Hugging Face's logo

Datasets:
nik658
/
xarm_task_record

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet
observation.state
list
action
list
timestamp
float32
0
63.1
next.reward
float32
-0.01
0
next.done
bool
2 classes
language_instruction
stringclasses
9 values
frame_index
int64
0
946
episode_index
int64
0
89
index
int64
0
31.2k
task_index
int64
0
8
[ -2.0046331882476807, -0.29646947979927063, -0.6701348423957825, 0.0015502595342695713 ]
[ 0, 0, 0, 0 ]
0
-0.002953
false
Lift the cube
0
0
0
0
[ -2.004633903503418, -0.29646995663642883, -0.6701385974884033, 0.0015721251256763935 ]
[ 0, 0, 0, 0 ]
0.066667
-0.002953
false
Lift the cube
1
0
1
0
[ -2.0046348571777344, -0.2964704632759094, -0.6701422929763794, 0.0015941377496346831 ]
[ 0, 0, 0, 0 ]
0.133333
-0.002953
false
Lift the cube
2
0
2
0
[ -2.004635810852051, -0.29647096991539, -0.6701460480690002, 0.001616296824067831 ]
[ 0, 0, 0, 0 ]
0.2
-0.002953
false
Lift the cube
3
0
3
0
[ -2.004636526107788, -0.2964714467525482, -0.6701498031616211, 0.0016386016504839063 ]
[ 0, 0, 0, 0 ]
0.266667
-0.002953
false
Lift the cube
4
0
4
0
[ -2.0046374797821045, -0.2964719533920288, -0.6701534986495972, 0.0016610515303909779 ]
[ 0, 0, 0, 0 ]
0.333333
-0.002953
false
Lift the cube
5
0
5
0
[ -2.004638433456421, -0.296472430229187, -0.670157253742218, 0.0016836458817124367 ]
[ 0, 0, 0, 0 ]
0.4
-0.002953
false
Lift the cube
6
0
6
0
[ -2.004639148712158, -0.2964729368686676, -0.6701609492301941, 0.0017063840059563518 ]
[ 0, 0, 0, 0 ]
0.466667
-0.002953
false
Lift the cube
7
0
7
0
[ -2.0046401023864746, -0.2964734137058258, -0.6701647043228149, 0.0017292652046307921 ]
[ 0, 0, 0, 0 ]
0.533333
-0.002953
false
Lift the cube
8
0
8
0
[ -2.004641056060791, -0.2964739203453064, -0.6701684594154358, 0.0017522891284897923 ]
[ 0, 0, 0, 0 ]
0.6
-0.002952
false
Lift the cube
9
0
9
0
[ -2.0046417713165283, -0.2964743971824646, -0.6701721549034119, 0.0017754549626260996 ]
[ 0, 0, 0, 0 ]
0.666667
-0.002952
false
Lift the cube
10
0
10
0
[ -2.0046427249908447, -0.2964749038219452, -0.6701759099960327, 0.0017987623577937484 ]
[ 0, 0, 0, 0 ]
0.733333
-0.002952
false
Lift the cube
11
0
11
0
[ -2.004643678665161, -0.2964753806591034, -0.6701796650886536, 0.0018222107319161296 ]
[ 0, 0, 0, 0 ]
0.8
-0.002952
false
Lift the cube
12
0
12
0
[ -2.0046443939208984, -0.2964758574962616, -0.6701833605766296, 0.0018457997357472777 ]
[ 0, 0, 0, 0 ]
0.866667
-0.002952
false
Lift the cube
13
0
13
0
[ -2.004645347595215, -0.2964763641357422, -0.6701871156692505, 0.0018695290200412273 ]
[ 0, 0, 0, 0 ]
0.933333
-0.002952
false
Lift the cube
14
0
14
0
[ -2.004646062850952, -0.2964768409729004, -0.6701908111572266, 0.001893398235552013 ]
