Hugging Face's logo

Datasets:
embodied-ai
/
wx250s_put_aubergine_in_pot

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
15.2
frame_index
int64
0
457
episode_index
int64
0
29
index
int64
0
10.6k
task_index
int64
0
0
[ -29.619140625, 102.392578125, 102.041015625, 124.8046875, 124.716796875, -12.48046875, 27.59765625, 1.318359375, 63.96039581298828 ]
[ -31.025390625, 97.91015625, 97.20703125, 123.75, 123.75, -12.041015625, 27.509765625, -0.17578125, 63.72602462768555 ]
0
0
0
0
0
[ -28.828125, 103.271484375, 102.83203125, 125.419921875, 125.244140625, -12.392578125, 27.685546875, 1.669921875, 63.96039581298828 ]
[ -30.234375, 98.4375, 97.998046875, 124.365234375, 124.365234375, -12.041015625, 27.421875, 0.17578125, 63.45205307006836 ]
0.033333
1
0
1
0
[ -27.7734375, 104.23828125, 103.88671875, 126.123046875, 125.947265625, -12.392578125, 27.685546875, 2.021484375, 63.96039581298828 ]
[ -29.70703125, 99.4921875, 99.052734375, 125.33203125, 125.419921875, -12.041015625, 27.421875, 0.263671875, 63.28767013549805 ]
0.066667
2
0
2
0
[ -26.89453125, 105.29296875, 104.853515625, 127.001953125, 126.73828125, -12.48046875, 27.685546875, 2.197265625, 63.96039581298828 ]
[ -28.564453125, 100.8984375, 100.458984375, 126.298828125, 126.123046875, -12.041015625, 27.421875, 1.0546875, 63.17808151245117 ]
0.1
3
0
3
0
[ -25.576171875, 106.5234375, 106.083984375, 127.96875, 127.880859375, -12.392578125, 27.685546875, 2.4609375, 63.564353942871094 ]
[ -27.0703125, 102.216796875, 101.77734375, 127.08984375, 126.826171875, -12.041015625, 27.421875, 1.0546875, 63.013694763183594 ]
0.133333
4
0
4
0
[ -23.994140625, 107.9296875, 107.40234375, 129.19921875, 129.0234375, -12.392578125, 27.685546875, 2.548828125, 62.970298767089844 ]
[ -25.751953125, 103.53515625, 103.271484375, 127.705078125, 127.6171875, -12.041015625, 27.333984375, 1.142578125, 62.958900451660156 ]
0.166667
5
0
5
0
[ -22.412109375, 109.3359375, 108.984375, 130.517578125, 130.4296875, -12.392578125, 27.685546875, 2.63671875, 62.27722930908203 ]
[ -24.2578125, 105.1171875, 104.58984375, 128.935546875, 128.935546875, -12.041015625, 27.24609375, 1.40625, 62.46575164794922 ]
0.2
6
0
6
0
[ -20.56640625, 111.09375, 110.654296875, 132.01171875, 132.01171875, -12.392578125, 27.509765625, 2.63671875, 61.58415603637695 ]
[ -22.67578125, 106.875, 106.34765625, 130.869140625, 130.693359375, -11.953125, 27.333984375, 1.40625, 62.19178009033203 ]
0.233333
7
0
7
0
[ -18.45703125, 112.939453125, 112.5, 133.857421875, 133.681640625, -12.392578125, 27.421875, 2.8125, 61.28712844848633 ]
[ -21.357421875, 107.841796875, 107.40234375, 132.01171875, 131.8359375, -12.041015625, 27.158203125, 1.494140625, 61.753421783447266 ]
0.266667
8
0
8
0
[ -16.962890625, 114.345703125, 113.818359375, 134.912109375, 134.912109375, -12.392578125, 27.333984375, 2.98828125, 61.28712844848633 ]
[ -19.86328125, 109.51171875, 109.072265625, 133.505859375, 133.505859375, -11.953125, 27.24609375, 1.669921875, 61.3698616027832 ]
0.3
9
0
9
0
[ -15.46875, 115.927734375, 115.6640625, 136.23046875, 136.142578125, -12.392578125, 27.0703125, 3.427734375, 61.28712844848633 ]
[ -17.666015625, 111.4453125, 110.91796875, 134.6484375, 134.6484375, -11.953125, 27.24609375, 1.669921875, 61.26026916503906 ]
0.333333
10
0
10
0
[ -13.7109375, 117.94921875, 117.509765625, 137.63671875, 137.4609375, -12.48046875, 26.71875, 3.955078125, 61.28712844848633 ]
[ -15.46875, 113.37890625, 113.02734375, 136.23046875, 136.142578125, -11.953125, 27.158203125, 2.28515625, 61.15068054199219 ]
0.366667
11
0
11
0
