Hugging Face's logo

Datasets:
embodied-ai
/
wx250s_put_aubergine_in_pot_neuracore

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
26.4
frame_index
int64
0
792
episode_index
int64
0
49
index
int64
0
27.7k
task_index
int64
0
0
[ 0.263671875, -109.3359375, -110.0390625, 93.69140625, 92.8125, -6.50390625, 18.10546875, 5.888671875, 66.03053283691406 ]
[ -0.703125, -109.16015625, -109.599609375, 93.1640625, 92.548828125, -5.888671875, 18.45703125, 4.482421875, 65.97260284423828 ]
0
0
0
0
0
[ 0.263671875, -109.248046875, -110.0390625, 93.515625, 92.724609375, -6.85546875, 17.490234375, 5.2734375, 66.03053283691406 ]
[ -0.703125, -109.16015625, -109.599609375, 93.1640625, 92.548828125, -5.888671875, 18.369140625, 4.482421875, 65.97260284423828 ]
0.033333
1
0
1
0
[ 0.263671875, -109.248046875, -109.951171875, 93.251953125, 92.4609375, -6.943359375, 17.138671875, 5.2734375, 66.03053283691406 ]
[ -0.703125, -109.16015625, -109.599609375, 93.251953125, 92.548828125, -5.888671875, 18.10546875, 4.482421875, 65.97260284423828 ]
0.066667
2
0
2
0
[ 0.263671875, -109.072265625, -109.86328125, 92.900390625, 92.109375, -6.943359375, 16.611328125, 5.2734375, 66.03053283691406 ]
[ -0.703125, -109.16015625, -109.51171875, 93.1640625, 92.548828125, -5.888671875, 17.75390625, 4.482421875, 65.97260284423828 ]
0.1
3
0
3
0
[ 0.263671875, -108.896484375, -109.599609375, 92.63671875, 91.845703125, -6.943359375, 15.908203125, 5.2734375, 66.03053283691406 ]
[ -0.703125, -109.16015625, -109.51171875, 93.076171875, 92.548828125, -5.9765625, 17.2265625, 4.482421875, 65.97260284423828 ]
0.133333
4
0
4
0
[ 0.263671875, -108.544921875, -109.248046875, 92.4609375, 91.669921875, -7.03125, 15.205078125, 5.185546875, 66.03053283691406 ]
[ -0.703125, -108.984375, -109.51171875, 93.076171875, 92.373046875, -5.888671875, 16.5234375, 4.482421875, 65.97260284423828 ]
0.166667
5
0
5
0
[ 0.263671875, -108.10546875, -108.80859375, 92.373046875, 91.58203125, -7.03125, 14.58984375, 5.09765625, 66.03053283691406 ]
[ -0.703125, -108.984375, -109.51171875, 93.076171875, 92.373046875, -6.328125, 15.908203125, 4.5703125, 65.97260284423828 ]
0.2
6
0
6
0
[ 0.3515625, -107.578125, -108.193359375, 92.373046875, 91.58203125, -7.119140625, 13.974609375, 5.09765625, 66.03053283691406 ]
[ -0.703125, -108.896484375, -109.3359375, 93.076171875, 92.373046875, -6.591796875, 15.29296875, 4.482421875, 65.97260284423828 ]
0.233333
7
0
7
0
[ 0.263671875, -106.875, -107.490234375, 92.373046875, 91.494140625, -7.20703125, 13.271484375, 5.009765625, 66.03053283691406 ]
[ -0.703125, -108.80859375, -109.3359375, 93.076171875, 92.373046875, -6.6796875, 14.501953125, 4.482421875, 65.97260284423828 ]
0.266667
8
0
8
0
[ 0.263671875, -106.171875, -106.787109375, 92.28515625, 91.494140625, -7.3828125, 12.568359375, 5.009765625, 66.03053283691406 ]
[ -0.703125, -108.6328125, -109.16015625, 93.076171875, 92.373046875, -6.6796875, 13.974609375, 4.482421875, 65.97260284423828 ]
0.3
9
0
9
0
[ 0.263671875, -105.380859375, -106.083984375, 92.197265625, 91.494140625, -7.470703125, 11.689453125, 5.09765625, 66.03053283691406 ]
[ -0.703125, -108.10546875, -108.544921875, 92.98828125, 92.373046875, -6.767578125, 13.271484375, 4.5703125, 65.97260284423828 ]
0.333333
10
0
10
0
[ 0.263671875, -104.677734375, -105.29296875, 92.021484375, 91.318359375, -7.470703125, 10.810546875, 5.09765625, 66.03053283691406 ]
[ -0.703125, -107.490234375, -108.017578125, 93.076171875, 92.373046875, -6.767578125, 12.48046875, 4.482421875, 65.97260284423828 ]
