Datasets:

pepijn223
/

robocasa_pretrain_human300_v4

action list	observation.state list	timestamp float32	frame_index int64	index int64	language_persistent list	language_events list
[ -0.08571428805589676, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24901632964611053, -0.0029917447827756405, 0.5877530574798584, -0.9918653964996338, -0.0350436270236969, -0.11837500333786011, 0.031022191047668457, 0.8227037787437439, -2.4985649585723877, 0.7000000476837158, 0, 0, -1, 9.53515240098568e-8, 0.020566310733556747, -0.020500248298048973...	0	0	0	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.27142858505249023, 0, 0, 0, -0.051428571343421936, 0.037142857909202576, -1, 0, 0, 0, 0, -1 ]	[ 0.24849216639995575, -0.003045778488740325, 0.5878096222877502, -0.9919113516807556, -0.03493310511112213, -0.11802425980567932, 0.031012358143925667, 0.8227021098136902, -2.498565435409546, 0.7000004649162292, 0, 0, -1, 0.000004183986675343476, 0.021407781168818474, -0.021321203559637...	0.05	1	1	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.27142858505249023, -0.12857143580913544, 0, 0, -0.09142857044935226, 0.034285712987184525, -1, 0, 0, 0, 0, -1 ]	[ 0.24662581086158752, -0.0029499621596187353, 0.5885705947875977, -0.9918553829193115, -0.03615573048591614, -0.1180986687541008, 0.03111806884407997, 0.8226984739303589, -2.4985642433166504, 0.7000012993812561, 0, 0, -1, 4.2065374827870983e-7, 0.02351095899939537, -0.02339974418282509 ...	0.1	2	2	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, -0.02142857201397419, 0, -0.025714285671710968, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24399511516094208, -0.003685812931507826, 0.5900343060493469, -0.9915642738342285, -0.037953197956085205, -0.11999734491109848, 0.03098972700536251, 0.822700560092926, -2.498573064804077, 0.7000027298927307, 0, 0, -1, 0.00001311235610046424, 0.02641710825264454, -0.026345375925302505...	0.15	3	3	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, 0, 0, -0.051428571343421936, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24252592027187347, -0.004398517310619354, 0.5905126333236694, -0.9912302494049072, -0.03907400369644165, -0.12237391620874405, 0.03099251165986061, 0.8227086663246155, -2.498561382293701, 0.7000042200088501, 0, 0, 1, 0.0000015771621519888868, 0.02982548624277115, -0.02973140776157379...	0.2	4	4	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.02142857201397419, 0, 0.1785714328289032, 0, -0.18857142329216003, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24223600327968597, -0.0046601928770542145, 0.5905819535255432, -0.9908543229103088, -0.03947050869464874, -0.12525546550750732, 0.030996399000287056, 0.8227052092552185, -2.498563289642334, 0.7000036835670471, 0, 0, -1, 8.510281759299687e-7, 0.033494316041469574, -0.03338633477687836...	0.25	5	5	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.15714286267757416, 0, 0.37142857909202576, 0, -0.2314285784959793, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24249891936779022, -0.004821405280381441, 0.5929983258247375, -0.98987877368927, -0.039812251925468445, -0.13269884884357452, 0.030757706612348557, 0.8227006196975708, -2.4985647201538086, 0.7000001668930054, 0, 0, -1, 0.000002484859123796923, 0.03593342751264572, -0.0358189679682254...	0.3	6	6	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.24285714328289032, -0.02142857201397419, 0.6071428656578064, 0, -0.27142858505249023, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.24189497530460358, -0.004946163855493069, 0.5978650450706482, -0.9883198142051697, -0.04030315577983856, -0.14380933344364166, 0.03030790388584137, 0.8226979374885559, -2.498565196990967, 0.6999993324279785, 0, 0, -1, 0.0000030274484288383974, 0.03731275349855423, -0.0371913462877273...	0.35	7	7	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.3142857253551483, 0, 0.6571428775787354, 0, -0.25999999046325684, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.23980580270290375, -0.005179852247238159, 0.6052172183990479, -0.9861857891082764, -0.040826112031936646, -0.1577702760696411, 0.029650701209902763, 0.8226980566978455, -2.4985666275024414, 0.6999986171722412, 0, 0, -1, 0.000004874413662037114, 0.038081277161836624, -0.03796375542879...	