[ 0, 0, 0, 0 ]
1
-0.002952
false
Lift the cube
15
0
15
0
[ -2.0046470165252686, -0.2964773178100586, -0.6701945662498474, 0.001917407033033669 ]
[ 0, 0, 0, 0 ]
1.066667
-0.002952
false
Lift the cube
16
0
16
0
[ -2.004647970199585, -0.2964778244495392, -0.6701983213424683, 0.0019415552960708737 ]
[ 0, 0, 0, 0 ]
1.133333
-0.002952
false
Lift the cube
17
0
17
0
[ -2.0046486854553223, -0.2964783012866974, -0.6702020168304443, 0.0019658429082483053 ]
[ 0, 0, 0, 0 ]
1.2
-0.002952
false
Lift the cube
18
0
18
0
[ -2.0046496391296387, -0.2964787781238556, -0.6702057719230652, 0.0019902698695659637 ]
[ 0, 0, 0, 0 ]
1.266667
-0.002952
false
Lift the cube
19
0
19
0
[ -2.004650592803955, -0.2964792549610138, -0.6702094674110413, 0.0020148358307778835 ]
[ 0, 0, 0, 0 ]
1.333333
-0.002952
false
Lift the cube
20
0
20
0
[ -2.0046513080596924, -0.296479731798172, -0.6702132225036621, 0.0020395410247147083 ]
[ 0, 0, 0, 0 ]
1.4
-0.002952
false
Lift the cube
21
0
21
0
[ -2.004652261734009, -0.2964802384376526, -0.670216977596283, 0.002064385684207082 ]
[ 0, 0, 0, 0 ]
1.466667
-0.002951
false
Lift the cube
22
0
22
0
[ -2.004653215408325, -0.2964807152748108, -0.670220673084259, 0.002089369809255004 ]
[ 0, 0, 0, 0 ]
1.533333
-0.002951
false
Lift the cube
23
0
23
0
[ -2.0046539306640625, -0.296481192111969, -0.6702244281768799, 0.0021144936326891184 ]
[ 0, 0, 0, 0 ]
1.6
-0.002951
false
Lift the cube
24
0
24
0
[ -2.004654884338379, -0.2964816689491272, -0.6702281832695007, 0.002139757387340069 ]
[ 0, 0, 0, 0 ]
1.666667
-0.002951
false
Lift the cube
25
0
25
0
[ -2.004655599594116, -0.2964821457862854, -0.6702318787574768, 0.002165161306038499 ]
[ 0, 0, 0, 0 ]
1.733333
-0.002951
false
Lift the cube
26
0
26
0
[ -2.0046565532684326, -0.2964826226234436, -0.6702356338500977, 0.0021907056216150522 ]
[ 0, 0, 0, 0 ]
1.8
-0.002951
false
Lift the cube
27
0
27
0
[ -2.004657506942749, -0.2964830994606018, -0.6702393293380737, 0.00221639103256166 ]
[ 0, 0, 0, 0 ]
1.866667
-0.002951
false
Lift the cube
28
0
28
0
[ -2.0046582221984863, -0.29648357629776, -0.6702430844306946, 0.0022422175388783216 ]
[ 0, 0, 0, 0 ]
1.933333
-0.002951
false
Lift the cube
29
0
29
0
[ -2.0046591758728027, -0.2964840531349182, -0.6702468395233154, 0.0022681858390569687 ]
[ 0, 0, 0, 0 ]
2
-0.002951
false
Lift the cube
30
0
30
0
[ -2.004660129547119, -0.2964845299720764, -0.6702505350112915, 0.0022942961659282446 ]
[ 0, 0, 0, 0 ]
2.066667
-0.002951
false
Lift the cube
31
0
31
0
[ -2.0046608448028564, -0.2964850068092346, -0.6702542901039124, 0.0023205489851534367 ]
[ 0, 0, 0, 0 ]
2.133333
-0.002951
false
Lift the cube
32
0
32
0