0.366667
11
0
11
0
[ 0.263671875, -103.798828125, -104.58984375, 91.93359375, 91.142578125, -7.55859375, 9.931640625, 5.09765625, 66.03053283691406 ]
[ -0.703125, -106.787109375, -107.2265625, 93.076171875, 92.373046875, -6.767578125, 11.513671875, 4.482421875, 65.97260284423828 ]
0.4
12
0
12
0
[ 0.263671875, -103.095703125, -103.88671875, 91.669921875, 90.87890625, -7.55859375, 9.052734375, 5.09765625, 66.03053283691406 ]
[ -0.703125, -105.908203125, -106.34765625, 92.900390625, 92.373046875, -6.767578125, 10.634765625, 4.482421875, 65.97260284423828 ]
0.433333
13
0
13
0
[ 0.263671875, -102.3046875, -103.095703125, 91.23046875, 90.52734375, -7.55859375, 8.173828125, 5.09765625, 66.03053283691406 ]
[ -0.615234375, -105.029296875, -105.380859375, 92.8125, 92.197265625, -6.767578125, 10.01953125, 4.482421875, 65.97260284423828 ]
0.466667
14
0
14
0
[ 0.263671875, -101.337890625, -102.12890625, 90.791015625, 90.087890625, -7.470703125, 7.3828125, 5.09765625, 66.03053283691406 ]
[ -0.52734375, -104.23828125, -104.677734375, 92.8125, 92.197265625, -6.85546875, 9.31640625, 4.482421875, 65.97260284423828 ]
0.5
15
0
15
0
[ 0.3515625, -100.546875, -101.25, 90.263671875, 89.47265625, -7.55859375, 6.6796875, 5.09765625, 66.03053283691406 ]
[ -0.439453125, -103.623046875, -104.150390625, 92.724609375, 92.109375, -6.85546875, 8.525390625, 4.482421875, 65.97260284423828 ]
0.533333
16
0
16
0
[ 0.3515625, -99.66796875, -100.37109375, 89.6484375, 88.857421875, -7.55859375, 6.328125, 5.09765625, 66.03053283691406 ]
[ -0.439453125, -102.744140625, -103.359375, 92.63671875, 91.845703125, -6.85546875, 7.646484375, 4.5703125, 65.97260284423828 ]
0.566667
17
0
17
0
[ 0.263671875, -98.7890625, -99.4921875, 88.857421875, 88.154296875, -7.470703125, 6.064453125, 5.09765625, 66.03053283691406 ]
[ -0.3515625, -101.77734375, -102.3046875, 92.021484375, 91.40625, -6.85546875, 7.119140625, 4.482421875, 65.97260284423828 ]
0.6
18
0
18
0
[ 0.263671875, -97.91015625, -98.525390625, 88.154296875, 87.36328125, -7.470703125, 6.064453125, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -100.634765625, -101.25, 91.23046875, 90.615234375, -6.85546875, 6.85546875, 4.482421875, 65.97260284423828 ]
0.633333
19
0
19
0
[ 0.3515625, -97.03125, -97.734375, 87.36328125, 86.572265625, -7.470703125, 6.15234375, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -99.755859375, -100.283203125, 90.615234375, 90, -6.85546875, 6.767578125, 4.482421875, 65.97260284423828 ]
0.666667
20
0
20
0
[ 0.3515625, -96.064453125, -96.591796875, 86.396484375, 85.693359375, -7.55859375, 6.064453125, 5.185546875, 66.03053283691406 ]
[ -0.439453125, -98.876953125, -99.404296875, 89.912109375, 89.208984375, -6.85546875, 6.6796875, 4.5703125, 65.97260284423828 ]
0.7
21
0
21
0
[ 0.3515625, -95.009765625, -95.537109375, 85.517578125, 84.814453125, -7.55859375, 6.15234375, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -98.173828125, -98.61328125, 89.208984375, 88.505859375, -6.85546875, 6.6796875, 4.5703125, 65.97260284423828 ]
0.733333
22
0
22
0
[ 0.263671875, -93.8671875, -94.39453125, 84.638671875, 83.935546875, -7.470703125, 6.240234375, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -97.20703125, -97.55859375, 88.2421875, 87.5390625, -6.85546875, 6.6796875, 4.5703125, 65.97260284423828 ]
0.766667
23
0
23
0
[ 0.3515625, -92.548828125, -93.1640625, 83.583984375, 82.79296875, -7.470703125, 6.416015625, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -96.064453125, -96.50390625, 87.099609375, 86.30859375, -6.85546875, 6.6796875, 4.482421875, 65.97260284423828 ]