0.4	8	8	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.44285714626312256, 0, 0.7571428418159485, 0, -0.3199999928474426, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.23629847168922424, -0.00534400949254632, 0.6136975288391113, -0.9837315082550049, -0.04140974581241608, -0.1723937839269638, 0.028947550803422928, 0.822700560092926, -2.4985644817352295, 0.6999990940093994, 0, 0, -1, 0.0000018413355746815796, 0.03851354122161865, -0.03839331492781639...	0.45	9	9	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.44999998807907104, -0.0714285746216774, 0.8357142806053162, 0, -0.3028571307659149, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.23144318163394928, -0.005422526970505714, 0.6235967874526978, -0.9807567596435547, -0.04205261170864105, -0.18856021761894226, 0.028154613450169563, 0.8226989507675171, -2.498565435409546, 0.6999989748001099, 0, 0, -1, 0.000003271909008617513, 0.03875281289219856, -0.0386357866227626...	0.5	10	10	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.41428571939468384, -0.1428571492433548, 0.7142857313156128, 0, -0.22857142984867096, -0.017142856493592262, -1, 0, 0, 0, 0, -1 ]	[ 0.22557033598423004, -0.005902010947465897, 0.6342559456825256, -0.9773399829864502, -0.04247139394283295, -0.20558777451515198, 0.027134867385029793, 0.8227019906044006, -2.4985690116882324, 0.6999989748001099, 0, 0, -1, 0.000007731648111075629, 0.0388721227645874, -0.0387859605252742...	0.55	11	11	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.41428571939468384, -0.15000000596046448, 0.7357142567634583, 0, -0.2257142812013626, -0.019999999552965164, -1, 0, 0, 0, 0, -1 ]	[ 0.21945784986019135, -0.007162547204643488, 0.6436552405357361, -0.974140465259552, -0.042017921805381775, -0.22047540545463562, 0.025989994406700134, 0.8227059841156006, -2.498570680618286, 0.6999998092651367, 0, 0, -1, 0.000009876118383544963, 0.03892860934138298, -0.0388802513480186...	0.6	12	12	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.3857142925262451, -0.13571429252624512, 0.5928571224212646, 0, -0.21714285016059875, -0.019999999552965164, -1, 0, 0, 0, 0, -1 ]	[ 0.21351689100265503, -0.00887533463537693, 0.6525744795799255, -0.9709272980690002, -0.04101449251174927, -0.23451779782772064, 0.024885989725589752, 0.8227047920227051, -2.4985673427581787, 0.6999991536140442, 0, 0, -1, 0.000004728102339868201, 0.038975585252046585, -0.038931582123041...	0.65	13	13	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.3642857074737549, -0.17142857611179352, 0.5785714387893677, 0, -0.18285714089870453, -0.034285712987184525, -1, 0, 0, 0, 0, -1 ]	[ 0.20786753296852112, -0.010613812133669853, 0.6607171893119812, -0.9677668213844299, -0.03997379541397095, -0.24750341475009918, 0.02390340156853199, 0.8227057456970215, -2.4985649585723877, 0.6999997496604919, 0, 0, -1, 0.0000018182779513153946, 0.039020732045173645, -0.03897623717784...	0.7	14	14	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.33571428060531616, -0.22142857313156128, 0.4928571283817291, 0, -0.1428571492433548, -0.02857142873108387, -1, 0, 0, 0, 0, -1 ]	[ 0.20256932079792023, -0.012613230384886265, 0.6680062413215637, -0.9647600650787354, -0.03836417198181152, -0.25931432843208313, 0.02285362221300602, 0.8227055072784424, -2.498567581176758, 0.6999996304512024, 0, 0, -1, 0.000005967882771074073, 0.03906303644180298, -0.03901984170079231...	0.75	15	15	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.2928571403026581, -0.24285714328289032, 0.3499999940395355, -0.011428571306169033, -0.09714286029338837, -0.017142856493592262, -1, 0, 0, 0, 0, -1 ]	[ 0.19760678708553314, -0.015049011446535587, 0.6742412447929382, -0.9621119499206543, -0.036376893520355225, -0.2693372666835785, 0.021790500730276108, 0.8227059841156006, -2.498568058013916, 0.6999997496604919, 0, 0, -1, 0.000005034677542425925, 0.03910314291715622, -0.0390619561076164...	0.8	16	16	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.2785714268684387, -0.20714285969734192, 0.2785714268684387, -0.03142857179045677, -0.10857142508029938, -0.019999999552965164, -1, 0, 0, 0, 0, -1 ]	[ 0.19316306710243225, -0.01783987320959568, 0.6789127588272095, -0.9600607752799988, -0.03480732440948486, -0.2768535315990448, 0.0205864105373621, 0.8227066993713379, -2.4985663890838623, 0.700000524520874, 0, 0, -1, 0.0000025170095341309207, 0.039141520857810974, -0.03910226747393608 ...	