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sequence | observation.state
sequence | timestamp
float32 0
24.3
| frame_index
int64 0
730
| episode_index
int64 0
19
| index
int64 0
10k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0 | 0 | 0 | 0 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.033333 | 1 | 0 | 1 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.066667 | 2 | 0 | 2 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.1 | 3 | 0 | 3 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.133333 | 4 | 0 | 4 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.166667 | 5 | 0 | 5 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.2 | 6 | 0 | 6 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.233333 | 7 | 0 | 7 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.266667 | 8 | 0 | 8 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.3 | 9 | 0 | 9 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.333333 | 10 | 0 | 10 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.366667 | 11 | 0 | 11 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.4 | 12 | 0 | 12 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.433333 | 13 | 0 | 13 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.466667 | 14 | 0 | 14 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.5 | 15 | 0 | 15 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.533333 | 16 | 0 | 16 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.566667 | 17 | 0 | 17 | 0 |
[
2.109375,
123.134765625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.6 | 18 | 0 | 18 | 0 |
[
2.109375,
123.22265625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.633333 | 19 | 0 | 19 | 0 |
[
2.109375,
123.22265625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.666667 | 20 | 0 | 20 | 0 |
[
2.109375,
123.22265625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.7 | 21 | 0 | 21 | 0 |
[
2.109375,
123.22265625,
85.4296875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.733333 | 22 | 0 | 22 | 0 |
[
2.109375,
123.22265625,
85.341796875,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.766667 | 23 | 0 | 23 | 0 |
[
2.109375,
123.22265625,
85.25390625,
80.68359375,
50.361328125,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.8 | 24 | 0 | 24 | 0 |
[
2.109375,
123.22265625,
84.90234375,
80.771484375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.833333 | 25 | 0 | 25 | 0 |
[
2.021484375,
123.22265625,
84.462890625,
80.859375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.866667 | 26 | 0 | 26 | 0 |
[
2.021484375,
123.134765625,
83.935546875,
80.947265625,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.9 | 27 | 0 | 27 | 0 |
[
1.93359375,
123.134765625,
83.49609375,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.396484375,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.933333 | 28 | 0 | 28 | 0 |
[
1.845703125,
123.134765625,
83.3203125,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
86.1328125,
81.2109375,
50.185546875,
0.28011205792427063
] | 0.966667 | 29 | 0 | 29 | 0 |
[
1.845703125,
123.134765625,
83.232421875,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.869140625,
81.2109375,
50.185546875,
0.28011205792427063
] | 1 | 30 | 0 | 30 | 0 |
[
1.7578125,
123.134765625,
83.14453125,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.60546875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.033333 | 31 | 0 | 31 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.066667 | 32 | 0 | 32 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.1 | 33 | 0 | 33 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.133333 | 34 | 0 | 34 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.166667 | 35 | 0 | 35 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.2 | 36 | 0 | 36 | 0 |
[
1.7578125,
123.134765625,
83.056640625,
81.2109375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.233333 | 37 | 0 | 37 | 0 |
[
1.845703125,
123.134765625,
83.056640625,
81.123046875,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.266667 | 38 | 0 | 38 | 0 |
[
1.845703125,
123.134765625,
83.056640625,
81.03515625,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.3 | 39 | 0 | 39 | 0 |
[
1.845703125,
123.046875,
83.056640625,
80.947265625,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.333333 | 40 | 0 | 40 | 0 |
[
1.93359375,
123.046875,
82.96875,
80.771484375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.366667 | 41 | 0 | 41 | 0 |
[
1.93359375,
122.958984375,
82.96875,
80.68359375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.4 | 42 | 0 | 42 | 0 |
[
2.021484375,
122.87109375,
82.79296875,
80.68359375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.4296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.433333 | 43 | 0 | 43 | 0 |