[ -11.865234375, 120.05859375, 119.443359375, 139.04296875, 139.04296875, -12.392578125, 26.455078125, 4.39453125, 61.28712844848633 ]
[ -13.798828125, 115.224609375, 114.873046875, 137.63671875, 137.724609375, -11.953125, 26.806640625, 2.4609375, 61.15068054199219 ]
0.4
12
0
12
0
[ -10.107421875, 121.904296875, 121.46484375, 140.625, 140.44921875, -12.48046875, 26.54296875, 4.658203125, 61.28712844848633 ]
[ -12.3046875, 117.421875, 117.0703125, 139.306640625, 139.21875, -11.953125, 26.54296875, 3.1640625, 61.041099548339844 ]
0.433333
13
0
13
0
[ -8.26171875, 124.189453125, 123.662109375, 142.294921875, 142.20703125, -12.48046875, 26.71875, 4.482421875, 61.386138916015625 ]
[ -10.546875, 119.8828125, 119.70703125, 140.80078125, 140.80078125, -11.953125, 26.455078125, 3.251953125, 60.986305236816406 ]
0.466667
14
0
14
0
[ -6.15234375, 126.474609375, 126.03515625, 144.31640625, 144.140625, -12.48046875, 26.630859375, 4.04296875, 61.386138916015625 ]
[ -9.228515625, 121.9921875, 121.46484375, 142.119140625, 142.119140625, -11.865234375, 26.279296875, 3.427734375, 60.986305236816406 ]
0.5
15
0
15
0
[ -4.5703125, 128.232421875, 127.880859375, 145.810546875, 145.72265625, -12.48046875, 26.54296875, 3.955078125, 61.386138916015625 ]
[ -7.470703125, 124.27734375, 124.013671875, 144.31640625, 144.228515625, -11.953125, 26.279296875, 3.69140625, 60.986305236816406 ]
0.533333
16
0
16
0
[ -3.33984375, 129.462890625, 129.111328125, 146.953125, 146.953125, -12.48046875, 26.54296875, 3.955078125, 61.386138916015625 ]
[ -5.625, 126.298828125, 125.947265625, 145.634765625, 145.634765625, -11.953125, 26.3671875, 3.515625, 60.986305236816406 ]
0.566667
17
0
17
0
[ -2.4609375, 130.517578125, 130.078125, 148.095703125, 148.0078125, -12.48046875, 26.455078125, 3.8671875, 61.386138916015625 ]
[ -3.8671875, 127.96875, 127.79296875, 146.6015625, 146.513671875, -11.953125, 26.279296875, 2.8125, 60.986305236816406 ]
0.6
18
0
18
0
[ -1.669921875, 131.396484375, 130.95703125, 149.23828125, 149.150390625, -12.568359375, 26.630859375, 3.69140625, 61.386138916015625 ]
[ -2.8125, 129.287109375, 129.19921875, 147.919921875, 147.83203125, -11.953125, 26.19140625, 2.8125, 60.986305236816406 ]
0.633333
19
0
19
0
[ -1.318359375, 131.923828125, 131.484375, 149.94140625, 149.853515625, -12.568359375, 27.0703125, 3.515625, 61.386138916015625 ]
[ -1.93359375, 130.517578125, 130.166015625, 149.501953125, 149.4140625, -11.953125, 26.19140625, 2.98828125, 61.041099548339844 ]
0.666667
20
0
20
0
[ -1.318359375, 132.1875, 131.748046875, 150.380859375, 150.29296875, -12.568359375, 27.7734375, 3.076171875, 61.28712844848633 ]
[ -1.58203125, 130.78125, 130.693359375, 150.1171875, 149.94140625, -11.953125, 26.806640625, 2.98828125, 60.986305236816406 ]
0.7
21
0
21
0
[ -1.318359375, 132.275390625, 131.8359375, 150.556640625, 150.46875, -12.568359375, 28.740234375, 2.63671875, 61.386138916015625 ]
[ -1.23046875, 131.220703125, 130.78125, 150.64453125, 150.46875, -11.953125, 27.158203125, 2.98828125, 60.986305236816406 ]
0.733333
22
0
22
0
[ -1.142578125, 132.275390625, 131.8359375, 150.64453125, 150.556640625, -12.568359375, 29.619140625, 1.93359375, 61.386138916015625 ]
[ -1.23046875, 131.396484375, 130.95703125, 150.99609375, 150.8203125, -11.953125, 27.861328125, 2.900390625, 60.986305236816406 ]
0.766667
23
0
23
0
[ -0.87890625, 132.275390625, 131.8359375, 150.64453125, 150.64453125, -12.568359375, 30.234375, 1.142578125, 61.386138916015625 ]
[ -1.23046875, 131.572265625, 131.1328125, 151.083984375, 150.8203125, -11.953125, 28.828125, 1.58203125, 60.986305236816406 ]
0.8
24
0
24
0
