131484985, 0.1257864236831665, -0.04601942375302315 ]
1.666667
50
0
50
0
[ -0.05982524901628494, -1.306951642036438, 0.9081166386604309, 1.0599807500839233, 0.11044661700725555, -0.03374757617712021 ]
[ -0.08130098134279251, -0.8390874862670898, 0.401902973651886, 1.1581554412841797, 0.13192234933376312, -0.04601942375302315 ]
1.7
51
0
51
0
[ -0.06596117466688156, -1.2455923557281494, 0.8467574119567871, 1.0799224376678467, 0.11504855751991272, -0.03374757617712021 ]
[ -0.09970875084400177, -0.7409127354621887, 0.29759228229522705, 1.2195147275924683, 0.15186409652233124, -0.04448544234037399 ]
1.733333
52
0
52
0
[ -0.07669904083013535, -1.1596894264221191, 0.7639224529266357, 1.1121361255645752, 0.1257864236831665, -0.03374757617712021 ]
[ -0.13192234933376312, -0.653475821018219, 0.19634954631328583, 1.287009835243225, 0.17794176936149597, -0.04448544234037399 ]
1.766667
53
0
53
0
[ -0.08590292185544968, -1.0952622890472412, 0.699495255947113, 1.1397477388381958, 0.1365242898464203, -0.03374757617712021 ]
[ -0.15186409652233124, -0.6105243563652039, 0.14572817087173462, 1.3192235231399536, 0.1902136206626892, -0.04448544234037399 ]
1.8
54
0
54
0
[ -0.09970875084400177, -1.0277671813964844, 0.6320000886917114, 1.1704273223876953, 0.15033011138439178, -0.03374757617712021 ]
[ -0.1902136206626892, -0.5292233824729919, 0.0475534051656723, 1.3805826902389526, 0.21322332322597504, -0.04448544234037399 ]
1.833333
55
0
55
0
[ -0.1227184608578682, -0.937262237071991, 0.5414952039718628, 1.21491277217865, 0.1672039031982422, -0.03374757617712021 ]
[ -0.22396118938922882, -0.45099034905433655, -0.04448544234037399, 1.4404079914093018, 0.22856314480304718, -0.04448544234037399 ]
1.866667
56
0
56
0
[ -0.14112623035907745, -0.8713011145591736, 0.4724660813808441, 1.2532622814178467, 0.18561168015003204, -0.03374757617712021 ]
[ -0.23930099606513977, -0.41264083981513977, -0.08590292185544968, 1.4680196046829224, 0.23316508531570435, -0.04448544234037399 ]
1.9
57
0
57
0
[ -0.16413594782352448, -0.8007379770278931, 0.4049709141254425, 1.290077805519104, 0.19481556117534637, -0.03374757617712021 ]
[ -0.2653786838054657, -0.34207770228385925, -0.16413594782352448, 1.5155730247497559, 0.24236896634101868, -0.04448544234037399 ]
1.933333
58
0
58
0
[ -0.18561168015003204, -0.7363107800483704, 0.33594179153442383, 1.3284273147583008, 0.2147573083639145, -0.03374757617712021 ]
[ -0.28685441613197327, -0.2761165499687195, -0.23009711503982544, 1.544718623161316, 0.251572847366333, -0.04448544234037399 ]
1.966667
59
0
59
0
[ -0.21629129350185394, -0.6504078507423401, 0.24236896634101868, 1.3836506605148315, 0.2178252786397934, -0.03374757617712021 ]
[ -0.3037281930446625, -0.21322332322597504, -0.2929903268814087, 1.5631264448165894, 0.26077672839164734, -0.04295146092772484 ]
2
60
0
60
0
[ -0.2377670258283615, -0.5829126834869385, 0.17640778422355652, 1.4204661846160889, 0.2316311001777649, -0.03374757617712021 ]
[ -0.3129320740699768, -0.1840776950120926, -0.3206019699573517, 1.5677284002304077, 0.2653786838054657, -0.04295146092772484 ]
2.033333
61
0
61
0
[ -0.25617480278015137, -0.5169515013694763, 0.11198059469461441, 1.4542137384414673, 0.23930099606513977, -0.03374757617712021 ]
[ -0.3236699402332306, -0.13345633447170258, -0.3712233603000641, 1.5830681324005127, 0.2822524607181549, -0.04295146092772484 ]
2.066667
62
0
62
0
[ -0.279184490442276, -0.43411657214164734, 0.029145635664463043, 1.4940972328186035, 0.25310683250427246, -0.03374757617712021 ]