0.8
24
0
24
0
[ 0.3515625, -91.23046875, -91.93359375, 82.44140625, 81.826171875, -7.55859375, 6.6796875, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -95.009765625, -95.537109375, 86.1328125, 85.4296875, -6.85546875, 6.6796875, 4.482421875, 65.97260284423828 ]
0.833333
25
0
25
0
[ 0.3515625, -89.82421875, -90.615234375, 81.298828125, 80.595703125, -7.55859375, 7.03125, 5.185546875, 66.03053283691406 ]
[ -0.3515625, -93.779296875, -94.130859375, 85.078125, 84.287109375, -6.767578125, 6.6796875, 4.5703125, 65.97260284423828 ]
0.866667
26
0
26
0
[ 0.3515625, -88.41796875, -89.12109375, 79.98046875, 79.27734375, -7.55859375, 7.470703125, 5.2734375, 66.03053283691406 ]
[ -0.3515625, -92.109375, -92.724609375, 83.935546875, 83.232421875, -6.85546875, 6.943359375, 4.5703125, 65.97260284423828 ]
0.9
27
0
27
0
[ 0.3515625, -86.923828125, -87.802734375, 78.662109375, 77.958984375, -7.55859375, 8.26171875, 5.2734375, 66.03053283691406 ]
[ -0.3515625, -90.791015625, -91.40625, 82.705078125, 82.177734375, -6.85546875, 7.20703125, 4.5703125, 65.97260284423828 ]
0.933333
28
0
28
0
[ 0.3515625, -85.517578125, -86.30859375, 77.255859375, 76.46484375, -7.470703125, 9.404296875, 5.2734375, 66.03053283691406 ]
[ -0.3515625, -89.47265625, -90, 81.5625, 80.771484375, -6.85546875, 7.646484375, 4.5703125, 65.97260284423828 ]
0.966667
29
0
29
0
[ 0.3515625, -84.19921875, -84.990234375, 75.673828125, 74.970703125, -7.55859375, 10.8984375, 5.44921875, 66.03053283691406 ]
[ -0.3515625, -87.890625, -88.59375, 80.15625, 79.365234375, -6.85546875, 8.525390625, 4.5703125, 65.97260284423828 ]
1
30
0
30
0
[ 0.439453125, -82.96875, -83.671875, 74.1015625, 73.310546875, -7.470703125, 12.65625, 5.537109375, 66.03053283691406 ]
[ -0.3515625, -86.572265625, -87.01171875, 78.662109375, 77.958984375, -6.85546875, 9.580078125, 4.5703125, 65.97260284423828 ]
1.033333
31
0
31
0
[ 0.52734375, -81.73828125, -82.529296875, 72.431640625, 71.640625, -7.470703125, 14.765625, 5.712890625, 66.03053283691406 ]
[ -0.3515625, -84.990234375, -85.60546875, 77.080078125, 76.376953125, -6.85546875, 10.986328125, 4.5703125, 65.97260284423828 ]
1.066667
32
0
32
0
[ 0.703125, -80.68359375, -81.298828125, 71.025390625, 70.322265625, -7.55859375, 17.05078125, 5.537109375, 66.03053283691406 ]
[ -0.3515625, -83.671875, -84.375, 75.76171875, 75.05859375, -6.85546875, 12.568359375, 4.5703125, 65.97260284423828 ]
1.1
33
0
33
0
[ 0.87890625, -79.453125, -80.15625, 69.53125, 68.828125, -7.55859375, 19.501953125, 5.625, 66.03053283691406 ]
[ -0.3515625, -82.529296875, -83.14453125, 74.267578125, 73.564453125, -6.85546875, 14.94140625, 4.5703125, 65.97260284423828 ]
1.133333
34
0
34
0
[ 1.23046875, -78.310546875, -78.92578125, 68.037109375, 67.421875, -7.55859375, 21.875, 5.625, 66.03053283691406 ]
[ -0.3515625, -81.5625, -82.08984375, 72.685546875, 72.158203125, -6.85546875, 17.314453125, 4.5703125, 65.97260284423828 ]
1.166667
35
0
35
0
[ 1.669921875, -76.9921875, -77.783203125, 66.630859375, 66.015625, -7.55859375, 23.896484375, 5.44921875, 66.03053283691406 ]
[ -0.17578125, -80.419921875, -80.947265625, 71.3671875, 70.751953125, -6.85546875, 19.248046875, 4.5703125, 65.97260284423828 ]
1.2
36
0
36
0
[ 2.109375, -75.9375, -76.46484375, 65.13671875, 64.521484375, -7.55859375, 26.005859375, 5.44921875, 66.03053283691406 ]
[ 0.17578125, -79.013671875, -79.716796875, 69.9609375, 69.2578125, -6.85546875, 21.26953125, 4.5703125, 65.97260284423828 ]
