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Datasets:
RonPlusSign
/
PutPlushieInContainer_52_episodes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
License:
Dataset card Data Studio Files
xet
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observation.state
list
action
list
timestamp
float32
0
65.6
frame_index
int64
0
656
episode_index
int64
0
51
index
int64
0
17.8k
task_index
int64
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1.1
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1.6
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1.7
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1.8
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3
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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48
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4.9
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49
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5
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5.1
51
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5.2
52
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
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5.6
56
0
56
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5.7
57
0
57
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5.8
58
0
58
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5.9
59
0
59
0
[ -1.399999976158142, 86.9000015258789, -15.6899995803833, -13.899999618530273, -33.20000076293945, -17.790000915527344, 0 ]
[ -0.014999999664723873, -0.009999999776482582, -0.05999999865889549, -0.0872664600610733, 0.0872664600610733, 0.0872664600610733, 0 ]
6
60
0
60
0
[ -1.399999976158142, 87.19999694824219, -16.59000015258789, -14.100000381469727, -32.70000076293945, -17.790000915527344, 0 ]
[ 0.03500000014901161, -0.03500000014901161, -0.05000000074505806, 0, 0.1745329201221466, -0.1745329201221466, 0 ]
6.1
61
0
61
0
[ -1.399999976158142, 87.5, -17.899999618530273, -14.300000190734863, -31.899999618530273, -17.790000915527344, 0 ]
[ 0.05999999865889549, -0.04500000178813934, -0.014999999664723873, 0, 0.0872664600610733, -0.0872664600610733, 0 ]
6.2
62
0
62
0
[ -1.399999976158142, 87.80000305175781, -19.09000015258789, -14.5, -31, -17.790000915527344, 0 ]
[ 0.054999999701976776, -0.054999999701976776, 0.004999999888241291, -0.0872664600610733, -0.0872664600610733, -0.0872664600610733, 0 ]
6.3
63
0
63
0
[ -1.399999976158142, 88.30000305175781, -20.399999618530273, -14.699999809265137, -30.100000381469727, -17.790000915527344, 0 ]
[ 0.054999999701976776, -0.05999999865889549, -0.004999999888241291, -0.0872664600610733, -0.0872664600610733, 0, 0 ]
6.4
64
0
64
0
[ -1.399999976158142, 88.5, -21.690000534057617, -14.800000190734863, -29.200000762939453, -17.790000915527344, 0 ]
[ 0.03999999910593033, -0.06499999761581421, -0.004999999888241291, 0, 0, 0.0872664600610733, 0 ]
6.5
65
0
65
0
[ -1.7000000476837158, 88.19999694824219, -22.299999237060547, -14.800000190734863, -28.5, -17.790000915527344, 0 ]
[ 0.03999999910593033, -0.07000000029802322, 0, -0.0872664600610733, -0.0872664600610733, 0, 0 ]
6.6
66
0
66
0
[ -1.899999976158142, 87.30000305175781, -22.09000015258789, -14.699999809265137, -28.200000762939453, -17.790000915527344, 0 ]
[ 0.04500000178813934, -0.07500000298023224, 0, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
6.7
67
0
67
0
[ -2.5999999046325684, 86.5999984741211, -21.299999237060547, -14.199999809265137, -28, -17.790000915527344, 0 ]
[ 0.03500000014901161, -0.05999999865889549, 0.004999999888241291, -0.0872664600610733, -0.0872664600610733, 0, 0 ]
6.8
68
0
68
0
[ -2.799999952316284, 85.9000015258789, -20.690000534057617, -13.5, -27.700000762939453, -21.700000762939453, 0 ]
[ 0.029999999329447746, -0.07000000029802322, 0, -0.0872664600610733, -0.0872664600610733, 0, 0 ]
6.9
69
0
69
0