[ -2.004661798477173, -0.2964854836463928, -0.6702580451965332, 0.002346944995224476 ]
[ 0, 0, 0, 0 ]
2.2
-0.002951
false
Lift the cube
33
0
33
0
[ -2.00466251373291, -0.296485960483551, -0.6702617406845093, 0.002373484196141362 ]
[ 0, 0, 0, 0 ]
2.266667
-0.002951
false
Lift the cube
34
0
34
0
[ -2.0046634674072266, -0.29648643732070923, -0.6702654957771301, 0.0024001675192266703 ]
[ 0, 0, 0, 0 ]
2.333333
-0.00295
false
Lift the cube
35
0
35
0
[ -2.004664421081543, -0.29648691415786743, -0.670269250869751, 0.0024269947316497564 ]
[ 0, 0, 0, 0 ]
2.4
-0.00295
false
Lift the cube
36
0
36
0
[ -2.0046651363372803, -0.29648739099502563, -0.670272946357727, 0.002453966997563839 ]
[ 0, 0, 0, 0 ]
2.466667
-0.00295
false
Lift the cube
37
0
37
0
[ -2.0046660900115967, -0.29648786783218384, -0.6702767014503479, 0.002481084084138274 ]
[ 0, 0, 0, 0 ]
2.533333
-0.00295
false
Lift the cube
38
0
38
0
[ -2.004666805267334, -0.29648831486701965, -0.6702804565429688, 0.0025083464570343494 ]
[ 0, 0, 0, 0 ]
2.6
-0.00295
false
Lift the cube
39
0
39
0
[ -2.0046677589416504, -0.29648879170417786, -0.6702841520309448, 0.002535754581913352 ]
[ 0, 0, 0, 0 ]
2.666667
-0.00295
false
Lift the cube
40
0
40
0
[ -2.004668712615967, -0.29648926854133606, -0.6702879071235657, 0.0025633086916059256 ]
[ 0, 0, 0, 0 ]
2.733333
-0.00295
false
Lift the cube
41
0
41
0
[ -2.004669427871704, -0.29648974537849426, -0.6702916026115417, 0.0025910090189427137 ]
[ 0, 0, 0, 0 ]
2.8
-0.00295
false
Lift the cube
42
0
42
0
[ -2.0046703815460205, -0.29649022221565247, -0.6702953577041626, 0.0026188555639237165 ]
[ 0, 0, 0, 0 ]
2.866667
-0.00295
false
Lift the cube
43
0
43
0
[ -2.004671335220337, -0.2964906692504883, -0.6702991127967834, 0.0026468485593795776 ]
[ 0, 0, 0, 0 ]
2.933333
-0.00295
false
Lift the cube
44
0
44
0
[ -2.004672050476074, -0.2964911460876465, -0.6703028082847595, 0.0026749884709715843 ]
[ 0, 0, 0, 0 ]
3
-0.00295
false
Lift the cube
45
0
45
0
[ -2.0046730041503906, -0.2964916229248047, -0.6703065633773804, 0.0027032748330384493 ]
[ 0, 0, 0, 0 ]
3.066667
-0.00295
false
Lift the cube
46
0
46
0
[ -2.004673719406128, -0.2964920699596405, -0.6703103184700012, 0.002731707878410816 ]
[ 0, 0, 0, 0 ]
3.133333
-0.00295
false
Lift the cube
47
0
47
0
[ -2.0046746730804443, -0.2964925467967987, -0.6703140139579773, 0.0027602873742580414 ]
[ 0, 0, 0, 0 ]
3.2
-0.002949
false
Lift the cube
48
0
48
0
[ -2.0046756267547607, -0.2964930236339569, -0.6703177690505981, 0.0027890135534107685 ]
[ 0, 0, 0, 0 ]
3.266667
-0.002949
false
Lift the cube
49
0
49
0
[ -2.004676342010498, -0.2964934706687927, -0.670321524143219, 0.0028178859502077103 ]
[ 0, 0, 0, 0 ]
3.333333
-0.002949
false
Lift the cube
50
0
50