0.85	17	17	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.12142857164144516, -0.06428571790456772, 0.1428571492433548, -0.051428571343421936, -0.06857142597436905, -0.03142857179045677, -1, 0, 0, 0, 0, -1 ]	[ 0.18920424580574036, -0.02067537233233452, 0.6828080415725708, -0.9582326412200928, -0.03388664126396179, -0.28335973620414734, 0.018684446811676025, 0.8227050304412842, -2.498563528060913, 0.700000524520874, 0, 0, -1, 6.876265956634597e-7, 0.03917884826660156, -0.0391402542591095 ]	0.9	18	18	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ -0.09285714477300644, 0, 0.0071428571827709675, -0.0771428570151329, -0.03999999910593033, -0.034285712987184525, -1, 0, 0, 0, 0, -1 ]	[ 0.1864306479692459, -0.022624146193265915, 0.6853304505348206, -0.9568459391593933, -0.03347069025039673, -0.2882271111011505, 0.015833726152777672, 0.8227084279060364, -2.498556613922119, 0.7000012993812561, 0, 0, 1, 0.000006024195954523748, 0.03921639919281006, -0.03917479142546654 ]	0.95	19	19	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, 0, -0.12857143580913544, 0, -0.014285714365541935, -1, 0, 0, 0, 0, -1 ]	[ 0.18472330272197723, -0.02352810464799404, 0.6862221360206604, -0.9561135768890381, -0.0332789421081543, -0.2908652722835541, 0.01168838795274496, 0.8227065801620483, -2.4985580444335938, 0.7000027298927307, 0, 0, 1, 0.0000028317381293163635, 0.03925192728638649, -0.03920827805995941 ]	1	20	20	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, 0, -0.13428571820259094, 0, -0.0028571428265422583, -1, 0, 0, 0, 0, -1 ]	[ 0.18395103514194489, -0.0238860584795475, 0.6860815286636353, -0.9558249711990356, -0.034062981605529785, -0.2919074594974518, 0.0053281462751328945, 0.8227070569992065, -2.4985599517822266, 0.7000023126602173, 0, 0, 1, 0.0000013767469226877438, 0.039284560829401016, -0.039241712540388...	1.05	21	21	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, -0.10000000149011612, -0.1428571492433548, 0, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.18374286592006683, -0.023973993957042694, 0.6857213973999023, 0.9556500911712646, 0.03588607907295227, 0.2922999858856201, 0.0024057761766016483, 0.8227049112319946, -2.498563051223755, 0.7000014185905457, 0, 0, -1, 5.943894620941137e-7, 0.03931497037410736, -0.03927455097436905 ]	1.1	22	22	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
[ 0, 0, -0.1428571492433548, -0.1599999964237213, 0, 0, -1, 0, 0, 0, 0, -1 ]	[ 0.18367090821266174, -0.02398669719696045, 0.6849088072776794, 0.9556589722633362, 0.03822246193885803, 0.2917908728122711, 0.010629898868501186, 0.8227044343948364, -2.4985647201538086, 0.7000022530555725, 0, 0, -1, 0.0000022538019948115107, 0.039343032985925674, -0.03930703550577164 ...	1.15	23	23	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]
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[ 0.30714285373687744, 0, -0.07857143133878708, 0, 0, -0.04857143014669418, -1, 0, 0, 0, 0, -1 ]	[ 0.32567939162254333, -0.06037019565701485, 0.6073882579803467, -0.7954767942428589, 0.21539366245269775, -0.41920018196105957, 0.38091129064559937, 0.8227022886276245, -2.4985671043395996, 0.7000024914741516, 0, 0, -1, 0.000005137038442626363, 0.04003246873617172, -0.03928963467478752 ...	4.95	99	99	[ { "role": "assistant", "content": "1. turn toaster oven knob", "style": "plan", "timestamp": 0, "camera": null, "tool_calls": null }, { "role": "assistant", "content": "turn toaster oven knob", "style": "subtask", "timestamp": 0, "camera": null, "tool_calls": null...	[]

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
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    "fps": 20,
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    "total_episodes": 32043,
    "total_frames": 29106226,
    "total_tasks": 4740,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
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    "robot_type": "robocasa",
    "splits": {
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}

Citation

BibTeX:

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Models trained or fine-tuned on pepijn223/robocasa_pretrain_human300_v4