Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale
Paper • 2509.14932 • Published
Datasets:
Search is not available for this dataset
image imagewidth (px) 256 256 | image_wrist imagewidth (px) 256 256 | state list | actions list | timestamp float32 0 41.3 | frame_index int64 0 413 | episode_index int64 0 134 | index int64 0 34.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
[
0.10542873293161392,
-0.8548981547355652,
-0.011129123158752918,
-2.4176254272460938,
-0.0075980727560818195,
1.5714677572250366,
0.9051952958106995,
0
] | [
0.10543107986450195,
-0.8548959493637085,
-0.011127077974379063,
-2.4176254272460938,
-0.0075980727560818195,
1.5714693069458008,
0.9051961898803711,
0
] | 0 | 0 | 0 | 0 | 0 | ||
[
0.10543107986450195,
-0.8548959493637085,
-0.011127077974379063,
-2.4176254272460938,
-0.0075980727560818195,
1.5714693069458008,
0.9051961898803711,
0
] | [
0.10542486608028412,
-0.8548874855041504,
-0.011127707548439503,
-2.4176383018493652,
-0.0075941504910588264,
1.5717213153839111,
0.9065312147140503,
0
] | 0.1 | 1 | 0 | 1 | 0 | ||
[
0.10542486608028412,
-0.8548874855041504,
-0.011127707548439503,
-2.4176383018493652,
-0.0075941504910588264,
1.5717213153839111,
0.9065312147140503,
0
] | [
0.10538385808467865,
-0.8544098138809204,
-0.011188956908881664,
-2.4176185131073,
-0.006900919135659933,
1.5738317966461182,
0.9157721996307373,
0
] | 0.2 | 2 | 0 | 2 | 0 | ||
[
0.10538385808467865,
-0.8544098138809204,
-0.011188956908881664,
-2.4176185131073,
-0.006900919135659933,
1.5738317966461182,
0.9157721996307373,
0
] | [
0.10535044968128204,
-0.8528645038604736,
-0.011299978941679,
-2.417682409286499,
-0.00577044952660799,
1.5784437656402588,
0.9341606497764587,
0
] | 0.3 | 3 | 0 | 3 | 0 | ||
[
0.10535044968128204,
-0.8528645038604736,
-0.011299978941679,
-2.417682409286499,
-0.00577044952660799,
1.5784437656402588,
0.9341606497764587,
0
] | [
0.10533326864242554,
-0.8501445651054382,
-0.011367503553628922,
-2.418020248413086,
-0.005220041610300541,
1.5856705904006958,
0.956351101398468,
0
] | 0.4 | 4 | 0 | 4 | 0 | ||
[
0.10533326864242554,
-0.8501445651054382,
-0.011367503553628922,
-2.418020248413086,
-0.005220041610300541,
1.5856705904006958,
0.956351101398468,
0
] | [
0.10494797676801682,
-0.8468253016471863,
-0.0114830257371068,
-2.4188106060028076,
-0.005221064668148756,
1.5977747440338135,
0.9886710047721863,
0
] | 0.5 | 5 | 0 | 5 | 0 | ||
[
0.10494797676801682,
-0.8468253016471863,
-0.0114830257371068,
-2.4188106060028076,
-0.005221064668148756,
1.5977747440338135,
0.9886710047721863,
0
] | [
0.1042131632566452,
-0.8431379795074463,
-0.011772511526942253,
-2.4212396144866943,
-0.0052934205159544945,
1.6155411005020142,
1.0301228761672974,
0
] | 0.6 | 6 | 0 | 6 | 0 | ||
[
0.1042131632566452,
-0.8431379795074463,
-0.011772511526942253,
-2.4212396144866943,
-0.0052934205159544945,
1.6155411005020142,
1.0301228761672974,
0
] | [
0.10306335985660553,
-0.8392458558082581,
-0.012043995782732964,
-2.426285743713379,
-0.005413021892309189,
1.6367743015289307,
1.077745795249939,
0
] | 0.7 | 7 | 0 | 7 | 0 | ||
[
0.10306335985660553,
-0.8392458558082581,
-0.012043995782732964,
-2.426285743713379,
-0.005413021892309189,
1.6367743015289307,
1.077745795249939,
0
] | [
0.10177964717149734,
-0.8365139365196228,
-0.01211769413203001,
-2.433087110519409,
-0.005716220010071993,
1.657139539718628,
1.1207746267318726,
0
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
0.10177964717149734,
