Hugging Face's logo

Datasets:
lerobot
/
cmu_franka_exploration_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
Dataset Viewer
Auto-converted to Parquet
Full Screen
Search is not available for this dataset
observation.state
sequence
action
sequence
timestamp
float32
0
0.9
episode_index
int64
0
198
frame_index
int64
0
9
next.reward
float32
0
0.97
next.done
bool
2 classes
index
int64
0
1.99k
task_index
int64
0
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.46250152587890625, 0.3123936951160431, -0.07076406478881836, 0.08554239571094513, -0.02800028771162033, 0.012565870769321918, 1 ]
0
0
0
0
false
0
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02008497714996338, 0.011918514966964722, -0.0010984539985656738, -0.012588107958436012, 0.01680757664144039, 0.020100368186831474, 1 ]
0.1
0
1
0.025949
false
1
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.021863222122192383, 0.01110735535621643, -0.004118025302886963, -0.03411326929926872, 0.004710454028099775, 0.04832115396857262, 1 ]
0.2
0
2
0.006358
false
2
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.001383364200592041, -0.03842419385910034, -0.022227585315704346, 0.0777408704161644, 0.02055182494223118, -0.08245425671339035, 0 ]
0.3
0
3
0.006739
false
3
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.007115960121154785, -0.007687777280807495, -0.004584848880767822, -0.017942015081644058, 0.01866394281387329, -0.03864199295639992, 0 ]
0.4
0
4
0
false
4
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0003840327262878418, 0.0008518099784851074, 0.00103074312210083, -0.00676465081050992, 0.00282145943492651, -0.0032004432287067175, 0 ]
0.5
0
5
0
false
5
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.007990479469299316, 0.006900221109390259, 0.001359105110168457, -0.005119112320244312, -0.0062337289564311504, -0.002631561364978552, 0 ]
0.6
0
6
0
false
6
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.002949535846710205, 0.022249460220336914, 0.019094467163085938, -0.0511237196624279, -0.017432669177651405, 0.04230162501335144, 0 ]
0.7
0
7
0
false
7
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.004854321479797363, -0.028145521879196167, -0.020052075386047363, 0.01384680438786745, 0.06611242890357971, -0.03751526027917862, 0 ]
0.8
0
8
0
false
8
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0004958510398864746, -0.03144089877605438, 0.04726302623748779, 0.007946361787617207, -0.017192034050822258, -0.05736404284834862, 0 ]
0.9
0
9
0
true
9
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.21422165632247925, 0.3658062517642975, -0.21045076847076416, 0.4584898054599762, -0.3281906545162201, -0.13491129875183105, 1 ]
0
1
0
0
false
10
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0942983627319336, 0.01962876319885254, -0.016974687576293945, -0.08636260032653809, -0.08606232702732086, 0.044455237686634064, 1 ]
0.1
1
1
0.134768
false
11
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.057161152362823486, -0.03307417035102844, -0.06699970364570618, 0.17635104060173035, 0.05034768953919411, -0.09524072706699371, 1 ]
0.2
1
2
0.151499
false
12
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.06375178694725037, 0.07060694694519043, -0.0649438202381134, 0.0343397855758667, -0.08962877839803696, -0.009147847071290016, 0 ]
0.3
1
3
0.148834
false
13
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0732901394367218, 0.06240344047546387, 0.08165693283081055, -0.23680570721626282, -0.08683472871780396, 0.09608326107263565, 0 ]
0.4
1
4
0.059336
false
14
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.05264076590538025, -0.08181977272033691, 0.06857436895370483, 0.021764684468507767, 0.18559567630290985, -0.056540943682193756, 0 ]
0.5
1
5
0.076365
false
15
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.06862711906433105, -0.07507443428039551, 0.06970834732055664, 0.005151003133505583, 0.1570015549659729, -0.04064955189824104, 0 ]
0.6
1
6
0.177332
false
16
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.06683680415153503, 0.07712656259536743, -0.012261748313903809, -0.08094335347414017, -0.12444919347763062, 0.09185181558132172, 0 ]
0.7
1
7
0.016429
false
17
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.019385725259780884, -0.07420209050178528, 0.06734836101531982, 0.010602542199194431, 0.09836717694997787, -0.043006930500268936, 0 ]
0.8
1
8
0.103554
false
18