1.233333
37
0
37
0
[ 2.724609375, -74.70703125, -75.322265625, 63.818359375, 63.115234375, -7.55859375, 28.291015625, 5.361328125, 66.03053283691406 ]
[ 0.703125, -77.783203125, -78.3984375, 68.466796875, 67.8515625, -6.85546875, 23.642578125, 4.5703125, 65.97260284423828 ]
1.266667
38
0
38
0
[ 3.251953125, -73.30078125, -74.00390625, 62.236328125, 61.62109375, -7.55859375, 30.751953125, 5.009765625, 66.03053283691406 ]
[ 1.23046875, -76.2890625, -76.9921875, 66.884765625, 66.357421875, -6.85546875, 26.19140625, 4.5703125, 65.97260284423828 ]
1.3
39
0
39
0
[ 3.955078125, -71.982421875, -72.685546875, 60.91796875, 60.21484375, -7.646484375, 32.94921875, 4.833984375, 66.03053283691406 ]
[ 1.845703125, -75.322265625, -75.849609375, 65.56640625, 64.951171875, -6.85546875, 28.30078125, 4.5703125, 65.97260284423828 ]
1.333333
40
0
40
0
[ 4.658203125, -70.83984375, -71.3671875, 59.423828125, 58.720703125, -8.349609375, 34.970703125, 4.5703125, 66.03053283691406 ]
[ 2.373046875, -74.091796875, -74.619140625, 64.16015625, 63.369140625, -6.85546875, 30.322265625, 4.482421875, 65.97260284423828 ]
1.366667
41
0
41
0
[ 5.2734375, -69.697265625, -70.3125, 58.017578125, 57.2265625, -9.31640625, 36.904296875, 3.955078125, 66.03053283691406 ]
[ 2.900390625, -72.861328125, -73.388671875, 62.75390625, 61.962890625, -7.20703125, 32.34375, 4.39453125, 65.97260284423828 ]
1.4
42
0
42
0
[ 5.9765625, -68.73046875, -69.2578125, 56.5234375, 55.732421875, -9.931640625, 39.013671875, 3.076171875, 66.03053283691406 ]
[ 3.603515625, -71.455078125, -72.158203125, 61.34765625, 60.556640625, -8.0859375, 34.365234375, 4.04296875, 65.97260284423828 ]
1.433333
43
0
43
0
[ 6.591796875, -67.763671875, -68.291015625, 55.029296875, 54.326171875, -10.458984375, 41.474609375, 1.58203125, 66.03053283691406 ]
[ 4.39453125, -70.224609375, -70.83984375, 59.677734375, 58.88671875, -8.4375, 37.08984375, 3.779296875, 65.97260284423828 ]
1.466667
44
0
44
0
[ 7.3828125, -66.97265625, -67.587890625, 53.53515625, 52.83203125, -10.986328125, 43.759765625, -0.263671875, 66.03053283691406 ]
[ 5.009765625, -69.169921875, -69.873046875, 58.271484375, 57.65625, -8.96484375, 39.19921875, 2.900390625, 65.97260284423828 ]
1.5
45
0
45
0
[ 8.173828125, -66.4453125, -66.97265625, 52.216796875, 51.513671875, -11.77734375, 45.869140625, -2.28515625, 66.03053283691406 ]
[ 5.625, -68.203125, -68.90625, 56.865234375, 56.25, -9.404296875, 41.30859375, 1.845703125, 65.97260284423828 ]
1.533333
46
0
46
0
[ 9.052734375, -65.91796875, -66.4453125, 50.72265625, 50.01953125, -12.48046875, 48.06640625, -4.208984375, 66.03053283691406 ]
[ 6.50390625, -67.32421875, -67.8515625, 55.458984375, 54.755859375, -10.01953125, 43.41796875, 0.263671875, 65.97260284423828 ]
1.566667
47
0
47
0
[ 9.84375, -65.478515625, -66.005859375, 49.658203125, 48.7890625, -12.83203125, 50.09765625, -5.791015625, 66.03053283691406 ]
[ 7.55859375, -66.708984375, -67.236328125, 54.052734375, 53.4375, -10.810546875, 45.791015625, -1.318359375, 65.97260284423828 ]
1.6
48
0
48
0
[ 10.634765625, -65.126953125, -65.56640625, 49.658203125, 48.69140625, -12.83203125, 50.361328125, -7.724609375, 66.03053283691406 ]
[ 8.349609375, -66.181640625, -66.796875, 52.55859375, 52.03125, -11.337890625, 48.076171875, -3.076171875, 65.97260284423828 ]
1.633333
49
0
49
0
[ 11.6015625, -64.775390625, -65.302734375, 49.658203125, 48.69140625, -12.83203125, 50.712890625, -9.39453125, 66.03053283691406 ]