-0.8365139365196228,
-0.01211769413203001,
-2.433087110519409,
-0.005716220010071993,
1.657139539718628,
1.1207746267318726,
0
] | [
0.0997399166226387,
-0.8345769047737122,
-0.012145391665399075,
-2.441445827484131,
-0.00579827418550849,
1.6801186800003052,
1.170009970664978,
0
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
0.0997399166226387,
-0.8345769047737122,
-0.012145391665399075,
-2.441445827484131,
-0.00579827418550849,
1.6801186800003052,
1.170009970664978,
0
] | [
0.09722096472978592,
-0.8335710167884827,
-0.012164480984210968,
-2.451831102371216,
-0.00581882381811738,
1.7035443782806396,
1.2183667421340942,
0
] | 1 | 10 | 0 | 10 | 0 | ||
[
0.09722096472978592,
-0.8335710167884827,
-0.012164480984210968,
-2.451831102371216,
-0.00581882381811738,
1.7035443782806396,
1.2183667421340942,
0
] | [
0.09452414512634277,
-0.8334327936172485,
-0.012099902145564556,
-2.4625580310821533,
-0.005803024396300316,
1.7261990308761597,
1.262804388999939,
0
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
0.09452414512634277,
-0.8334327936172485,
-0.012099902145564556,
-2.4625580310821533,
-0.005803024396300316,
1.7261990308761597,
1.262804388999939,
0
] | [
0.09130607545375824,
-0.8334793448448181,
-0.01198105700314045,
-2.473491668701172,
-0.005809237249195576,
1.748934030532837,
1.3067641258239746,
0
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
0.09130607545375824,
-0.8334793448448181,
-0.01198105700314045,
-2.473491668701172,
-0.005809237249195576,
1.748934030532837,
1.3067641258239746,
0
] | [
0.08800499886274338,
-0.8333912491798401,
-0.011910079047083855,
-2.4853827953338623,
-0.005800406914204359,
1.773285984992981,
1.3516119718551636,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
0.08800499886274338,
-0.8333912491798401,
-0.011910079047083855,
-2.4853827953338623,
-0.005800406914204359,
1.773285984992981,
1.3516119718551636,
0
] | [
0.08491054177284241,
-0.8332295417785645,
-0.011856669560074806,
-2.497612237930298,
-0.0057947225868701935,
1.7961739301681519,
1.3932772874832153,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
0.08491054177284241,
-0.8332295417785645,
-0.011856669560074806,
-2.497612237930298,
-0.0057947225868701935,
1.7961739301681519,
1.3932772874832153,
0
] | [
0.08220520615577698,
-0.8326160907745361,
-0.011837980709969997,
-2.5098299980163574,
-0.005536308977752924,
1.8200825452804565,
1.4345818758010864,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
0.08220520615577698,
-0.8326160907745361,
-0.011837980709969997,
-2.5098299980163574,
-0.005536308977752924,
1.8200825452804565,
1.4345818758010864,
0
] | [
0.07953723520040512,
-0.8310427665710449,
-0.011906133964657784,
-2.523688554763794,
-0.00459126103669405,
1.8503875732421875,
1.4815829992294312,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
0.07953723520040512,
-0.8310427665710449,
-0.011906133964657784,
-2.523688554763794,
-0.00459126103669405,
1.8503875732421875,
1.4815829992294312,
0
] | [
0.0773579478263855,
-0.8282822966575623,
-0.011910981498658657,
-2.539433479309082,
-0.003622550517320633,
1.8821367025375366,
1.5281164646148682,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
0.0773579478263855,
-0.8282822966575623,
-0.011910981498658657,
-2.539433479309082,
-0.003622550517320633,
1.8821367025375366,
1.5281164646148682,
0
] | [
0.07567887753248215,
-0.8251981735229492,
-0.01188432052731514,
-2.5552468299865723,
-0.0030794490594416857,
1.9117892980575562,