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.06290245056152344, -0.06202864646911621, -0.07631951570510864, 0.21354450285434723, 0.06063877418637276, -0.0787568986415863, 0 ]
0.9
1
9
0
true
19
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.24060127139091492, -0.38161391019821167, -0.30892664194107056, 0.6938390135765076, -0.05405303090810776, -0.6299150586128235, 1 ]
0
2
0
0
false
20
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.036575257778167725, -0.005618244409561157, -0.0103379487991333, -0.022983726114034653, 0.054461367428302765, 0.00532135833054781, 1 ]
0.1
2
1
0.203191
false
21
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0194147527217865, -0.014773666858673096, 0.0062698423862457275, 0.04278353229165077, 0.02546505816280842, -0.009790880605578423, 1 ]
0.2
2
2
0.588965
false
22
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.01361796259880066, 0.009658098220825195, -0.0010323524475097656, 0.015572510659694672, -0.02366180345416069, -0.012400929816067219, 0 ]
0.3
2
3
0.754826
false
23
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.007125377655029297, -0.0015605390071868896, -0.004126220941543579, -0.0357711985707283, 0.018328165635466576, 0.0046283588744699955, 0 ]
0.4
2
4
0.696725
false
24
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.003538668155670166, -0.004386544227600098, -0.0005452334880828857, -0.008464855141937733, 0.008623214438557625, -0.0010212470078840852, 0 ]
0.5
2
5
0.721567
false
25
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.005884885787963867, -0.0023353099822998047, 0.0062660276889801025, 0.03878996893763542, -0.014120137318968773, -0.006393740884959698, 0 ]
0.6
2
6
0.751309
false
26
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.010308533906936646, 0.009571254253387451, -0.00046962499618530273, 0.014055386185646057, -0.01769491471350193, -0.005933013744652271, 0 ]
0.7
2
7
0.744909
false
27
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.019991517066955566, -0.01214897632598877, -0.002712458372116089, -0.03996014595031738, 0.032590243965387344, 0.008746788837015629, 0 ]
0.8
2
8
0.675257
false
28
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.007885187864303589, 0.00028705596923828125, 0.004364341497421265, 0.026959985494613647, -0.014064863324165344, -0.002717123134061694, 0 ]
0.9
2
9
0.762045
true
29
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.462714821100235, 0.31523391604423523, -0.07272851467132568, 0.07824615389108658, -0.016035163775086403, 0.01714440807700157, 1 ]
0
3
0
0
false
30
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.033008456230163574, 0.011403262615203857, 0.000835418701171875, -0.0018227421678602695, 0.004561358131468296, -0.009767848998308182, 1 ]
0.1
3
1
0.00755
false
31
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.02054154872894287, 0.05373963713645935, 0.045282065868377686, -0.17346228659152985, -0.014173210598528385, 0.08973224461078644, 1 ]
0.2
3
2
0.021291
false
32
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.04482847452163696, -0.006095141172409058, 0.027564048767089844, -0.00880812294781208, 0.03436267375946045, -0.04838240146636963, 0 ]
0.3
3
3
0.030596
false
33
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.04574787616729736, 0.0445825457572937, 0.03178441524505615, -0.09282945096492767, -0.020937984809279442, 0.032511115074157715, 0 ]
0.4
3
4
0
false
34
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.06803137063980103, -0.08681392669677734, -0.038942575454711914, 0.1526196002960205, 0.04648282006382942, -0.063439279794693, 0 ]
0.5
3
5
0
false
35
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.016451120376586914, 0.03756624460220337, 0.02443593740463257, -0.11099893599748611, -0.028811968863010406, 0.08390189707279205, 0 ]
0.6
3
6
0.021644
false
36
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.003829360008239746, 0.022795438766479492, 0.006938815116882324, -0.05216098576784134, -0.018570221960544586, 0.03553897887468338, 0 ]
0.7
3
7
0.037218
false
37
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.033464014530181885, -0.056901901960372925, -0.04679834842681885, 0.12184382975101471, 0.03305231034755707, -0.095612071454525, 0 ]
0.8
3
8
0.017682
false
38
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.006872057914733887, 0.024853646755218506, -0.030395984649658203, -0.015446625649929047, 0.014928225427865982, 0.011150693520903587, 0 ]
0.9
3
9
0.017137
true
39
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.23869091272354126, -0.3803161680698395, -0.3034476935863495, 0.6908006072044373, -0.06165960058569908, -0.6251083016395569, 1 ]