[ -0.615234375, 132.275390625, 131.8359375, 150.8203125, 150.732421875, -12.568359375, 30.05859375, 0.3515625, 61.386138916015625 ]
[ -0.87890625, 131.572265625, 131.1328125, 151.083984375, 150.8203125, -11.865234375, 29.794921875, 0.791015625, 60.986305236816406 ]
0.833333
25
0
25
0
[ -0.615234375, 132.275390625, 131.8359375, 150.8203125, 150.732421875, -12.65625, 29.53125, -0.615234375, 61.386138916015625 ]
[ -0.52734375, 131.572265625, 131.1328125, 150.99609375, 150.8203125, -11.953125, 30.146484375, 0.263671875, 61.041099548339844 ]
0.866667
26
0
26
0
[ -0.615234375, 132.275390625, 131.923828125, 150.556640625, 150.556640625, -12.744140625, 29.091796875, -1.58203125, 61.28712844848633 ]
[ -0.3515625, 131.572265625, 131.1328125, 151.083984375, 150.8203125, -11.953125, 29.70703125, 0.17578125, 60.986305236816406 ]
0.9
27
0
27
0
[ -0.615234375, 132.36328125, 132.01171875, 150.732421875, 150.732421875, -12.744140625, 29.091796875, -2.4609375, 61.28712844848633 ]
[ -0.3515625, 131.572265625, 131.1328125, 151.083984375, 150.908203125, -11.865234375, 29.53125, 0.17578125, 60.986305236816406 ]
0.933333
28
0
28
0
[ -0.615234375, 132.451171875, 132.01171875, 151.083984375, 150.908203125, -12.83203125, 29.091796875, -3.33984375, 61.28712844848633 ]
[ -0.3515625, 131.572265625, 131.30859375, 151.083984375, 150.8203125, -11.953125, 29.443359375, -1.0546875, 60.986305236816406 ]
0.966667
29
0
29
0
[ -0.615234375, 132.451171875, 132.01171875, 151.5234375, 151.34765625, -12.83203125, 29.00390625, -4.21875, 61.28712844848633 ]
[ -0.3515625, 131.748046875, 131.572265625, 151.34765625, 150.99609375, -11.953125, 29.443359375, -2.28515625, 60.986305236816406 ]
1
30
0
30
0
[ -0.703125, 132.451171875, 132.01171875, 151.69921875, 151.69921875, -12.83203125, 28.65234375, -5.009765625, 61.28712844848633 ]
[ -0.3515625, 132.01171875, 131.923828125, 151.787109375, 151.611328125, -11.953125, 29.35546875, -3.1640625, 60.986305236816406 ]
1.033333
31
0
31
0
[ -0.703125, 132.5390625, 132.1875, 151.875, 151.875, -12.744140625, 27.509765625, -5.009765625, 61.386138916015625 ]
[ -0.3515625, 132.099609375, 132.01171875, 152.138671875, 151.875, -11.865234375, 28.828125, -4.39453125, 61.041099548339844 ]
1.066667
32
0
32
0
[ -0.703125, 132.890625, 132.36328125, 152.05078125, 151.875, -12.392578125, 25.3125, -4.74609375, 61.386138916015625 ]
[ -0.3515625, 131.923828125, 131.923828125, 152.138671875, 151.875, -11.953125, 28.037109375, -4.921875, 60.986305236816406 ]
1.1
33
0
33
0
[ -0.703125, 133.154296875, 132.71484375, 152.490234375, 152.314453125, -12.3046875, 22.939453125, -4.658203125, 61.28712844848633 ]
[ -0.3515625, 131.923828125, 131.748046875, 152.40234375, 152.05078125, -11.953125, 26.455078125, -4.482421875, 60.986305236816406 ]
1.133333
34
0
34
0
[ -0.615234375, 133.9453125, 133.505859375, 153.193359375, 153.10546875, -12.3046875, 20.0390625, -4.5703125, 61.28712844848633 ]
[ -0.3515625, 132.275390625, 131.8359375, 152.841796875, 152.666015625, -11.953125, 23.90625, -4.39453125, 60.986305236816406 ]
1.166667
35
0
35
0
[ -0.615234375, 134.912109375, 134.47265625, 154.3359375, 154.16015625, -12.216796875, 16.611328125, -4.39453125, 61.28712844848633 ]
[ -0.3515625, 132.802734375, 132.5390625, 153.80859375, 153.544921875, -11.953125, 21.357421875, -4.39453125, 60.986305236816406 ]
1.2
36
0
36
0
[ -0.703125, 136.40625, 136.0546875, 156.181640625, 156.181640625, -12.12890625, 12.12890625, -4.21875, 61.386138916015625 ]
[ -0.3515625, 133.76953125, 133.505859375, 154.775390625, 154.6875, -11.953125, 18.10546875, -4.306640625, 60.986305236816406 ]
1.233333
37
0
37
0