[ -0.3267379105091095, -0.08590292185544968, -0.4080388844013214, 1.5922720432281494, 0.3098641335964203, -0.04295146092772484 ]
2.1
63
0
63
0
[ -0.29452431201934814, -0.3742913007736206, -0.03374757617712021, 1.5201749801635742, 0.26384469866752625, -0.03374757617712021 ]
[ -0.32827189564704895, -0.06596117466688156, -0.4279806315898895, 1.6030099391937256, 0.32520392537117004, -0.04295146092772484 ]
2.133333
64
0
64
0
[ -0.30833014845848083, -0.3190680146217346, -0.09357282519340515, 1.541650652885437, 0.27458256483078003, -0.03374757617712021 ]
[ -0.33133983612060547, -0.032213594764471054, -0.4632622003555298, 1.6260195970535278, 0.3574175238609314, -0.04295146092772484 ]
2.166667
65
0
65
0
[ -0.3206019699573517, -0.24697090685367584, -0.16566991806030273, 1.5661944150924683, 0.29452431201934814, -0.03374757617712021 ]
[ -0.33133983612060547, -0.016873788088560104, -0.4770680367946625, 1.6306215524673462, 0.3650874197483063, -0.04295146092772484 ]
2.2
66
0
66
0
[ -0.32520392537117004, -0.19634954631328583, -0.21629129350185394, 1.5861361026763916, 0.3129320740699768, -0.03374757617712021 ]
[ -0.3344078063964844, 0.019941750913858414, -0.503145694732666, 1.6352235078811646, 0.37275734543800354, -0.04295146092772484 ]
2.233333
67
0
67
0
[ -0.32827189564704895, -0.13345633447170258, -0.28071847558021545, 1.604543924331665, 0.3344078063964844, -0.03374757617712021 ]
[ -0.3466796576976776, 0.05062136426568031, -0.5169515013694763, 1.633689522743225, 0.3742913007736206, -0.04295146092772484 ]
2.266667
68
0
68
0
[ -0.3298058807849884, -0.08897088468074799, -0.32213595509529114, 1.6106798648834229, 0.3466796576976776, -0.03374757617712021 ]
[ -0.3543495535850525, 0.06749515235424042, -0.5276893973350525, 1.6352235078811646, 0.3804272413253784, -0.04295146092772484 ]
2.3
69
0
69
0
[ -0.32827189564704895, -0.0475534051656723, -0.3574175238609314, 1.6122138500213623, 0.35588353872299194, -0.03374757617712021 ]
[ -0.3666214048862457, 0.09970875084400177, -0.5430291891098022, 1.6428934335708618, 0.38656315207481384, -0.03681553900241852 ]
2.333333
70
0
70
0
[ -0.33594179153442383, -0.00920388475060463, -0.39269909262657166, 1.61988365650177, 0.3650874197483063, -0.03374757617712021 ]
[ -0.37582528591156006, 0.13192234933376312, -0.552233099937439, 1.6490293741226196, 0.3880971372127533, 0.01073786523193121 ]
2.366667
71
0
71
0
[ -0.34821364283561707, 0.03834952041506767, -0.43104860186576843, 1.6275535821914673, 0.3742913007736206, -0.03374757617712021 ]
[ -0.3804272413253784, 0.16413594782352448, -0.5568350553512573, 1.6643691062927246, 0.3880971372127533, 0.11198059469461441 ]
2.4
72
0
72
0
[ -0.3604854941368103, 0.07056311517953873, -0.45405831933021545, 1.6306215524673462, 0.37889325618743896, -0.03374757617712021 ]
[ -0.3850291669368744, 0.17947575449943542, -0.558368980884552, 1.6735730171203613, 0.3880971372127533, 0.18100973963737488 ]
2.433333
73
0
73
0
[ -0.37582528591156006, 0.11198059469461441, -0.4770680367946625, 1.6321555376052856, 0.38196122646331787, -0.013805827125906944 ]
[ -0.38963112235069275, 0.20862138271331787, -0.558368980884552, 1.6843109130859375, 0.3957670331001282, 0.3374757766723633 ]
2.466667
74
0
74
0
[ -0.3804272413253784, 0.139592245221138, -0.4893398582935333, 1.6321555376052856, 0.38196122646331787, 0.007669903803616762 ]
[ -0.3911651074886322, 0.22396118938922882, -0.558368980884552, 1.6904468536376953, 0.4049709141254425, 0.4187767505645752 ]