[ -3.299999952316284, 85.30000305175781, -20.190000534057617, -12.399999618530273, -27.399999618530273, -23.100000381469727, 0 ]
[ 0.02500000037252903, -0.07500000298023224, 0, -0.0872664600610733, 0, 0, 0 ]
7
70
0
70
0
[ -4.5, 84.80000305175781, -19.690000534057617, -11.399999618530273, -27.100000381469727, -24.200000762939453, 0 ]
[ 0.019999999552965164, -0.07500000298023224, 0, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
7.1
71
0
71
0
[ -5.199999809265137, 84.19999694824219, -19, -10.300000190734863, -26.899999618530273, -25, 0 ]
[ 0, -0.05999999865889549, -0.004999999888241291, -0.0872664600610733, 0.0872664600610733, 0, 0 ]
7.2
72
0
72
0
[ -5.900000095367432, 83.69999694824219, -18.399999618530273, -9.5, -26.600000381469727, -25, 0 ]
[ -0.019999999552965164, -0.019999999552965164, -0.019999999552965164, 0, 0.1745329201221466, -0.0872664600610733, 0 ]
7.3
73
0
73
0
[ -6.599999904632568, 83.30000305175781, -18, -8.5, -26.299999237060547, -25, 0 ]
[ -0.02500000037252903, 0, -0.03999999910593033, 0.0872664600610733, 0.2617993950843811, 0, 0 ]
7.4
74
0
74
0
[ -7.099999904632568, 82.9000015258789, -17.59000015258789, -7.599999904632568, -26, -25, 0 ]
[ -0.029999999329447746, 0.004999999888241291, -0.054999999701976776, -0.0872664600610733, 0.0872664600610733, 0.0872664600610733, 0 ]
7.5
75
0
75
0
[ -7.900000095367432, 82.5999984741211, -17.190000534057617, -6.599999904632568, -25.700000762939453, -28.100000381469727, 0 ]
[ -0.02500000037252903, 0.009999999776482582, -0.04500000178813934, -0.0872664600610733, 0, 0.0872664600610733, 0 ]
7.6
76
0
76
0
[ -8.5, 82.5, -17.09000015258789, -5.5, -25.399999618530273, -28.899999618530273, 0 ]
[ -0.03500000014901161, 0.019999999552965164, -0.04500000178813934, 0, 0.0872664600610733, 0.0872664600610733, 0 ]
7.7
77
0
77
0
[ -8.890000343322754, 82.5999984741211, -17.399999618530273, -5.099999904632568, -25.100000381469727, -29.700000762939453, 0 ]
[ -0.02500000037252903, 0.009999999776482582, -0.05000000074505806, 0, 0.0872664600610733, 0.0872664600610733, 0 ]
7.8
78
0
78
0
[ -9, 82.80000305175781, -18.09000015258789, -4.900000095367432, -24.700000762939453, -30.100000381469727, 0 ]
[ -0.02500000037252903, 0.004999999888241291, -0.054999999701976776, -0.0872664600610733, 0, 0.1745329201221466, 0 ]
7.9
79
0
79
0
[ -9.199999809265137, 83, -19, -5, -24, -30.100000381469727, 0 ]
[ -0.019999999552965164, 0.004999999888241291, -0.054999999701976776, 0, 0, 0.1745329201221466, 0 ]
8
80
0
80
0
[ -9.199999809265137, 83.30000305175781, -20.299999237060547, -5, -23.100000381469727, -30.100000381469727, 0 ]
[ -0.02500000037252903, 0.009999999776482582, -0.05000000074505806, 0.0872664600610733, 0.0872664600610733, 0.0872664600610733, 0 ]
8.1
81
0
81
0
[ -9.199999809265137, 83.5999984741211, -21.5, -5.199999809265137, -22.299999237060547, -30.100000381469727, 0 ]
[ -0.02500000037252903, 0, -0.0949999988079071, -0.1745329201221466, 0.1745329201221466, 0.0872664600610733, 0 ]
8.2
82
0
82
0
[ -9.199999809265137, 84, -22.690000534057617, -5.400000095367432, -21.399999618530273, -30.100000381469727, 0 ]
[ -0.02500000037252903, -0.019999999552965164, -0.125, -0.6981316804885864, 0, 0, 0 ]
8.3
83
0
83
0
[ -9.199999809265137, 84.80000305175781, -31.59000015258789, -7.400000095367432, -13.800000190734863, -29.600000381469727, 0 ]
[ -0.019999999552965164, 0.03500000014901161, -0.004999999888241291, -0.0872664600610733, 0, 0.3490658402442932, 0 ]
8.4
84
0
84
0
[ -9.199999809265137, 84.80000305175781, -32.79999923706055, -7.5, -12.600000381469727, -29.200000762939453, 0 ]
[ 0.019999999552965164, 0, -0.02500000037252903, -0.1745329201221466, 0.0872664600610733, 0, 0 ]
8.5
85
0
85
0
[ -9.199999809265137, 84.80000305175781, -32.900001525878906, -7.5, -12.300000190734863, -29.200000762939453, 0 ]
[ 0.029999999329447746, -0.03500000014901161, -0.02500000037252903, -0.1745329201221466, 0, -0.0872664600610733, 0 ]