[ -0.703125, 137.724609375, 137.197265625, 157.8515625, 157.939453125, -12.12890625, 7.998046875, -4.04296875, 61.28712844848633 ]
[ -0.3515625, 135, 134.6484375, 156.09375, 156.005859375, -11.953125, 14.853515625, -4.482421875, 60.986305236816406 ]
1.266667
38
0
38
0
[ -0.703125, 138.69140625, 138.427734375, 159.345703125, 159.43359375, -12.12890625, 4.658203125, -3.955078125, 61.28712844848633 ]
[ -0.3515625, 136.494140625, 136.40625, 157.763671875, 157.587890625, -11.953125, 10.283203125, -4.306640625, 60.986305236816406 ]
1.3
39
0
39
0
[ -0.703125, 140.625, 140.2734375, 161.89453125, 161.89453125, -12.12890625, -0.17578125, -3.69140625, 61.386138916015625 ]
[ -0.263671875, 138.1640625, 138.251953125, 159.609375, 159.521484375, -11.953125, 5.9765625, -3.779296875, 60.986305236816406 ]
1.333333
40
0
40
0
[ -0.791015625, 141.943359375, 141.50390625, 163.30078125, 163.30078125, -12.12890625, -2.900390625, -3.69140625, 61.386138916015625 ]
[ -0.263671875, 139.306640625, 139.130859375, 161.19140625, 161.19140625, -11.953125, 2.724609375, -3.603515625, 60.986305236816406 ]
1.366667
41
0
41
0
[ -0.703125, 143.0859375, 142.734375, 164.70703125, 164.70703125, -12.12890625, -5.80078125, -3.515625, 61.386138916015625 ]
[ -0.263671875, 140.2734375, 140.09765625, 162.7734375, 162.7734375, -11.953125, 0.439453125, -3.603515625, 60.986305236816406 ]
1.4
42
0
42
0
[ -0.615234375, 144.404296875, 144.052734375, 166.11328125, 166.11328125, -12.12890625, -8.7890625, -3.515625, 61.386138916015625 ]
[ -0.17578125, 142.20703125, 141.85546875, 164.70703125, 164.53125, -11.953125, -2.4609375, -3.427734375, 60.986305236816406 ]
1.433333
43
0
43
0
[ -0.615234375, 145.810546875, 145.37109375, 167.34375, 167.255859375, -12.12890625, -11.42578125, -3.603515625, 61.28712844848633 ]
[ -0.263671875, 143.61328125, 143.61328125, 166.201171875, 166.11328125, -12.041015625, -5.44921875, -3.427734375, 60.986305236816406 ]
1.466667
44
0
44
0
[ -0.615234375, 147.48046875, 147.12890625, 168.3984375, 168.310546875, -12.12890625, -13.7109375, -3.515625, 61.28712844848633 ]
[ -0.263671875, 145.01953125, 145.107421875, 167.783203125, 167.607421875, -12.041015625, -8.7890625, -3.427734375, 60.986305236816406 ]
1.5
45
0
45
0
[ -0.615234375, 149.326171875, 148.974609375, 169.62890625, 169.62890625, -12.12890625, -15.46875, -3.33984375, 61.28712844848633 ]
[ -0.263671875, 146.07421875, 145.986328125, 168.486328125, 168.310546875, -12.041015625, -10.546875, -3.33984375, 60.986305236816406 ]
1.533333
46
0
46
0
[ -0.52734375, 150.8203125, 150.380859375, 170.68359375, 170.595703125, -12.041015625, -16.69921875, -3.1640625, 61.28712844848633 ]
[ -0.263671875, 148.271484375, 147.919921875, 169.8046875, 169.541015625, -12.041015625, -12.919921875, -3.33984375, 60.986305236816406 ]
1.566667
47
0
47
0
[ -0.52734375, 152.40234375, 151.962890625, 171.9140625, 171.9140625, -12.12890625, -18.017578125, -2.8125, 61.386138916015625 ]
[ -0.17578125, 149.853515625, 150.029296875, 170.68359375, 170.5078125, -12.041015625, -14.58984375, -3.33984375, 60.986305236816406 ]
1.6
48
0
48
0
[ -0.52734375, 153.720703125, 153.28125, 173.3203125, 173.3203125, -12.12890625, -18.544921875, -2.28515625, 61.28712844848633 ]
[ -0.17578125, 151.171875, 151.171875, 171.5625, 171.38671875, -12.041015625, -16.259765625, -2.900390625, 60.986305236816406 ]
1.633333
49
0
49
0
[ -0.52734375, 154.86328125, 154.51171875, 174.55078125, 174.55078125, -12.12890625, -18.80859375, -1.7578125, 61.28712844848633 ]
[ -0.17578125, 152.9296875, 153.10546875, 173.408203125, 173.232421875, -12.041015625, -17.05078125, -2.548828125, 60.986305236816406 ]
1.666667