1.571048378944397,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
0.07567887753248215,
-0.8251981735229492,
-0.01188432052731514,
-2.5552468299865723,
-0.0030794490594416857,
1.9117892980575562,
1.571048378944397,
0
] | [
0.07469924539327621,
-0.8212336301803589,
-0.011918422766029835,
-2.5715816020965576,
-0.0022493565920740366,
1.9442193508148193,
1.6162183284759521,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
0.07469924539327621,
-0.8212336301803589,
-0.011918422766029835,
-2.5715816020965576,
-0.0022493565920740366,
1.9442193508148193,
1.6162183284759521,
0
] | [
0.07426166534423828,
-0.8162911534309387,
-0.011877663433551788,
-2.5880260467529297,
-0.0009744484559632838,
1.9742512702941895,
1.6591321229934692,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.07426166534423828,
-0.8162911534309387,
-0.011877663433551788,
-2.5880260467529297,
-0.0009744484559632838,
1.9742512702941895,
1.6591321229934692,
0
] | [
0.07431553304195404,
-0.8105785250663757,
-0.011806424707174301,
-2.6032795906066895,
-0.00019515988242346793,
2.0022799968719482,
1.6991565227508545,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.07431553304195404,
-0.8105785250663757,
-0.011806424707174301,
-2.6032795906066895,
-0.00019515988242346793,
2.0022799968719482,
1.6991565227508545,
0
] | [
0.07429160922765732,
-0.8040971159934998,
-0.011511312797665596,
-2.6170859336853027,
0.000582212524022907,
2.029615879058838,
1.736677646636963,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.07429160922765732,
-0.8040971159934998,
-0.011511312797665596,
-2.6170859336853027,
0.000582212524022907,
2.029615879058838,
1.736677646636963,
0
] | [
0.07428787648677826,
-0.7959475517272949,
-0.011088824830949306,
-2.6299784183502197,
0.0020361540373414755,
2.054661273956299,
1.7704637050628662,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
0.07428787648677826,
-0.7959475517272949,
-0.011088824830949306,
-2.6299784183502197,
0.0020361540373414755,
2.054661273956299,
1.7704637050628662,
0
] | [
0.07437334209680557,
-0.7864665985107422,
-0.010530959814786911,
-2.6413047313690186,
0.0029800061602145433,
2.077972650527954,
1.8005545139312744,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
0.07437334209680557,
-0.7864665985107422,
-0.010530959814786911,
-2.6413047313690186,
0.0029800061602145433,
2.077972650527954,
1.8005545139312744,
0
] | [
0.07442067563533783,
-0.7761659026145935,
-0.009761531837284565,
-2.6501662731170654,
0.004938204772770405,
2.0988829135894775,
1.8257255554199219,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
0.07442067563533783,
-0.7761659026145935,
-0.009761531837284565,
-2.6501662731170654,
0.004938204772770405,
2.0988829135894775,
1.8257255554199219,
0
] | [
0.07440093904733658,
-0.7637447118759155,
-0.008993991650640965,
-2.6574013233184814,
0.008070488460361958,
2.118269681930542,
1.849533200263977,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
0.07440093904733658,
-0.7637447118759155,
-0.008993991650640965,
-2.6574013233184814,
0.008070488460361958,
2.118269681930542,
1.849533200263977,
0
] | [
0.07437998056411743,
-0.7507011890411377,
-0.008402397856116295,
-2.6617164611816406,
0.010792160406708717,
2.1336748600006104,
1.86932373046875,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
0.07437998056411743,
-0.7507011890411377,
-0.008402397856116295,
-2.6617164611816406,
0.010792160406708717,
2.1336748600006104,
1.86932373046875,
0
] | [
0.07448263466358185,