0
4
0
0
false
40
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0345364511013031, 0.0045754313468933105, -0.0050678551197052, -0.011500587686896324, 0.03612030670046806, 0.012432371266186237, 1 ]
0.1
4
1
0.164375
false
41
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.01720494031906128, -0.0038318932056427, 0.005487412214279175, 0.027303196489810944, 0.013465158641338348, 0.009959843941032887, 1 ]
0.2
4
2
0.477762
false
42
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.004385501146316528, -0.003043532371520996, -0.003123939037322998, -0.00517498143017292, 0.0003207663248758763, -0.007239446509629488, 0 ]
0.3
4
3
0.661938
false
43
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02375030517578125, -0.019855409860610962, 0.029770225286483765, -0.03967621922492981, 0.05276769772171974, 0.024978669360280037, 0 ]
0.4
4
4
0.665083
false
44
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.022069692611694336, 0.02859845757484436, 0.05430859327316284, -0.07683326303958893, -0.020680874586105347, 0.026478145271539688, 0 ]
0.5
4
5
0.731353
false
45
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02612292766571045, -0.013241231441497803, 0.030616402626037598, -0.04596700519323349, 0.049947697669267654, 0.0055723912082612514, 0 ]
0.6
4
6
0.671757
false
46
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.014185875654220581, -0.02627849578857422, -0.01840001344680786, 0.019236156716942787, 0.049634456634521484, -0.04316405579447746, 0 ]
0.7
4
7
0.679194
false
47
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.014607757329940796, -0.019905000925064087, -0.028745591640472412, 0.034332275390625, 0.04346056655049324, -0.03798653557896614, 0 ]
0.8
4
8
0.664715
false
48
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.016321033239364624, -0.012178689241409302, 0.024737834930419922, -0.03613436594605446, 0.039614979177713394, 0.021106010302901268, 0 ]
0.9
4
9
0.669073
true
49
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.27584004402160645, 0.3356817364692688, -0.23620009422302246, 0.8653648495674133, 0.43340593576431274, 5.381587028503418, 1 ]
0
5
0
0
false
50
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.06763777136802673, 0.02780437469482422, 0.008590638637542725, -0.08157474547624588, -0.09397836029529572, -0.01927984692156315, 1 ]
0.1
5
1
0.011485
false
51
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.020294606685638428, 0.06257027387619019, 0.06546181440353394, -0.028944769874215126, -0.12595872581005096, 0.03496430814266205, 1 ]
0.2
5
2
0.001227
false
52
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.059296995401382446, 0.041352778673172, 0.054570794105529785, -0.041987791657447815, -0.10188091546297073, 0.0295304786413908, 0 ]
0.3
5
3
0
false
53
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.041427403688430786, 0.018492460250854492, 0.034110426902770996, -0.040446069091558456, -0.08430704474449158, -6.269991874694824, 0 ]
0.4
5
4
0
false
54
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0438351035118103, 0.025769025087356567, -0.10601520538330078, 0.13180094957351685, 0.007033478002995253, 0.015989797189831734, 0 ]
0.5
5
5
0
false
55
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.050740957260131836, -0.09830731153488159, 0.045864224433898926, -0.06180603429675102, 0.12240659445524216, 6.216137409210205, 0 ]
0.6
5
6
0
false
56
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.010679483413696289, 0.01761344075202942, -0.04989969730377197, 0.05843820050358772, 0.0009755536448210478, 0.03519259765744209, 0 ]
0.7
5
7
0
false
57
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.008201956748962402, -0.028224408626556396, 0.041320979595184326, -0.03168044239282608, 0.0014983720611780882, -0.0008307002135552466, 0 ]
0.8
5
8
0
false
58
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.05993545055389404, -0.061724722385406494, -0.06599736213684082, 0.044226765632629395, 0.22674837708473206, -0.07602206617593765, 0 ]
0.9
5
9
0
true
59
1
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.4574289917945862, 0.308650940656662, -0.05160403251647949, 0.0782875046133995, -0.0337546207010746, 0.01822330243885517, 1 ]
0
6
0
0
false
60
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02318340539932251, 0.007951527833938599, -0.0015010833740234375, -0.010252703912556171, 0.019772298634052277, -0.0008167700725607574, 1 ]
0.1
6
1