50
0
50
0
[ -0.615234375, 156.09375, 155.654296875, 175.78125, 175.78125, -12.12890625, -18.80859375, -1.494140625, 61.28712844848633 ]
[ -0.263671875, 154.072265625, 154.248046875, 174.7265625, 174.638671875, -12.041015625, -17.138671875, -1.845703125, 60.986305236816406 ]
1.7
51
0
51
0
[ -0.52734375, 157.412109375, 157.060546875, 177.01171875, 176.923828125, -12.12890625, -18.80859375, -1.494140625, 61.386138916015625 ]
[ -0.263671875, 155.478515625, 155.302734375, 175.78125, 175.60546875, -12.12890625, -17.138671875, -1.669921875, 60.986305236816406 ]
1.733333
52
0
52
0
[ -0.615234375, 158.73046875, 158.37890625, 177.890625, 177.802734375, -12.12890625, -18.80859375, -1.40625, 61.28712844848633 ]
[ -0.17578125, 156.884765625, 156.97265625, 177.099609375, 176.8359375, -12.041015625, -17.2265625, -1.494140625, 60.986305236816406 ]
1.766667
53
0
53
0
[ -0.615234375, 160.224609375, 159.873046875, 178.59375, 178.505859375, -12.12890625, -18.6328125, -1.40625, 61.386138916015625 ]
[ -0.17578125, 158.02734375, 158.203125, 177.978515625, 177.802734375, -12.12890625, -17.2265625, -1.40625, 61.041099548339844 ]
1.8
54
0
54
0
[ -0.615234375, 161.806640625, 161.54296875, 179.560546875, 179.560546875, -12.12890625, -18.6328125, -1.40625, 61.386138916015625 ]
[ -0.17578125, 159.43359375, 159.345703125, 178.681640625, 178.505859375, -12.12890625, -17.2265625, -1.40625, 60.986305236816406 ]
1.833333
55
0
55
0
[ -0.615234375, 163.212890625, 162.94921875, 180.615234375, 180.615234375, -12.12890625, -18.720703125, -1.318359375, 61.28712844848633 ]
[ -0.17578125, 160.927734375, 161.103515625, 179.6484375, 179.560546875, -12.041015625, -17.314453125, -1.40625, 60.986305236816406 ]
1.866667
56
0
56
0
[ -0.615234375, 164.35546875, 164.091796875, 181.7578125, 181.7578125, -12.12890625, -18.6328125, -1.318359375, 61.386138916015625 ]
[ -0.17578125, 162.421875, 162.333984375, 180.615234375, 180.52734375, -12.12890625, -17.314453125, -1.40625, 60.986305236816406 ]
1.9
57
0
57
0
[ -0.615234375, 165.322265625, 164.970703125, 182.724609375, 182.724609375, -12.12890625, -18.720703125, -1.40625, 61.28712844848633 ]
[ -0.17578125, 163.916015625, 164.00390625, 181.669921875, 181.58203125, -12.041015625, -17.314453125, -1.40625, 60.986305236816406 ]
1.933333
58
0
58
0
[ -0.615234375, 166.376953125, 166.11328125, 183.427734375, 183.427734375, -12.12890625, -18.896484375, -1.58203125, 61.28712844848633 ]
[ -0.17578125, 164.8828125, 164.794921875, 182.548828125, 182.4609375, -12.041015625, -17.314453125, -1.40625, 60.986305236816406 ]
1.966667
59
0
59
0
[ -0.703125, 167.6953125, 167.431640625, 183.515625, 183.69140625, -12.12890625, -18.544921875, -1.318359375, 61.386138916015625 ]
[ -0.17578125, 165.9375, 166.11328125, 183.1640625, 183.1640625, -12.041015625, -17.314453125, -1.40625, 60.986305236816406 ]
2
60
0
60
0
[ -0.703125, 169.189453125, 168.92578125, 183.515625, 183.69140625, -12.12890625, -18.369140625, -1.318359375, 61.28712844848633 ]
[ -0.17578125, 167.255859375, 167.431640625, 183.1640625, 183.076171875, -12.041015625, -17.490234375, -1.318359375, 60.986305236816406 ]
2.033333
61
0
61
0
[ -0.703125, 170.68359375, 170.419921875, 183.515625, 183.69140625, -12.12890625, -17.9296875, -1.318359375, 61.28712844848633 ]
[ -0.17578125, 168.57421875, 168.486328125, 183.1640625, 183.1640625, -12.041015625, -17.490234375, -1.318359375, 60.986305236816406 ]
2.066667
62
0
62
0
[ -0.791015625, 171.9140625, 171.650390625, 183.603515625, 183.69140625, -12.12890625, -17.75390625, -1.318359375, 61.28712844848633 ]