-0.7368007302284241,
-0.007816276513040066,
-2.663872241973877,
0.014205376617610455,
2.148587465286255,
1.8854416608810425,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
0.07448263466358185,
-0.7368007302284241,
-0.007816276513040066,
-2.663872241973877,
0.014205376617610455,
2.148587465286255,
1.8854416608810425,
0
] | [
0.07445080578327179,
-0.7207437753677368,
-0.00723633449524641,
-2.664600372314453,
0.018691711127758026,
2.1637473106384277,
1.9001350402832031,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
0.07445080578327179,
-0.7207437753677368,
-0.00723633449524641,
-2.664600372314453,
0.018691711127758026,
2.1637473106384277,
1.9001350402832031,
0
] | [
0.0743679404258728,
-0.705515444278717,
-0.0070058247074484825,
-2.6645307540893555,
0.022188762202858925,
2.1759870052337646,
1.9121869802474976,
0
] | 3 | 30 | 0 | 30 | 0 | ||
[
0.0743679404258728,
-0.705515444278717,
-0.0070058247074484825,
-2.6645307540893555,
0.022188762202858925,
2.1759870052337646,
1.9121869802474976,
0
] | [
0.07453959435224533,
-0.6895428895950317,
-0.006782826967537403,
-2.663748025894165,
0.02675393596291542,
2.188267469406128,
1.9196661710739136,
0
] | 3.1 | 31 | 0 | 31 | 0 | ||
[
0.07453959435224533,
-0.6895428895950317,
-0.006782826967537403,
-2.663748025894165,
0.02675393596291542,
2.188267469406128,
1.9196661710739136,
0
] | [
0.07453000545501709,
-0.6731889843940735,
-0.006527150049805641,
-2.6625022888183594,
0.032972052693367004,
2.2014520168304443,
1.9266324043273926,
0
] | 3.2 | 32 | 0 | 32 | 0 | ||
[
0.07453000545501709,
-0.6731889843940735,
-0.006527150049805641,
-2.6625022888183594,
0.032972052693367004,
2.2014520168304443,
1.9266324043273926,
0
] | [
0.07445859163999557,
-0.6575859189033508,
-0.006470956839621067,
-2.6603262424468994,
0.039441145956516266,
2.2119243144989014,
1.9330458641052246,
0
] | 3.3 | 33 | 0 | 33 | 0 | ||
[
0.07445859163999557,
-0.6575859189033508,
-0.006470956839621067,
-2.6603262424468994,
0.039441145956516266,
2.2119243144989014,
1.9330458641052246,
0
] | [
0.07464484870433807,
-0.6410212516784668,
-0.0063237156718969345,
-2.656975269317627,
0.046083033084869385,
2.223450183868408,
1.9355558156967163,
0
] | 3.4 | 34 | 0 | 34 | 0 | ||
[
0.07464484870433807,
-0.6410212516784668,
-0.0063237156718969345,
-2.656975269317627,
0.046083033084869385,
2.223450183868408,
1.9355558156967163,
0
] | [
0.07463780790567398,
-0.6233576536178589,
-0.006137858610600233,
-2.6524159908294678,
0.05448196455836296,
2.234801769256592,
1.9372307062149048,
0
] | 3.5 | 35 | 0 | 35 | 0 | ||
[
0.07463780790567398,
-0.6233576536178589,
-0.006137858610600233,
-2.6524159908294678,
0.05448196455836296,
2.234801769256592,
1.9372307062149048,
0
] | [
0.0746217742562294,
-0.6056176424026489,
-0.0061151981353759766,
-2.647810459136963,
0.06224234402179718,
2.245297431945801,
1.9374185800552368,
0
] | 3.6 | 36 | 0 | 36 | 0 | ||
[
0.0746217742562294,
-0.6056176424026489,
-0.0061151981353759766,
-2.647810459136963,
0.06224234402179718,
2.245297431945801,
1.9374185800552368,
0
] | [
0.07475502043962479,
-0.5880208015441895,
-0.00601405231282115,
-2.642467498779297,
0.06922900676727295,
2.255990743637085,
1.9373942613601685,
0
] | 3.7 | 37 | 0 | 37 | 0 | ||
[
0.07475502043962479,
-0.5880208015441895,
-0.00601405231282115,
-2.642467498779297,
0.06922900676727295,
2.255990743637085,
1.9373942613601685,
0
] | [
0.07528708130121231,
-0.568753182888031,
-0.005838453304022551,
-2.636132001876831,
0.07669275254011154,