[ 9.052734375, -66.005859375, -66.4453125, 51.50390625, 50.9765625, -11.6015625, 49.306640625, -4.74609375, 65.97260284423828 ]
1.666667
50
0
50
0
[ 12.392578125, -64.599609375, -64.951171875, 49.658203125, 48.603515625, -12.83203125, 51.064453125, -11.064453125, 66.03053283691406 ]
[ 9.66796875, -65.7421875, -66.357421875, 50.9765625, 50.44921875, -11.689453125, 49.833984375, -6.50390625, 65.97260284423828 ]
1.7
51
0
51
0
[ 13.447265625, -64.16015625, -64.599609375, 49.658203125, 48.69140625, -12.83203125, 51.416015625, -12.998046875, 66.03053283691406 ]
[ 10.546875, -65.478515625, -66.005859375, 50.888671875, 50.361328125, -11.77734375, 50.625, -8.61328125, 65.97260284423828 ]
1.733333
52
0
52
0
[ 14.501953125, -63.6328125, -64.072265625, 49.658203125, 48.69140625, -12.65625, 52.119140625, -14.66796875, 66.03053283691406 ]
[ 11.513671875, -65.21484375, -65.7421875, 50.888671875, 50.361328125, -11.77734375, 50.9765625, -10.107421875, 65.97260284423828 ]
1.766667
53
0
53
0
[ 15.64453125, -63.017578125, -63.45703125, 49.833984375, 48.779296875, -12.48046875, 52.998046875, -16.42578125, 66.03053283691406 ]
[ 12.568359375, -64.6875, -65.302734375, 50.80078125, 50.361328125, -11.77734375, 51.6796875, -11.865234375, 65.97260284423828 ]
1.8
54
0
54
0
[ 16.69921875, -62.2265625, -62.666015625, 49.833984375, 48.69140625, -12.3046875, 53.7890625, -17.75390625, 66.03053283691406 ]
[ 13.623046875, -64.3359375, -64.775390625, 50.888671875, 50.361328125, -11.77734375, 52.119140625, -13.623046875, 65.97260284423828 ]
1.833333
55
0
55
0
[ 17.841796875, -61.34765625, -61.875, 49.5703125, 48.603515625, -12.216796875, 54.755859375, -17.75390625, 66.03053283691406 ]
[ 14.765625, -63.6328125, -64.16015625, 50.80078125, 50.361328125, -11.77734375, 52.734375, -15.29296875, 65.97260284423828 ]
1.866667
56
0
56
0
[ 18.896484375, -60.46875, -60.99609375, 49.306640625, 48.515625, -12.216796875, 55.72265625, -17.9296875, 66.03053283691406 ]
[ 15.732421875, -62.841796875, -63.28125, 50.888671875, 50.361328125, -11.77734375, 53.525390625, -15.99609375, 65.97260284423828 ]
1.9
57
0
57
0
[ 19.6875, -59.677734375, -60.1171875, 49.130859375, 48.33984375, -12.216796875, 56.953125, -17.9296875, 66.03053283691406 ]
[ 16.69921875, -61.787109375, -62.2265625, 50.80078125, 50.361328125, -11.77734375, 54.404296875, -16.435546875, 65.97260284423828 ]
1.933333
58
0
58
0
[ 20.56640625, -58.974609375, -59.4140625, 49.130859375, 48.33984375, -12.216796875, 58.0078125, -18.369140625, 66.03053283691406 ]
[ 17.75390625, -60.64453125, -61.259765625, 50.80078125, 50.361328125, -11.77734375, 55.458984375, -16.69921875, 65.97260284423828 ]
1.966667
59
0
59
0
[ 21.357421875, -58.359375, -58.798828125, 49.39453125, 48.427734375, -12.216796875, 58.7109375, -18.45703125, 66.03053283691406 ]
[ 18.6328125, -59.677734375, -60.29296875, 50.888671875, 50.361328125, -11.865234375, 56.865234375, -17.314453125, 65.97260284423828 ]
2
60
0
60
0
[ 22.060546875, -57.744140625, -58.18359375, 49.658203125, 48.515625, -12.216796875, 58.7109375, -18.28125, 66.03053283691406 ]
[ 19.599609375, -58.974609375, -59.4140625, 50.888671875, 50.361328125, -11.77734375, 57.744140625, -17.490234375, 65.97260284423828 ]
2.033333
61
0
61
0
[ 22.939453125, -57.12890625, -57.568359375, 49.921875, 48.779296875, -12.216796875, 58.447265625, -18.017578125, 66.03053283691406 ]
[ 20.654296875, -58.271484375, -58.798828125, 50.80078125, 50.361328125, -11.77734375, 58.0078125, -17.666015625, 65.97260284423828 ]