[ -0.263671875, 169.98046875, 170.15625, 183.1640625, 183.1640625, -12.041015625, -16.875, -1.318359375, 60.986305236816406 ]
2.1
63
0
63
0
[ -0.87890625, 173.14453125, 172.96875, 183.603515625, 183.69140625, -12.12890625, -17.578125, -1.318359375, 61.28712844848633 ]
[ -0.17578125, 171.123046875, 171.298828125, 183.1640625, 183.076171875, -12.041015625, -16.69921875, -1.318359375, 60.986305236816406 ]
2.133333
64
0
64
0
[ -0.966796875, 174.19921875, 174.0234375, 183.603515625, 183.69140625, -12.12890625, -17.490234375, -1.23046875, 61.28712844848633 ]
[ -0.17578125, 172.265625, 172.265625, 183.1640625, 183.1640625, -12.041015625, -16.69921875, -1.23046875, 60.986305236816406 ]
2.166667
65
0
65
0
[ -1.318359375, 175.25390625, 174.990234375, 183.603515625, 183.603515625, -12.12890625, -17.40234375, -1.0546875, 61.28712844848633 ]
[ -0.17578125, 173.759765625, 174.0234375, 183.1640625, 183.1640625, -12.041015625, -16.69921875, -1.23046875, 60.986305236816406 ]
2.2
66
0
66
0
[ -1.7578125, 176.396484375, 176.1328125, 183.603515625, 183.69140625, -12.12890625, -17.2265625, -0.966796875, 61.28712844848633 ]
[ -0.263671875, 174.90234375, 174.990234375, 183.1640625, 183.1640625, -12.041015625, -16.69921875, -1.23046875, 60.986305236816406 ]
2.233333
67
0
67
0
[ -2.4609375, 177.36328125, 177.1875, 183.515625, 183.603515625, -12.12890625, -17.05078125, -0.791015625, 61.28712844848633 ]
[ -0.3515625, 175.95703125, 176.1328125, 183.1640625, 183.1640625, -12.041015625, -16.787109375, -0.791015625, 60.986305236816406 ]
2.266667
68
0
68
0
[ -2.8125, 178.154296875, 177.890625, 183.603515625, 183.69140625, -12.12890625, -16.787109375, -0.615234375, 61.28712844848633 ]
[ -0.791015625, 177.1875, 177.451171875, 183.1640625, 183.1640625, -12.041015625, -16.69921875, -0.615234375, 60.986305236816406 ]
2.3
69
0
69
0
[ -3.33984375, 178.505859375, 178.330078125, 183.515625, 183.69140625, -12.12890625, -16.34765625, -0.439453125, 61.28712844848633 ]
[ -1.23046875, 177.890625, 177.978515625, 183.1640625, 183.1640625, -12.041015625, -15.99609375, -0.52734375, 60.986305236816406 ]
2.333333
70
0
70
0
[ -3.955078125, 178.9453125, 178.76953125, 183.515625, 183.603515625, -12.12890625, -15.732421875, -0.263671875, 61.28712844848633 ]
[ -1.845703125, 178.2421875, 178.505859375, 183.1640625, 183.1640625, -12.041015625, -15.8203125, -0.52734375, 60.986305236816406 ]
2.366667
71
0
71
0
[ -4.39453125, 179.296875, 179.12109375, 183.515625, 183.603515625, -12.12890625, -15.29296875, 0, 61.28712844848633 ]
[ -2.373046875, 178.41796875, 178.681640625, 183.1640625, 183.1640625, -12.041015625, -15.1171875, -0.439453125, 60.986305236816406 ]
2.4
72
0
72
0
[ -5.009765625, 179.912109375, 179.736328125, 183.515625, 183.603515625, -11.865234375, -14.677734375, 0.439453125, 61.28712844848633 ]
[ -2.900390625, 178.9453125, 179.208984375, 183.1640625, 183.1640625, -12.041015625, -14.765625, -0.439453125, 60.986305236816406 ]
2.433333
73
0
73
0
[ -5.44921875, 180.966796875, 180.791015625, 183.603515625, 183.603515625, -11.6015625, -13.447265625, 1.58203125, 61.28712844848633 ]
[ -3.955078125, 179.47265625, 179.736328125, 183.1640625, 183.1640625, -11.42578125, -13.88671875, -0.3515625, 60.986305236816406 ]
2.466667
74
0
74
0
[ -5.537109375, 182.109375, 181.93359375, 183.515625, 183.603515625, -11.337890625, -12.216796875, 2.724609375, 61.28712844848633 ]
[ -4.658203125, 180.17578125, 180.439453125, 183.1640625, 183.1640625, -11.162109375, -13.0078125, 0, 60.986305236816406 ]
2.5
75
0
75
0
[ -5.2734375, 183.515625, 183.1640625, 183.515625, 183.603515625, -11.162109375, -10.72265625, 4.130859375, 61.28712844848633 ]