2.2662954330444336,
1.937371850013733,
0
] | 3.8 | 38 | 0 | 38 | 0 | ||
[
0.07528708130121231,
-0.568753182888031,
-0.005838453304022551,
-2.636132001876831,
0.07669275254011154,
2.2662954330444336,
1.937371850013733,
0
] | [
0.07595639675855637,
-0.549538254737854,
-0.005649117287248373,
-2.629042625427246,
0.08260469138622284,
2.275176763534546,
1.9373719692230225,
0
] | 3.9 | 39 | 0 | 39 | 0 | ||
[
0.07595639675855637,
-0.549538254737854,
-0.005649117287248373,
-2.629042625427246,
0.08260469138622284,
2.275176763534546,
1.9373719692230225,
0
] | [
0.07656627148389816,
-0.5298177003860474,
-0.005106399301439524,
-2.6214160919189453,
0.08782849460840225,
2.2823901176452637,
1.937379002571106,
0
] | 4 | 40 | 0 | 40 | 0 | ||
[
0.07656627148389816,
-0.5298177003860474,
-0.005106399301439524,
-2.6214160919189453,
0.08782849460840225,
2.2823901176452637,
1.937379002571106,
0
] | [
0.0768871083855629,
-0.5079256892204285,
-0.00410108920186758,
-2.611845016479492,
0.09454363584518433,
2.2869489192962646,
1.9374674558639526,
0
] | 4.1 | 41 | 0 | 41 | 0 | ||
[
0.0768871083855629,
-0.5079256892204285,
-0.00410108920186758,
-2.611845016479492,
0.09454363584518433,
2.2869489192962646,
1.9374674558639526,
0
] | [
0.07685455679893494,
-0.485662579536438,
-0.0029448780696839094,
-2.600501775741577,
0.10035137087106705,
2.288771152496338,
1.9384636878967285,
0
] | 4.2 | 42 | 0 | 42 | 0 | ||
[
0.07685455679893494,
-0.485662579536438,
-0.0029448780696839094,
-2.600501775741577,
0.10035137087106705,
2.288771152496338,
1.9384636878967285,
0
] | [
0.07688535749912262,
-0.46301910281181335,
-0.001519840327091515,
-2.58801007270813,
0.10642426460981369,
2.2887625694274902,
1.940011978149414,
0
] | 4.3 | 43 | 0 | 43 | 0 | ||
[
0.07688535749912262,
-0.46301910281181335,
-0.001519840327091515,
-2.58801007270813,
0.10642426460981369,
2.2887625694274902,
1.940011978149414,
0
] | [
0.07690909504890442,
-0.4379858076572418,
0.0002824008697643876,
-2.572953701019287,
0.11434207111597061,
2.2883052825927734,
1.9418752193450928,
0
] | 4.4 | 44 | 0 | 44 | 0 | ||
[
0.07690909504890442,
-0.4379858076572418,
0.0002824008697643876,
-2.572953701019287,
0.11434207111597061,
2.2883052825927734,
1.9418752193450928,
0
] | [
0.07685207575559616,
-0.4128299355506897,
0.0019248907919973135,
-2.5572898387908936,
0.12069790065288544,
2.287569522857666,
1.9452223777770996,
0
] | 4.5 | 45 | 0 | 45 | 0 | ||
[
0.07685207575559616,
-0.4128299355506897,
0.0019248907919973135,
-2.5572898387908936,
0.12069790065288544,
2.287569522857666,
1.9452223777770996,
0
] | [
0.07697597146034241,
-0.387112021446228,
0.0034560365602374077,
-2.539982795715332,
0.12594321370124817,
2.2874302864074707,
1.9466089010238647,
0
] | 4.6 | 46 | 0 | 46 | 0 | ||
[
0.07697597146034241,
-0.387112021446228,
0.0034560365602374077,
-2.539982795715332,
0.12594321370124817,
2.2874302864074707,
1.9466089010238647,
0
] | [
0.07700289785861969,
-0.3619578182697296,
0.004941259510815144,
-2.5219521522521973,
0.13108664751052856,
2.2879066467285156,
1.9482629299163818,
0
] | 4.7 | 47 | 0 | 47 | 0 | ||
[
0.07700289785861969,
-0.3619578182697296,
0.004941259510815144,
-2.5219521522521973,
0.13108664751052856,
2.2879066467285156,
1.9482629299163818,
0
] | [
0.07696300745010376,
-0.33675655722618103,
0.0059939781203866005,
-2.5032401084899902,
0.13535773754119873,
2.287904739379883,
1.9497441053390503,
0
] | 4.8 | 48 | 0 | 48 | 0 | ||
[
0.07696300745010376,
-0.33675655722618103,