0.070356
false
61
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.001266777515411377, -0.023076623678207397, -0.004560410976409912, 0.023013602942228317, 0.034054018557071686, -0.04080675542354584, 1 ]
0.2
6
2
0.093434
false
62
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0036186575889587402, -0.015138328075408936, -0.005216777324676514, 0.01667974330484867, 0.010988798923790455, -0.044656068086624146, 0 ]
0.3
6
3
0.078365
false
63
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0070945024490356445, -0.005366772413253784, -0.002181112766265869, 0.011604068800807, 0.0035452849697321653, -0.01991881988942623, 0 ]
0.4
6
4
0.076345
false
64
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.02373826503753662, -0.01155833899974823, 0.02094268798828125, 0.011001328937709332, -0.027296945452690125, 0.008441565558314323, 0 ]
0.5
6
5
0.100091
false
65
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.004790365695953369, 0.053507670760154724, 0.04291635751724243, -0.14908073842525482, -0.009212116710841656, 0.1236366406083107, 0 ]
0.6
6
6
0.07345
false
66
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.005151569843292236, -0.07332512736320496, 0.04884064197540283, -0.005165062844753265, 0.07544079422950745, -0.062439966946840286, 0 ]
0.7
6
7
0.093207
false
67
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0008615851402282715, -0.06498254835605621, 0.037757158279418945, -0.006134416908025742, 0.0658765435218811, -0.040038809180259705, 0 ]
0.8
6
8
0
false
68
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.04385489225387573, 0.10066266357898712, -0.059229910373687744, 0.04209626466035843, -0.1228717714548111, 0.011133982799947262, 0 ]
0.9
6
9
0
true
69
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.4621911644935608, 0.3105202913284302, -0.07928115129470825, 0.10030025988817215, -0.029305454343557358, 0.005130002740770578, 1 ]
0
7
0
0
false
70
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02184295654296875, 0.006774425506591797, 0.0009233355522155762, -0.0006922255852259696, 0.009671537205576897, 0.0011537843383848667, 1 ]
0.1
7
1
0.039781
false
71
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.09058642387390137, 0.07363778352737427, 0.07235628366470337, -0.17659561336040497, -0.011024901643395424, 0.038254447281360626, 1 ]
0.2
7
2
0.016001
false
72
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.08176001906394958, 0.07637235522270203, -0.07941824197769165, -0.009048506617546082, -0.08614012598991394, 0.07456127554178238, 0 ]
0.3
7
3
0
false
73
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0582105815410614, 0.04468411207199097, -0.0641559362411499, -0.011441148817539215, -0.055512696504592896, 0.03131697699427605, 0 ]
0.4
7
4
0
false
74
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.04272276163101196, 0.017230451107025146, 0.04582315683364868, -0.11017551273107529, 0.02556406706571579, 0.0523417629301548, 0 ]
0.5
7
5
0
false
75
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0019780397415161133, 0.003940284252166748, 0.04229378700256348, -0.07101864367723465, 0.010371167212724686, 0.01766304112970829, 0 ]
0.6
7
6
0
false
76
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.0914933979511261, 0.01947343349456787, 0.05312222242355347, -0.08093413710594177, 0.024776697158813477, -0.029279248788952827, 0 ]
0.7
7
7
0
false
77
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.042219728231430054, 0.016582965850830078, -0.10340309143066406, 0.10224728286266327, -0.07285640388727188, 0.03414980322122574, 0 ]
0.8
7
8
0
false
78
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.07974916696548462, -0.09885859489440918, -0.08368146419525146, 0.23616436123847961, 0.044801484793424606, -0.11678826063871384, 0 ]
0.9
7
9
0
true
79
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.23268753290176392, -0.3840005099773407, -0.3041679263114929, 0.7076843976974487, 0.327515572309494, 5.31419038772583, 1 ]
0
8
0
0
false
80
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.022325366735458374, 0.017225444316864014, -0.0006790459156036377, -0.01625990681350231, -0.004863864276558161, 0.022245919331908226, 1 ]
0.1
8
1
0.179569
false
81
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.013595789670944214, 0.0063870251178741455, -0.0007117092609405518, 0.006652293261140585, -0.0174351055175066, -0.007451698649674654, 1 ]
0.2
8
2
0.371323
false
82