0
[ -2.0046772956848145, -0.2964939475059509, -0.6703252196311951, 0.0028469045646488667 ]
[ 0, 0, 0, 0 ]
3.4
-0.002949
false
Lift the cube
51
0
51
0
[ -2.0046780109405518, -0.29649442434310913, -0.6703289747238159, 0.002876069163903594 ]
[ 0, 0, 0, 0 ]
3.466667
-0.002949
false
Lift the cube
52
0
52
0
[ -2.004678964614868, -0.29649487137794495, -0.6703327298164368, 0.002905379282310605 ]
[ 0, 0, 0, 0 ]
3.533333
-0.002949
false
Lift the cube
53
0
53
0
[ -2.0046799182891846, -0.29649534821510315, -0.6703364253044128, 0.0029348349198698997 ]
[ 0, 0, 0, 0 ]
3.6
-0.002949
false
Lift the cube
54
0
54
0
[ -2.004680633544922, -0.29649579524993896, -0.6703401803970337, 0.002964435610920191 ]
[ 0, 0, 0, 0 ]
3.666667
-0.002949
false
Lift the cube
55
0
55
0
[ -2.0046815872192383, -0.29649627208709717, -0.6703439354896545, 0.0029941811226308346 ]
[ 0, 0, 0, 0 ]
3.733333
-0.002949
false
Lift the cube
56
0
56
0
[ -2.0046823024749756, -0.296496719121933, -0.6703476309776306, 0.0030240707565099 ]
[ 0, 0, 0, 0 ]
3.8
-0.002949
false
Lift the cube
57
0
57
0
[ -2.004683256149292, -0.2964971959590912, -0.6703513860702515, 0.0030541042797267437 ]
[ 0, 0, 0, 0 ]
3.866667
-0.002949
false
Lift the cube
58
0
58
0
[ -2.0046839714050293, -0.296497642993927, -0.6703551411628723, 0.003084281226620078 ]
[ 0, 0, 0, 0 ]
3.933333
-0.002949
false
Lift the cube
59
0
59
0
[ -2.0046849250793457, -0.2964981198310852, -0.6703588366508484, 0.0031146013643592596 ]
[ 0, 0, 0, 0 ]
4
-0.002949
false
Lift the cube
60
0
60
0
[ -2.004685878753662, -0.296498566865921, -0.6703625917434692, 0.003145064227283001 ]
[ 0, 0, 0, 0 ]
4.066667
-0.002948
false
Lift the cube
61
0
61
0
[ -2.0046865940093994, -0.2964990437030792, -0.6703662872314453, 0.003175669349730015 ]
[ 0, 0, 0, 0 ]
4.133333
-0.002948
false
Lift the cube
62
0
62
0
[ -2.004687547683716, -0.29649949073791504, -0.6703700423240662, 0.00320641603320837 ]
[ 0, 0, 0, 0 ]
4.2
-0.002948
false
Lift the cube
63
0
63
0
[ -2.004688262939453, -0.29649993777275085, -0.670373797416687, 0.003237304277718067 ]
[ 0, 0, 0, 0 ]
4.266667
-0.002948
false
Lift the cube
64
0
64
0
[ -2.0046892166137695, -0.29650041460990906, -0.6703774929046631, 0.0032683333847671747 ]
[ 0, 0, 0, 0 ]
4.333333
-0.002948
false
Lift the cube
65
0
65
0
[ -2.004690170288086, -0.2965008616447449, -0.6703812479972839, 0.003299503121525049 ]
[ 0, 0, 0, 0 ]
4.4
-0.002948
false
Lift the cube
66
0
66
0
[ -2.0046908855438232, -0.2965013086795807, -0.6703850030899048, 0.003330813255161047 ]
[ 0, 0, 0, 0 ]
4.466667
-0.002948
false
Lift the cube
67
0
67
0
[ -2.0046918392181396, -0.2965017855167389, -0.6703886985778809, 0.003362263087183237 ]
[ 0, 0, 0, 0 ]
4.533333