2.066667
62
0
62
0
[ 23.73046875, -56.513671875, -56.953125, 50.009765625, 49.04296875, -12.216796875, 58.0078125, -17.40234375, 66.03053283691406 ]
[ 21.357421875, -57.83203125, -58.18359375, 50.888671875, 50.361328125, -11.77734375, 58.095703125, -17.841796875, 65.97260284423828 ]
2.1
63
0
63
0
[ 24.521484375, -55.810546875, -56.25, 50.009765625, 49.130859375, -12.041015625, 57.744140625, -16.962890625, 66.03053283691406 ]
[ 21.97265625, -57.216796875, -57.568359375, 50.888671875, 50.361328125, -11.77734375, 58.095703125, -17.666015625, 65.97260284423828 ]
2.133333
64
0
64
0
[ 25.48828125, -54.931640625, -55.458984375, 50.185546875, 49.130859375, -11.513671875, 57.392578125, -16.69921875, 66.03053283691406 ]
[ 22.67578125, -56.513671875, -57.041015625, 50.888671875, 50.361328125, -11.77734375, 57.83203125, -17.138671875, 65.97260284423828 ]
2.166667
65
0
65
0
[ 26.54296875, -53.96484375, -54.4921875, 50.09765625, 49.130859375, -11.162109375, 57.12890625, -16.259765625, 66.03053283691406 ]
[ 23.5546875, -55.72265625, -56.25, 50.888671875, 50.361328125, -11.6015625, 57.65625, -16.875, 65.97260284423828 ]
2.2
66
0
66
0
[ 27.421875, -52.998046875, -53.525390625, 50.009765625, 49.04296875, -10.810546875, 56.77734375, -15.556640625, 66.03053283691406 ]
[ 24.521484375, -54.755859375, -55.1953125, 50.888671875, 50.361328125, -11.162109375, 57.568359375, -16.875, 65.97260284423828 ]
2.233333
67
0
67
0
[ 28.30078125, -52.03125, -52.470703125, 50.009765625, 49.04296875, -10.458984375, 56.25, -14.765625, 66.03053283691406 ]
[ 25.576171875, -53.7890625, -54.228515625, 50.888671875, 50.44921875, -10.72265625, 57.216796875, -16.5234375, 65.97260284423828 ]
2.266667
68
0
68
0
[ 29.267578125, -50.888671875, -51.416015625, 49.74609375, 48.955078125, -10.107421875, 55.8984375, -13.974609375, 66.03053283691406 ]
[ 26.54296875, -52.998046875, -53.26171875, 50.888671875, 50.361328125, -10.283203125, 56.865234375, -15.732421875, 65.97260284423828 ]
2.3
69
0
69
0
[ 30.234375, -50.009765625, -50.537109375, 49.5703125, 48.69140625, -9.66796875, 55.37109375, -13.095703125, 66.03053283691406 ]
[ 27.59765625, -51.767578125, -52.294921875, 50.888671875, 50.361328125, -10.107421875, 56.25, -14.853515625, 65.97260284423828 ]
2.333333
70
0
70
0
[ 31.201171875, -49.04296875, -49.5703125, 49.39453125, 48.515625, -9.4921875, 54.84375, -12.48046875, 66.03053283691406 ]
[ 28.65234375, -50.888671875, -51.240234375, 50.888671875, 50.361328125, -9.580078125, 55.72265625, -14.0625, 65.97260284423828 ]
2.366667
71
0
71
0
[ 32.16796875, -48.1640625, -48.603515625, 49.130859375, 48.427734375, -9.140625, 53.876953125, -11.42578125, 66.03053283691406 ]
[ 29.619140625, -49.921875, -50.2734375, 50.9765625, 50.361328125, -9.228515625, 55.283203125, -13.359375, 65.97260284423828 ]
2.4
72
0
72
0
[ 33.310546875, -47.373046875, -47.8125, 48.955078125, 48.251953125, -8.876953125, 53.0859375, -10.72265625, 66.03053283691406 ]
[ 30.673828125, -48.955078125, -49.21875, 50.888671875, 50.361328125, -9.052734375, 54.31640625, -12.48046875, 65.97260284423828 ]
2.433333
73
0
73
0
[ 34.365234375, -46.669921875, -47.197265625, 48.8671875, 48.1640625, -8.876953125, 52.294921875, -10.01953125, 66.03053283691406 ]
[ 31.728515625, -47.98828125, -48.33984375, 50.80078125, 50.361328125, -8.525390625, 53.876953125, -11.6015625, 65.97260284423828 ]
2.466667
74
0
74
0
[ 35.244140625, -46.0546875, -46.494140625, 48.8671875, 48.076171875, -8.876953125, 51.591796875, -9.140625, 66.03053283691406 ]