2.5
75
0
75
0
[ -0.3850291669368744, 0.1672039031982422, -0.49547579884529114, 1.6321555376052856, 0.3850291669368744, 0.032213594764471054 ]
[ -0.39269909262657166, 0.25310683250427246, -0.558368980884552, 1.6950488090515137, 0.4187767505645752, 0.5767768025398254 ]
2.533333
76
0
76
0
[ -0.3834952116012573, 0.2040194422006607, -0.5016117095947266, 1.6321555376052856, 0.3957670331001282, 0.07669904083013535 ]
[ -0.39269909262657166, 0.27765053510665894, -0.5599029660224915, 1.6950488090515137, 0.41724276542663574, 0.7010292410850525 ]
2.566667
77
0
77
0
[ -0.38196122646331787, 0.22856314480304718, -0.503145694732666, 1.6321555376052856, 0.4049709141254425, 0.11965049803256989 ]
[ -0.39269909262657166, 0.302194207906723, -0.5599029660224915, 1.6919808387756348, 0.4157087802886963, 0.7976700067520142 ]
2.6
78
0
78
0
[ -0.38196122646331787, 0.2546408176422119, -0.503145694732666, 1.6321555376052856, 0.40650489926338196, 0.1672039031982422 ]
[ -0.39269909262657166, 0.31446605920791626, -0.5599029660224915, 1.6889128684997559, 0.4157087802886963, 0.8298836350440979 ]
2.633333
79
0
79
0
[ -0.3850291669368744, 0.2929903268814087, -0.503145694732666, 1.6321555376052856, 0.40957286953926086, 0.26384469866752625 ]
[ -0.3880971372127533, 0.3344078063964844, -0.5599029660224915, 1.685844898223877, 0.4157087802886963, 0.8620972037315369 ]
2.666667
80
0
80
0
[ -0.38656315207481384, 0.3067961633205414, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.3067961633205414 ]
[ -0.3834952116012573, 0.35281556844711304, -0.5599029660224915, 1.6812429428100586, 0.4157087802886963, 0.8620972037315369 ]
2.7
81
0
81
0
[ -0.3880971372127533, 0.3267379105091095, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.3742913007736206 ]
[ -0.38196122646331787, 0.3635534346103668, -0.5599029660224915, 1.6797089576721191, 0.4141748249530792, 0.8636311888694763 ]
2.733333
82
0
82
0
[ -0.3880971372127533, 0.3466796576976776, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.4448544383049011 ]
[ -0.3804272413253784, 0.38196122646331787, -0.5614369511604309, 1.6674370765686035, 0.4141748249530792, 0.8636311888694763 ]
2.766667
83
0
83
0
[ -0.3880971372127533, 0.3681553900241852, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.5307573676109314 ]
[ -0.37889325618743896, 0.3911651074886322, -0.5614369511604309, 1.6613011360168457, 0.4141748249530792, 0.8636311888694763 ]
2.8
84
0
84
0
[ -0.38656315207481384, 0.3834952116012573, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.5890486240386963 ]
[ -0.3681553900241852, 0.40650489926338196, -0.5614369511604309, 1.653631329536438, 0.4187767505645752, 0.8651651740074158 ]
2.833333
85
0
85
0
[ -0.3834952116012573, 0.401902973651886, -0.503145694732666, 1.6321555376052856, 0.4111068546772003, 0.6596117615699768 ]
[ -0.3635534346103668, 0.4218447208404541, -0.5645049214363098, 1.6490293741226196, 0.4218447208404541, 0.8697671294212341 ]
2.866667
86
0
86
0
[ -0.38196122646331787, 0.41724276542663574, -0.503145694732666, 1.6321555376052856, 0.4141748249530792, 0.7209709882736206 ]
[ -0.35895150899887085, 0.4387184977531433, -0.5829126834869385, 1.639825463294983, 0.42031073570251465, 0.8759030103683472 ]
2.9
87
0
87
0
[ -0.37889325618743896, 0.4264466464519501, -0.503145694732666, 1.6321555376052856, 0.4141748249530792, 0.7470486164093018 ]
[ -0.3543495535850525, 0.4448544383049011, -0.5921165943145752, 1.6352235078811646, 0.4187767505645752, 0.8774369955062866 ]
2.933333
88
0
88
0