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0035406649112701416, -0.006851226091384888, 0.007388502359390259, 0.037153460085392, 0.009054679423570633, 0.004328118171542883, 0 ]
0.3
8
3
0.246259
false
83
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.018237292766571045, -0.003653615713119507, 0.0023073554039001465, 0.0008274753345176578, 0.01525498740375042, 0.013828955590724945, 0 ]
0.4
8
4
0.251898
false
84
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.01944577693939209, -0.002751082181930542, 0.034449368715286255, -0.08377686887979507, 0.0034909402020275593, 0.005348586477339268, 0 ]
0.5
8
5
0.412148
false
85
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02486857771873474, -0.02463027834892273, 0.03676915168762207, -0.07522062212228775, 0.04367614537477493, -0.007146361283957958, 0 ]
0.6
8
6
0.405425
false
86
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.022694945335388184, -0.02061322331428528, 0.029285430908203125, -0.0648217648267746, 0.034678563475608826, -0.013389699161052704, 0 ]
0.7
8
7
0.290045
false
87
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.018527209758758545, -0.015063643455505371, 0.023838341236114502, -0.0539868101477623, 0.022287102416157722, -0.016834629699587822, 0 ]
0.8
8
8
0.267828
false
88
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.012942075729370117, 0.035827189683914185, 0.030915796756744385, -0.01809384487569332, -0.05531342700123787, 0.0071050082333385944, 0 ]
0.9
8
9
0.273737
true
89
2
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.46191269159317017, 0.30750203132629395, -0.07311028242111206, 0.09522528946399689, -0.025533901527523994, 0.00855802372097969, 1 ]
0
9
0
0
false
90
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.022927165031433105, 0.012029886245727539, 0.002234518527984619, -0.008354009129106998, 0.008340248838067055, 0.015031879767775536, 1 ]
0.1
9
1
0.012435
false
91
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.040182411670684814, -0.04795220494270325, 0.0572432279586792, 0.0025780124124139547, 0.07120514661073685, -0.06888570636510849, 1 ]
0.2
9
2
0.012349
false
92
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.02952754497528076, -0.05873844027519226, -0.0098419189453125, 0.05425937846302986, 0.06964249163866043, -0.020919514819979668, 0 ]
0.3
9
3
0.051976
false
93
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.036439597606658936, 0.09711247682571411, -0.06914156675338745, 0.0008887270232662559, -0.12811972200870514, 0.04476714879274368, 0 ]
0.4
9
4
0
false
94
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.04165315628051758, 0.06240442395210266, 0.05527389049530029, -0.188712939620018, -0.017357472330331802, 0.09931311011314392, 0 ]
0.5
9
5
0.000794
false
95
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.017852067947387695, -0.0039037764072418213, 0.0372316837310791, -0.07403434067964554, 0.007819288410246372, 0.02600656822323799, 0 ]
0.6
9
6
0
false
96
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.008460283279418945, -0.026161223649978638, 0.02539306879043579, -0.01686914451420307, 0.02220292203128338, -0.01089448668062687, 0 ]
0.7
9
7
0.012035
false
97
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0.0009884238243103027, 0.024449795484542847, -0.06286710500717163, 0.0661909207701683, -0.04087675362825394, -0.018429463729262352, 0 ]
0.8
9
8
0.014444
false
98
0
[ 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.052068233489990234, -0.054710984230041504, -0.07176023721694946, 0.1948835253715515, 0.04369259998202324, -0.12615534663200378, 0 ]
0.9
9
9
0
true
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": "unknown",
    "total_episodes": 199,
    "total_frames": 1990,
    "total_tasks": 3,
    "total_videos": 398,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:199"
    },
    "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.images.image": {
            "dtype": "video",
            "shape": [
                64,
                64,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.highres_image": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

@inproceedings{mendonca2023structured,
    title={Structured World Models from Human Videos},
    author={Mendonca, Russell  and Bahl, Shikhar and Pathak, Deepak},
    journal={RSS},
    year={2023}
}
Downloads last month
320
Edit dataset card
Homepage:
human-world-model.github.io
Paper:
arxiv.org
License:
mit
Size of downloaded dataset files:
1.12 MB
Size of the auto-converted Parquet files:
1.12 MB
Number of rows:
1,990