0.0059939781203866005,
-2.5032401084899902,
0.13535773754119873,
2.287904739379883,
1.9497441053390503,
0
] | [
0.0770132914185524,
-0.3116815984249115,
0.006804050412029028,
-2.483532667160034,
0.13757498562335968,
2.2895498275756836,
1.9512206315994263,
0
] | 4.9 | 49 | 0 | 49 | 0 | ||
[
0.0770132914185524,
-0.3116815984249115,
0.006804050412029028,
-2.483532667160034,
0.13757498562335968,
2.2895498275756836,
1.9512206315994263,
0
] | [
0.07706092298030853,
-0.28760823607444763,
0.007564992178231478,
-2.464207410812378,
0.13848207890987396,
2.2916295528411865,
1.9513821601867676,
0
] | 5 | 50 | 0 | 50 | 0 | ||
[
0.07706092298030853,
-0.28760823607444763,
0.007564992178231478,
-2.464207410812378,
0.13848207890987396,
2.2916295528411865,
1.9513821601867676,
0
] | [
0.07701361924409866,
-0.26261430978775024,
0.008136834017932415,
-2.4438273906707764,
0.13867299258708954,
2.293853521347046,
1.9540491104125977,
0
] | 5.1 | 51 | 0 | 51 | 0 | ||
[
0.07701361924409866,
-0.26261430978775024,
0.008136834017932415,
-2.4438273906707764,
0.13867299258708954,
2.293853521347046,
1.9540491104125977,
0
] | [
0.07696744799613953,
-0.23959383368492126,
0.008718716911971569,
-2.4255568981170654,
0.13867522776126862,
2.298412322998047,
1.9581522941589355,
0
] | 5.2 | 52 | 0 | 52 | 0 | ||
[
0.07696744799613953,
-0.23959383368492126,
0.008718716911971569,
-2.4255568981170654,
0.13867522776126862,
2.298412322998047,
1.9581522941589355,
0
] | [
0.0771060362458229,
-0.21559293568134308,
0.00941228587180376,
-2.407665252685547,
0.13866093754768372,
2.3033108711242676,
1.9619828462600708,
0
] | 5.3 | 53 | 0 | 53 | 0 | ||
[
0.0771060362458229,
-0.21559293568134308,
0.00941228587180376,
-2.407665252685547,
0.13866093754768372,
2.3033108711242676,
1.9619828462600708,
0
] | [
0.07715495675802231,
-0.19217179715633392,
0.010384299792349339,
-2.390773057937622,
0.1385180652141571,
2.308781385421753,
1.9669162034988403,
0
] | 5.4 | 54 | 0 | 54 | 0 | ||
[
0.07715495675802231,
-0.19217179715633392,
0.010384299792349339,
-2.390773057937622,
0.1385180652141571,
2.308781385421753,
1.9669162034988403,
0
] | [
0.07700734585523605,
-0.17010962963104248,
0.011906558647751808,
-2.3763139247894287,
0.13826672732830048,
2.3161134719848633,
1.9728654623031616,
0
] | 5.5 | 55 | 0 | 55 | 0 | ||
[
0.07700734585523605,
-0.17010962963104248,
0.011906558647751808,
-2.3763139247894287,
0.13826672732830048,
2.3161134719848633,
1.9728654623031616,
0
] | [
0.07700961828231812,
-0.14759978652000427,
0.01389826089143753,
-2.362933874130249,
0.1379646211862564,
2.3234848976135254,
1.978208065032959,
0
] | 5.6 | 56 | 0 | 56 | 0 | ||
[
0.07700961828231812,
-0.14759978652000427,
0.01389826089143753,
-2.362933874130249,
0.1379646211862564,
2.3234848976135254,
1.978208065032959,
0
] | [
0.07712224870920181,
-0.12555311620235443,
0.01685662753880024,
-2.3513214588165283,
0.13688021898269653,
2.3311188220977783,
1.9843157529830933,
0
] | 5.7 | 57 | 0 | 57 | 0 | ||
[
0.07712224870920181,
-0.12555311620235443,
0.01685662753880024,
-2.3513214588165283,
0.13688021898269653,
2.3311188220977783,
1.9843157529830933,
0
] | [
0.0773610770702362,
-0.10597416013479233,
0.020227694883942604,
-2.3412625789642334,
0.13552682101726532,
2.337278366088867,
1.9913153648376465,
0
] | 5.8 | 58 | 0 | 58 | 0 | ||
[
0.0773610770702362,
-0.10597416013479233,
0.020227694883942604,
-2.3412625789642334,
0.13552682101726532,
2.337278366088867,
1.9913153648376465,
0
] | [
0.07768302410840988,