[ -0.3742913007736206, 0.43718451261520386, -0.5092816352844238, 1.6321555376052856, 0.4157087802886963, 0.780796229839325 ]
[ -0.33900976181030273, 0.4601942300796509, -0.6151263117790222, 1.6321555376052856, 0.4218447208404541, 0.8789709806442261 ]
2.966667
89
0
89
0
[ -0.3650874197483063, 0.45405831933021545, -0.526155412197113, 1.6306215524673462, 0.4141748249530792, 0.8160777688026428 ]
[ -0.3328738212585449, 0.46786412596702576, -0.6289321184158325, 1.6306215524673462, 0.42337870597839355, 0.8789709806442261 ]
3
90
0
90
0
[ -0.35588353872299194, 0.4663301706314087, -0.5414952039718628, 1.6306215524673462, 0.4157087802886963, 0.8360195159912109 ]
[ -0.3206019699573517, 0.48473793268203735, -0.6626796722412109, 1.6290875673294067, 0.42337870597839355, 0.8789709806442261 ]
3.033333
91
0
91
0
[ -0.34821364283561707, 0.47860199213027954, -0.5568350553512573, 1.6306215524673462, 0.41724276542663574, 0.849825382232666 ]
[ -0.31139808893203735, 0.5062136650085449, -0.6964272856712341, 1.6306215524673462, 0.42337870597839355, 0.8789709806442261 ]
3.066667
92
0
92
0
[ -0.33594179153442383, 0.4939418137073517, -0.581378698348999, 1.6306215524673462, 0.41724276542663574, 0.859029233455658 ]
[ -0.3098641335964203, 0.5200194716453552, -0.7102330923080444, 1.6306215524673462, 0.42337870597839355, 0.8789709806442261 ]
3.1
93
0
93
0
[ -0.32520392537117004, 0.5092816352844238, -0.6013204455375671, 1.6306215524673462, 0.41724276542663574, 0.8636311888694763 ]
[ -0.30833014845848083, 0.5460971593856812, -0.7378447651863098, 1.633689522743225, 0.42337870597839355, 0.8789709806442261 ]
3.133333
94
0
94
0
[ -0.3160000443458557, 0.5246214270591736, -0.6243301630020142, 1.6306215524673462, 0.41724276542663574, 0.8682331442832947 ]
[ -0.30526217818260193, 0.575242817401886, -0.7669904232025146, 1.6382914781570435, 0.4187767505645752, 0.8789709806442261 ]
3.166667
95
0
95
0
[ -0.30833014845848083, 0.5491651296615601, -0.6519418358802795, 1.6306215524673462, 0.41724276542663574, 0.8697671294212341 ]
[ -0.3037281930446625, 0.5890486240386963, -0.780796229839325, 1.6382914781570435, 0.41724276542663574, 0.8789709806442261 ]
3.2
96
0
96
0
[ -0.3067961633205414, 0.5675728917121887, -0.6718835830688477, 1.6306215524673462, 0.41724276542663574, 0.8713011145591736 ]
[ -0.3037281930446625, 0.6181942820549011, -0.8084079027175903, 1.639825463294983, 0.4157087802886963, 0.8774369955062866 ]
3.233333
97
0
97
0
[ -0.30833014845848083, 0.5936505794525146, -0.699495255947113, 1.6306215524673462, 0.41724276542663574, 0.8713011145591736 ]
[ -0.3067961633205414, 0.6458058953285217, -0.8314175605773926, 1.639825463294983, 0.4141748249530792, 0.8759030103683472 ]
3.266667
98
0
98
0
[ -0.3129320740699768, 0.6151263117790222, -0.7209709882736206, 1.6306215524673462, 0.41724276542663574, 0.8713011145591736 ]
[ -0.3067961633205414, 0.6580777764320374, -0.8421554565429688, 1.6413594484329224, 0.4141748249530792, 0.8743690252304077 ]
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": 21,
    "total_frames": 8010,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:21"
    },
    "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": "av1",
                "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": "av1",
                "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
8
Homepage:
github.com
License:
apache-2.0
Number of rows:
8,010
Total file size:
193 MB

Models trained or fine-tuned on legalaspro/so101-pnp-microsanity-20-30hz-v0