[ -4.74609375, 181.7578125, 181.669921875, 183.1640625, 183.076171875, -11.162109375, -11.953125, 0.966796875, 60.986305236816406 ]
2.533333
76
0
76
0
[ -4.921875, 184.833984375, 184.5703125, 183.603515625, 183.603515625, -11.07421875, -9.140625, 5.888671875, 61.28712844848633 ]
[ -4.74609375, 182.8125, 183.1640625, 183.1640625, 183.1640625, -11.07421875, -10.458984375, 2.548828125, 60.986305236816406 ]
2.566667
77
0
77
0
[ -4.306640625, 185.80078125, 185.537109375, 183.603515625, 183.603515625, -10.986328125, -7.91015625, 7.3828125, 61.28712844848633 ]
[ -4.658203125, 183.251953125, 183.251953125, 183.1640625, 183.1640625, -11.07421875, -9.228515625, 3.955078125, 60.986305236816406 ]
2.6
78
0
78
0
[ -3.955078125, 186.50390625, 186.240234375, 183.603515625, 183.603515625, -10.986328125, -6.943359375, 8.26171875, 61.28712844848633 ]
[ -4.39453125, 183.779296875, 183.603515625, 183.1640625, 183.1640625, -10.458984375, -7.646484375, 5.537109375, 60.986305236816406 ]
2.633333
79
0
79
0
[ -3.955078125, 187.294921875, 187.03125, 183.515625, 183.603515625, -11.07421875, -6.064453125, 9.052734375, 61.28712844848633 ]
[ -2.900390625, 184.74609375, 184.74609375, 183.1640625, 183.1640625, -10.107421875, -6.15234375, 6.6796875, 60.986305236816406 ]
2.666667
80
0
80
0
[ -3.955078125, 188.173828125, 187.91015625, 183.603515625, 183.603515625, -10.986328125, -5.361328125, 9.404296875, 61.28712844848633 ]
[ -2.28515625, 186.85546875, 186.943359375, 183.1640625, 183.1640625, -10.458984375, -5.888671875, 7.470703125, 60.986305236816406 ]
2.7
81
0
81
0
[ -3.955078125, 188.701171875, 188.525390625, 183.603515625, 183.603515625, -10.986328125, -4.921875, 9.66796875, 61.28712844848633 ]
[ -1.845703125, 187.822265625, 187.91015625, 183.1640625, 183.1640625, -10.37109375, -5.185546875, 8.173828125, 60.986305236816406 ]
2.733333
82
0
82
0
[ -3.69140625, 189.66796875, 189.4921875, 183.603515625, 183.603515625, -10.986328125, -4.21875, 10.01953125, 61.28712844848633 ]
[ -1.845703125, 188.0859375, 188.349609375, 183.1640625, 183.1640625, -10.01953125, -3.955078125, 8.7890625, 60.986305236816406 ]
2.766667
83
0
83
0
[ -3.33984375, 190.37109375, 190.283203125, 183.603515625, 183.603515625, -10.986328125, -3.515625, 10.546875, 61.28712844848633 ]
[ -1.7578125, 188.7890625, 188.96484375, 183.1640625, 183.1640625, -10.01953125, -3.779296875, 9.140625, 60.986305236816406 ]
2.8
84
0
84
0
[ -2.900390625, 191.25, 191.162109375, 183.603515625, 183.603515625, -10.986328125, -2.63671875, 11.162109375, 61.28712844848633 ]
[ -1.494140625, 189.66796875, 189.755859375, 183.1640625, 183.1640625, -10.107421875, -3.076171875, 9.404296875, 60.986305236816406 ]
2.833333
85
0
85
0
[ -2.724609375, 192.041015625, 191.953125, 183.603515625, 183.603515625, -10.986328125, -2.021484375, 11.865234375, 61.386138916015625 ]
[ -0.791015625, 190.634765625, 190.810546875, 183.1640625, 183.1640625, -10.01953125, -2.021484375, 10.1953125, 60.986305236816406 ]
2.866667
86
0
86
0
[ -2.63671875, 192.744140625, 192.65625, 183.603515625, 183.603515625, -10.986328125, -1.23046875, 12.3046875, 61.28712844848633 ]
[ -0.439453125, 191.513671875, 191.513671875, 183.1640625, 183.1640625, -10.01953125, -1.7578125, 10.37109375, 60.986305236816406 ]
2.9
87
0
87
0
[ -2.63671875, 193.447265625, 193.271484375, 183.515625, 183.603515625, -10.986328125, -0.439453125, 12.83203125, 61.28712844848633 ]
[ -0.3515625, 191.953125, 192.041015625, 183.1640625, 183.1640625, -10.01953125, -0.966796875, 11.07421875, 60.986305236816406 ]
2.933333
88
0
88
0
[ -2.63671875, 194.4140625, 194.150390625, 183.603515625, 183.603515625, -10.986328125, 0.615234375, 13.271484375, 61.28712844848633 ]