[
2.021484375,
122.51953125,
82.353515625,
80.771484375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.341796875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.466667 | 44 | 0 | 44 | 0 |
[
2.021484375,
122.16796875,
81.73828125,
80.859375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
85.078125,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.5 | 45 | 0 | 45 | 0 |
[
1.93359375,
121.9921875,
80.947265625,
80.859375,
50.537109375,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
84.638671875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.533333 | 46 | 0 | 46 | 0 |
[
1.845703125,
121.9921875,
80.419921875,
80.771484375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
84.0234375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.566667 | 47 | 0 | 47 | 0 |
[
1.7578125,
121.904296875,
79.98046875,
80.771484375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
83.3203125,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.6 | 48 | 0 | 48 | 0 |
[
1.7578125,
121.904296875,
79.8046875,
80.859375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
82.79296875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.633333 | 49 | 0 | 49 | 0 |
[
1.669921875,
121.904296875,
79.8046875,
80.859375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
82.353515625,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.666667 | 50 | 0 | 50 | 0 |
[
1.669921875,
121.904296875,
79.8046875,
80.771484375,
50.44921875,
-0.08583690971136093
] | [
2.28515625,
121.728515625,
82.177734375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.7 | 51 | 0 | 51 | 0 |
[
1.669921875,
121.904296875,
79.8046875,
80.771484375,
50.44921875,
-0.08583690971136093
] | [
2.109375,
121.728515625,
82.08984375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.733333 | 52 | 0 | 52 | 0 |
[
1.58203125,
121.904296875,
79.62890625,
80.68359375,
50.44921875,
-0.08583690971136093
] | [
2.021484375,
121.728515625,
82.08984375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.766667 | 53 | 0 | 53 | 0 |
[
1.58203125,
121.904296875,
79.365234375,
80.68359375,
50.44921875,
-0.08583690971136093
] | [
1.845703125,
121.728515625,
82.08984375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.8 | 54 | 0 | 54 | 0 |
[
1.58203125,
121.81640625,
79.189453125,
80.68359375,
50.44921875,
-0.08583690971136093
] | [
1.7578125,
121.728515625,
81.9140625,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.833333 | 55 | 0 | 55 | 0 |
[
1.58203125,
121.81640625,
79.189453125,
80.68359375,
50.537109375,
-0.08583690971136093
] | [
1.669921875,
121.728515625,
81.650390625,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.866667 | 56 | 0 | 56 | 0 |
[
1.58203125,
121.81640625,
79.189453125,
80.68359375,
50.625,
-0.08583690971136093
] | [
1.669921875,
121.640625,
81.474609375,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.9 | 57 | 0 | 57 | 0 |
[
1.58203125,
121.81640625,
79.189453125,
80.68359375,
50.625,
-0.08583690971136093
] | [
1.7578125,
121.640625,
81.38671875,
81.2109375,
50.185546875,
0.28011205792427063
] | 1.933333 | 58 | 0 | 58 | 0 |
[
1.58203125,
121.81640625,
79.189453125,
80.68359375,
50.712890625,
-0.08583690971136093
] | [
1.7578125,
121.640625,
81.38671875,
81.2109375,
50.185546875,
0.28011205792427063
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[
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81.38671875,
81.2109375,
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81.2109375,
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121.552734375,
81.38671875,
81.2109375,
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121.552734375,
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81.2109375,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Description
Task Summary This dataset contains 20 episodes of teleoperated demonstrations with the SO-101 robot arm. The task is to move a white rook from a starting square to D4 on a real chessboard.
🎯 Goal square: D4
♟️ Start squares:
Episodes 0–9: A7
Episodes 10–19: B7
⚠️ Note: Episode 5 is accidentally empty (skipped ahead during recording)
The dataset was created at 30 FPS and includes full joint actions, proprioception, and a wrist-mounted camera stream.
This version (v5) was recorded without metadata patching for use in training and debugging baseline ACT models.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 20,
"total_frames": 10011,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.follower_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
}
},
"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]
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