-0.002948
false
Lift the cube
68
0
68
0
[ -2.004692554473877, -0.2965022325515747, -0.6703924536705017, 0.0033938526175916195 ]
[ 0, 0, 0, 0 ]
4.6
-0.002948
false
Lift the cube
69
0
69
0
[ -2.0046935081481934, -0.2965026795864105, -0.6703962087631226, 0.003425581380724907 ]
[ 0, 0, 0, 0 ]
4.666667
-0.002948
false
Lift the cube
70
0
70
0
[ -2.0046942234039307, -0.2965031564235687, -0.6703999042510986, 0.0034574491437524557 ]
[ 0, 0, 0, 0 ]
4.733333
-0.002948
false
Lift the cube
71
0
71
0
[ -2.004695177078247, -0.29650360345840454, -0.6704036593437195, 0.003489455906674266 ]
[ 0, 0, 0, 0 ]
4.8
-0.002948
false
Lift the cube
72
0
72
0
[ -2.0046961307525635, -0.29650405049324036, -0.6704074144363403, 0.00352160120382905 ]
[ 0, 0, 0, 0 ]
4.866667
-0.002948
false
Lift the cube
73
0
73
0
[ -2.004696846008301, -0.29650449752807617, -0.6704111099243164, 0.0035538848023861647 ]
[ 0, 0, 0, 0 ]
4.933333
-0.002948
false
Lift the cube
74
0
74
0
[ -2.004697799682617, -0.296504944562912, -0.6704148650169373, 0.0035863069351762533 ]
[ 0, 0, 0, 0 ]
5
-0.002947
false
Lift the cube
75
0
75
0
[ -2.0046985149383545, -0.2965054214000702, -0.6704186201095581, 0.0036188671365380287 ]
[ 0, 0, 0, 0 ]
5.066667
-0.002947
false
Lift the cube
76
0
76
0
[ -2.004699468612671, -0.296505868434906, -0.6704223155975342, 0.0036515656393021345 ]
[ 0, 0, 0, 0 ]
5.133333
-0.002947
false
Lift the cube
77
0
77
0
[ -2.0047004222869873, -0.2965063154697418, -0.670426070690155, 0.0036844024434685707 ]
[ 0, 0, 0, 0 ]
5.2
-0.002947
false
Lift the cube
78
0
78
0
[ -2.0047011375427246, -0.29650676250457764, -0.6704298257827759, 0.00371737708337605 ]
[ 0, 0, 0, 0 ]
5.266667
-0.002947
false
Lift the cube
79
0
79
0
[ -2.004702091217041, -0.29650720953941345, -0.670433521270752, 0.0037504900246858597 ]
[ 0, 0, 0, 0 ]
5.333333
-0.002947
false
Lift the cube
80
0
80
0
[ -2.0047028064727783, -0.29650765657424927, -0.6704372763633728, 0.0037837412673979998 ]
[ 0, 0, 0, 0 ]
5.4
-0.002947
false
Lift the cube
81
0
81
0
[ -2.0047037601470947, -0.2965081036090851, -0.6704410314559937, 0.0038171308115124702 ]
[ 0, 0, 0, 0 ]
5.466667
-0.002947
false
Lift the cube
82
0
82
0
[ -2.004704475402832, -0.2965085506439209, -0.6704447269439697, 0.0038506588898599148 ]
[ 0, 0, 0, 0 ]
5.533333
-0.002947
false
Lift the cube
83
0
83
0
[ -2.0047054290771484, -0.2965089976787567, -0.6704484820365906, 0.0038843252696096897 ]
[ 0, 0, 0, 0 ]
5.6
-0.002947
false
Lift the cube
84
0
84
0
[ -2.0047061443328857, -0.29650944471359253, -0.6704522371292114, 0.003918130416423082 ]
[ 0, 0, 0, 0 ]
5.666667
-0.002947
false
Lift the cube
85
0
85
0
[ -2.004707098007202, -0.29650989174842834, -0.6704559326171875, 0.00395207479596138 ]