[ 32.6953125, -46.93359375, -47.28515625, 50.80078125, 50.2734375, -8.26171875, 53.173828125, -11.07421875, 65.97260284423828 ]
2.5
75
0
75
0
[ 36.123046875, -45.52734375, -45.87890625, 48.779296875, 47.98828125, -8.7890625, 50.712890625, -8.525390625, 66.03053283691406 ]
[ 33.57421875, -46.494140625, -46.494140625, 50.712890625, 50.361328125, -8.0859375, 52.470703125, -10.546875, 65.97260284423828 ]
2.533333
76
0
76
0
[ 36.9140625, -44.82421875, -45.17578125, 48.603515625, 47.724609375, -8.7890625, 49.921875, -7.822265625, 66.03053283691406 ]
[ 34.541015625, -45.703125, -45.87890625, 50.712890625, 50.185546875, -8.0859375, 51.50390625, -9.580078125, 65.97260284423828 ]
2.566667
77
0
77
0
[ 37.705078125, -44.033203125, -44.47265625, 48.427734375, 47.548828125, -8.701171875, 49.21875, -7.119140625, 66.03053283691406 ]
[ 35.33203125, -44.912109375, -45.263671875, 50.537109375, 50.09765625, -8.0859375, 50.44921875, -8.61328125, 65.97260284423828 ]
2.6
78
0
78
0
[ 38.3203125, -43.06640625, -43.59375, 48.1640625, 47.28515625, -8.701171875, 48.69140625, -6.416015625, 66.03053283691406 ]
[ 35.947265625, -44.384765625, -44.560546875, 50.361328125, 49.833984375, -8.0859375, 49.921875, -7.998046875, 65.97260284423828 ]
2.633333
79
0
79
0
[ 39.111328125, -42.099609375, -42.451171875, 47.724609375, 46.93359375, -8.61328125, 48.427734375, -5.712890625, 66.03053283691406 ]
[ 36.650390625, -43.76953125, -43.9453125, 50.2734375, 49.74609375, -8.0859375, 49.21875, -7.3828125, 65.97260284423828 ]
2.666667
80
0
80
0
[ 39.7265625, -40.78125, -41.1328125, 47.28515625, 46.40625, -8.525390625, 48.33984375, -5.2734375, 66.03053283691406 ]
[ 37.529296875, -42.890625, -43.06640625, 49.921875, 49.482421875, -8.0859375, 48.955078125, -6.416015625, 65.97260284423828 ]
2.7
81
0
81
0
[ 40.4296875, -39.375, -39.90234375, 46.7578125, 45.87890625, -8.525390625, 47.98828125, -5.009765625, 66.03053283691406 ]
[ 38.232421875, -41.572265625, -42.01171875, 49.39453125, 48.8671875, -8.0859375, 48.69140625, -5.888671875, 65.97260284423828 ]
2.733333
82
0
82
0
[ 41.1328125, -37.96875, -38.49609375, 46.23046875, 45.439453125, -8.525390625, 47.8125, -4.5703125, 66.03053283691406 ]
[ 38.84765625, -40.341796875, -40.60546875, 48.8671875, 48.33984375, -8.0859375, 48.1640625, -5.625, 65.97260284423828 ]
2.766667
83
0
83
0
[ 42.01171875, -36.650390625, -37.08984375, 45.703125, 44.912109375, -8.525390625, 47.109375, -4.306640625, 66.03053283691406 ]
[ 39.638671875, -38.759765625, -39.0234375, 48.427734375, 47.8125, -8.0859375, 47.8125, -5.09765625, 65.97260284423828 ]
2.8
84
0
84
0
[ 42.890625, -35.244140625, -35.68359375, 45.087890625, 44.384765625, -8.4375, 46.23046875, -3.955078125, 66.03053283691406 ]
[ 40.4296875, -37.265625, -37.353515625, 47.8125, 47.197265625, -8.0859375, 47.63671875, -4.74609375, 65.97260284423828 ]
2.833333
85
0
85
0
[ 43.59375, -33.92578125, -34.365234375, 44.560546875, 43.76953125, -8.26171875, 45.439453125, -3.603515625, 66.03053283691406 ]
[ 41.220703125, -35.68359375, -35.68359375, 47.373046875, 46.7578125, -8.0859375, 47.021484375, -4.21875, 65.97260284423828 ]
2.866667
86
0
86
0
[ 44.12109375, -32.431640625, -32.958984375, 43.857421875, 43.06640625, -8.173828125, 44.6484375, -3.427734375, 66.03053283691406 ]
[ 41.923828125, -34.189453125, -34.27734375, 46.845703125, 46.23046875, -8.0859375, 46.318359375, -3.779296875, 65.97260284423828 ]
2.9
87
0
87
0
[ 44.560546875, -31.025390625, -31.552734375, 43.06640625, 42.099609375, -7.998046875, 43.857421875, -3.251953125, 66.03053283691406 ]