[ -0.17578125, 192.744140625, 192.919921875, 183.1640625, 183.1640625, -10.01953125, -0.087890625, 11.337890625, 60.986305236816406 ]
2.966667
89
0
89
0
[ -2.63671875, 195.029296875, 194.853515625, 183.515625, 183.603515625, -10.986328125, 1.40625, 13.447265625, 61.28712844848633 ]
[ 0, 193.7109375, 193.88671875, 183.1640625, 183.1640625, -10.01953125, 0.17578125, 12.041015625, 60.986305236816406 ]
3
90
0
90
0
[ -2.548828125, 195.556640625, 195.29296875, 183.603515625, 183.603515625, -10.986328125, 2.28515625, 13.623046875, 61.386138916015625 ]
[ -0.17578125, 194.677734375, 194.677734375, 183.251953125, 183.1640625, -10.01953125, 0.791015625, 12.216796875, 60.986305236816406 ]
3.033333
91
0
91
0
[ -2.63671875, 195.99609375, 195.732421875, 183.603515625, 183.603515625, -10.986328125, 2.98828125, 13.798828125, 61.28712844848633 ]
[ -0.087890625, 195.029296875, 195.1171875, 183.1640625, 183.1640625, -10.01953125, 1.845703125, 12.48046875, 60.986305236816406 ]
3.066667
92
0
92
0
[ -2.63671875, 196.435546875, 196.259765625, 183.603515625, 183.603515625, -10.986328125, 3.955078125, 13.798828125, 61.28712844848633 ]
[ -0.087890625, 195.1171875, 195.205078125, 183.1640625, 183.1640625, -10.01953125, 2.109375, 12.83203125, 60.986305236816406 ]
3.1
93
0
93
0
[ -2.63671875, 197.138671875, 196.962890625, 183.603515625, 183.603515625, -10.986328125, 5.2734375, 13.798828125, 61.28712844848633 ]
[ -0.087890625, 195.732421875, 195.64453125, 183.251953125, 183.1640625, -10.01953125, 2.900390625, 12.919921875, 60.986305236816406 ]
3.133333
94
0
94
0
[ -2.63671875, 198.017578125, 197.841796875, 183.515625, 183.603515625, -10.986328125, 6.591796875, 13.798828125, 61.386138916015625 ]
[ 0.087890625, 196.259765625, 196.171875, 183.1640625, 183.1640625, -10.01953125, 4.39453125, 12.919921875, 60.986305236816406 ]
3.166667
95
0
95
0
[ -2.548828125, 199.072265625, 198.896484375, 183.515625, 183.603515625, -10.986328125, 7.55859375, 13.798828125, 61.28712844848633 ]
[ 0.263671875, 197.40234375, 196.962890625, 183.1640625, 183.1640625, -10.01953125, 5.625, 12.919921875, 60.986305236816406 ]
3.2
96
0
96
0
[ -2.548828125, 199.16015625, 199.072265625, 183.603515625, 183.603515625, -10.986328125, 7.91015625, 13.7109375, 61.28712844848633 ]
[ 0.17578125, 198.896484375, 198.720703125, 183.1640625, 183.1640625, -10.01953125, 6.767578125, 12.919921875, 60.986305236816406 ]
3.233333
97
0
97
0
[ -2.4609375, 199.16015625, 198.984375, 183.603515625, 183.603515625, -10.986328125, 8.0859375, 13.7109375, 61.28712844848633 ]
[ 0.17578125, 199.16015625, 199.3359375, 183.1640625, 183.1640625, -10.01953125, 7.119140625, 12.919921875, 60.986305236816406 ]
3.266667
98
0
98
0
[ -2.197265625, 199.16015625, 199.072265625, 183.515625, 183.603515625, -10.986328125, 8.26171875, 13.7109375, 61.28712844848633 ]
[ 0.263671875, 199.16015625, 199.248046875, 183.1640625, 183.1640625, -10.01953125, 7.998046875, 12.919921875, 60.986305236816406 ]
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": 30,
    "total_frames": 10592,
    "total_tasks": 1,
    "total_videos": 90,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_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.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
            }
        },
        "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
            }
        },
        "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
46
License:
apache-2.0
Size of downloaded dataset files:
805 kB
Size of the auto-converted Parquet files:
805 kB
Number of rows:
10,592