[ 0, 0, 0, 0 ]
5.733333
-0.002947
false
Lift the cube
86
0
86
0
[ -2.0047080516815186, -0.29651033878326416, -0.6704596877098083, 0.003986157476902008 ]
[ 0, 0, 0, 0 ]
5.8
-0.002947
false
Lift the cube
87
0
87
0
[ -2.004708766937256, -0.2965107858181, -0.6704634428024292, 0.004020379856228828 ]
[ 0, 0, 0, 0 ]
5.866667
-0.002946
false
Lift the cube
88
0
88
0
[ -2.0047097206115723, -0.2965112328529358, -0.6704671382904053, 0.004054741468280554 ]
[ 0, 0, 0, 0 ]
5.933333
-0.002946
false
Lift the cube
89
0
89
0
[ -2.0047104358673096, -0.2965116798877716, -0.6704708933830261, 0.004089242313057184 ]
[ 0, 0, 0, 0 ]
6
-0.002946
false
Lift the cube
90
0
90
0
[ -2.004711389541626, -0.2965121269226074, -0.670474648475647, 0.004123883321881294 ]
[ 0, 0, 0, 0 ]
6.066667
-0.002946
false
Lift the cube
91
0
91
0
[ -2.0047121047973633, -0.29651257395744324, -0.670478343963623, 0.004158664029091597 ]
[ 0, 0, 0, 0 ]
6.133333
-0.002946
false
Lift the cube
92
0
92
0
[ -2.0047130584716797, -0.29651302099227905, -0.6704820990562439, 0.004193584434688091 ]
[ 0, 0, 0, 0 ]
6.2
-0.002946
false
Lift the cube
93
0
93
0
[ -2.004714012145996, -0.29651346802711487, -0.6704858541488647, 0.004228645469993353 ]
[ 0, 0, 0, 0 ]
6.266667
-0.002946
false
Lift the cube
94
0
94
0
[ -2.0047147274017334, -0.2965139150619507, -0.6704895496368408, 0.004263846669346094 ]
[ 0, 0, 0, 0 ]
6.333333
-0.002946
false
Lift the cube
95
0
95
0
[ -2.00471568107605, -0.2965143620967865, -0.6704933047294617, 0.004299188498407602 ]
[ 0, 0, 0, 0 ]
6.4
-0.002946
false
Lift the cube
96
0
96
0
[ -2.004716396331787, -0.2965147793292999, -0.6704970598220825, 0.00433467049151659 ]
[ 0, 0, 0, 0 ]
6.466667
-0.002946
false
Lift the cube
97
0
97
0
[ -2.0047173500061035, -0.29651522636413574, -0.6705008149147034, 0.004370293579995632 ]
[ 0, 0, 0, 0 ]
6.533333
-0.002946
false
Lift the cube
98
0
98
0
[ -2.004718065261841, -0.29651567339897156, -0.6705045104026794, 0.004406057298183441 ]
[ 0, 0, 0, 0 ]
6.6
-0.002946
false
Lift the cube
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 90,
    "total_frames": 31191,
    "total_tasks": 9,
    "total_videos": 90,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:90"
    },
    "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": {
        "observation.image": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction": {
            "dtype": "string",
            "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
73
License:
apache-2.0
Size of downloaded dataset files:
1.89 MB
Size of the auto-converted Parquet files:
1.89 MB
Number of rows:
31,651

Models trained or fine-tuned on nik658/xarm_task_record