8.6
86
0
86
0
[ -9.199999809265137, 84.80000305175781, -32.900001525878906, -7.5, -12.300000190734863, -29.200000762939453, 0 ]
[ 0.04500000178813934, -0.04500000178813934, -0.014999999664723873, -0.0872664600610733, 0, 0, 0 ]
8.7
87
0
87
0
[ -9.199999809265137, 84.80000305175781, -32.900001525878906, -7.5, -12.300000190734863, -29.200000762939453, 0 ]
[ 0.03500000014901161, -0.05000000074505806, -0.009999999776482582, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
8.8
88
0
88
0
[ -9.100000381469727, 84.9000015258789, -33, -7.699999809265137, -12.300000190734863, -29.200000762939453, 0 ]
[ 0.03500000014901161, -0.054999999701976776, -0.009999999776482582, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
8.9
89
0
89
0
[ -8.890000343322754, 85, -33.29999923706055, -8.300000190734863, -12.199999809265137, -29.200000762939453, 0 ]
[ 0.029999999329447746, -0.04500000178813934, -0.009999999776482582, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
9
90
0
90
0
[ -9.100000381469727, 84.4000015258789, -33.09000015258789, -8.390000343322754, -11.899999618530273, -29.200000762939453, 0 ]
[ 0.029999999329447746, -0.03999999910593033, 0, -0.0872664600610733, 0, 0, 0 ]
9.1
91
0
91
0
[ -9.300000190734863, 83.80000305175781, -32.59000015258789, -7.400000095367432, -11.699999809265137, -29.200000762939453, 0 ]
[ 0.03999999910593033, -0.04500000178813934, 0, -0.0872664600610733, 0, -0.0872664600610733, 0 ]
9.2
92
0
92
0
[ -9.5, 83.19999694824219, -32.09000015258789, -6.300000190734863, -11.5, -29.200000762939453, 0 ]
[ 0.02500000037252903, -0.029999999329447746, 0, -0.0872664600610733, 0, 0, 0 ]
9.3
93
0
93
0
[ -10, 82.5999984741211, -31.59000015258789, -5, -11.300000190734863, -29.200000762939453, 0 ]
[ 0.009999999776482582, -0.014999999664723873, 0, 0, 0, -0.0872664600610733, 0 ]
9.4
94
0
94
0
[ -10.199999809265137, 82.0999984741211, -31.200000762939453, -3.9000000953674316, -11.100000381469727, -29.200000762939453, 0 ]
[ -0.004999999888241291, -0.004999999888241291, -0.02500000037252903, 0, 0.2617993950843811, 0, 0 ]
9.5
95
0
95
0
[ -10.5, 81.5, -30.700000762939453, -3, -11, -29.200000762939453, 0 ]
[ -0.029999999329447746, 0.004999999888241291, -0.04500000178813934, 0, 0.3490658402442932, 0.0872664600610733, 0 ]
9.6
96
0
96
0
[ -10.800000190734863, 81, -30, -3, -11, -35.70000076293945, 0 ]
[ -0.03500000014901161, 0.02500000037252903, -0.03500000014901161, 0, 0.4363323152065277, 0, 0 ]
9.7
97
0
97
0
[ -11.100000381469727, 80.5, -29.59000015258789, -2, -11, -37, 0 ]
[ -0.02500000037252903, 0.02500000037252903, -0.02500000037252903, 0, 0.1745329201221466, 0.0872664600610733, 0 ]
9.8
98
0
98
0
[ -11.300000190734863, 80.4000015258789, -29.399999618530273, -1.2000000476837158, -11, -38.400001525878906, 0 ]
[ -0.014999999664723873, 0.029999999329447746, -0.029999999329447746, 0, 0.0872664600610733, 0.0872664600610733, 0 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "dianarm",
    "total_episodes": 52,
    "total_frames": 17798,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:52"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "gripper"
            ],
            "description": "Joint positions and gripper state."
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
            ],
            "description": "Delta action in Euler representation [xyz+rotation+gripper]."
        },
        "observation.images.camera": {
            "dtype": "video",
            "shape": [
                304,
                304,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 304,
                "video.width": 304,
                "video.channels": 3,
                "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:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
17,798

Models trained or fine-tuned on RonPlusSign/PutPlushieInContainer_52_episodes