[ 42.71484375, -32.87109375, -32.783203125, 46.142578125, 45.615234375, -8.0859375, 45.439453125, -3.603515625, 65.97260284423828 ]
2.933333
88
0
88
0
[ 44.912109375, -29.53125, -29.970703125, 42.099609375, 41.30859375, -7.822265625, 43.2421875, -2.900390625, 66.03053283691406 ]
[ 43.154296875, -31.552734375, -31.376953125, 45.615234375, 45, -7.55859375, 44.47265625, -3.515625, 65.97260284423828 ]
2.966667
89
0
89
0
[ 45.263671875, -28.037109375, -28.388671875, 41.220703125, 40.4296875, -7.55859375, 42.890625, -2.724609375, 66.03053283691406 ]
[ 43.59375, -29.970703125, -29.970703125, 44.82421875, 44.296875, -7.20703125, 44.033203125, -3.1640625, 65.97260284423828 ]
3
90
0
90
0
[ 45.615234375, -26.630859375, -27.0703125, 40.341796875, 39.462890625, -7.3828125, 42.802734375, -2.63671875, 66.03053283691406 ]
[ 44.033203125, -28.65234375, -28.564453125, 43.857421875, 43.2421875, -7.119140625, 43.2421875, -2.8125, 65.97260284423828 ]
3.033333
91
0
91
0
[ 45.791015625, -25.224609375, -25.6640625, 39.462890625, 38.583984375, -7.119140625, 42.71484375, -2.4609375, 66.03053283691406 ]
[ 44.296875, -26.982421875, -27.0703125, 42.890625, 42.275390625, -7.119140625, 42.802734375, -2.63671875, 65.97260284423828 ]
3.066667
92
0
92
0
[ 45.791015625, -23.642578125, -24.08203125, 38.671875, 37.79296875, -6.85546875, 42.626953125, -2.197265625, 66.03053283691406 ]
[ 44.560546875, -25.6640625, -25.576171875, 41.923828125, 41.1328125, -7.03125, 42.626953125, -2.63671875, 65.97260284423828 ]
3.1
93
0
93
0
[ 45.791015625, -21.97265625, -22.5, 38.056640625, 37.08984375, -6.50390625, 42.5390625, -2.109375, 66.03053283691406 ]
[ 44.6484375, -24.169921875, -24.169921875, 40.869140625, 40.166015625, -6.591796875, 42.5390625, -2.63671875, 65.97260284423828 ]
3.133333
94
0
94
0
[ 45.791015625, -20.302734375, -20.830078125, 37.44140625, 36.474609375, -5.9765625, 42.36328125, -2.109375, 66.03053283691406 ]
[ 44.736328125, -22.32421875, -22.412109375, 40.078125, 39.375, -6.15234375, 42.451171875, -2.548828125, 65.97260284423828 ]
3.166667
95
0
95
0
[ 45.791015625, -18.6328125, -19.072265625, 37.001953125, 36.03515625, -5.537109375, 42.275390625, -2.109375, 66.03053283691406 ]
[ 44.736328125, -20.91796875, -20.7421875, 39.462890625, 38.759765625, -5.625, 42.451171875, -2.548828125, 65.97260284423828 ]
3.2
96
0
96
0
[ 45.791015625, -17.05078125, -17.490234375, 36.826171875, 35.859375, -5.009765625, 42.1875, -1.93359375, 66.03053283691406 ]
[ 44.736328125, -18.984375, -18.984375, 39.0234375, 38.232421875, -5.2734375, 42.36328125, -2.4609375, 65.97260284423828 ]
3.233333
97
0
97
0
[ 45.791015625, -15.380859375, -15.8203125, 36.650390625, 35.68359375, -4.306640625, 42.01171875, -1.93359375, 66.03053283691406 ]
[ 44.736328125, -17.40234375, -17.138671875, 38.671875, 37.96875, -5.09765625, 42.36328125, -2.109375, 65.97260284423828 ]
3.266667
98
0
98
0
[ 45.791015625, -13.798828125, -14.326171875, 36.474609375, 35.595703125, -3.427734375, 41.8359375, -1.494140625, 66.03053283691406 ]
[ 44.6484375, -15.8203125, -15.556640625, 38.3203125, 37.6171875, -4.658203125, 42.36328125, -1.7578125, 65.97260284423828 ]
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": 50,
    "total_frames": 27651,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.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
18
License:
apache-2.0
Size of downloaded dataset files:
1.86 MB
Size of the auto-converted Parquet files:
1.86 MB
Number of rows:
27,651