-0.08768077939748764,
0.024081997573375702,
-2.3324453830718994,
0.13381634652614594,
2.3410277366638184,
1.9997426271438599,
0
] | 5.9 | 59 | 0 | 59 | 0 | ||
[
0.07768302410840988,
-0.08768077939748764,
0.024081997573375702,
-2.3324453830718994,
0.13381634652614594,
2.3410277366638184,
1.9997426271438599,
0
] | [
0.07818576693534851,
-0.07105398923158646,
0.028782475739717484,
-2.325061082839966,
0.13246580958366394,
2.342648983001709,
2.0084266662597656,
0
] | 6 | 60 | 0 | 60 | 0 | ||
[
0.07818576693534851,
-0.07105398923158646,
0.028782475739717484,
-2.325061082839966,
0.13246580958366394,
2.342648983001709,
2.0084266662597656,
0
] | [
0.0793566182255745,
-0.056664567440748215,
0.03394465520977974,
-2.319298028945923,
0.13071684539318085,
2.3436455726623535,
2.0165817737579346,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
0.0793566182255745,
-0.056664567440748215,
0.03394465520977974,
-2.319298028945923,
0.13071684539318085,
2.3436455726623535,
2.0165817737579346,
0
] | [
0.08099059015512466,
-0.044430527836084366,
0.03903289511799812,
-2.315091133117676,
0.1293104887008667,
2.3436574935913086,
2.0237388610839844,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
0.08099059015512466,
-0.044430527836084366,
0.03903289511799812,
-2.315091133117676,
0.1293104887008667,
2.3436574935913086,
2.0237388610839844,
0
] | [
0.08292470127344131,
-0.03320243954658508,
0.04477701336145401,
-2.3124043941497803,
0.12793371081352234,
2.343670129776001,
2.0316028594970703,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
0.08292470127344131,
-0.03320243954658508,
0.04477701336145401,
-2.3124043941497803,
0.12793371081352234,
2.343670129776001,
2.0316028594970703,
0
] | [
0.08556797355413437,
-0.02390352077782154,
0.05006810277700424,
-2.311582326889038,
0.1261519193649292,
2.3437178134918213,
2.040832996368408,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
0.08556797355413437,
-0.02390352077782154,
0.05006810277700424,
-2.311582326889038,
0.1261519193649292,
2.3437178134918213,
2.040832996368408,
0
] | [
0.08827587217092514,
-0.016273343935608864,
0.05543877184391022,
-2.3116135597229004,
0.12382174283266068,
2.3443965911865234,
2.0478813648223877,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
0.08827587217092514,
-0.016273343935608864,
0.05543877184391022,
-2.3116135597229004,
0.12382174283266068,
2.3443965911865234,
2.0478813648223877,
0
] | [
0.09175378829240799,
-0.008520282804965973,
0.06082012504339218,
-2.311603546142578,
0.12058746814727783,
2.345285415649414,
2.055255651473999,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
0.09175378829240799,
-0.008520282804965973,
0.06082012504339218,
-2.311603546142578,
0.12058746814727783,
2.345285415649414,
2.055255651473999,
0
] | [
0.09486982971429825,
-0.001107900170609355,
0.06635469198226929,
-2.311755895614624,
0.11670450121164322,
2.3459889888763428,
2.0630483627319336,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
0.09486982971429825,
-0.001107900170609355,
0.06635469198226929,
-2.311755895614624,
0.11670450121164322,
2.3459889888763428,
2.0630483627319336,
0
] | [
0.09763667732477188,
0.006534618325531483,
0.07252158224582672,
-2.3118324279785156,
0.11318039894104004,
2.3470840454101562,
2.070261001586914,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
0.09763667732477188,
0.006534618325531483,
0.07252158224582672,
-2.3118324279785156,
0.11318039894104004,
2.3470840454101562,
2.070261001586914,
0
] | [
0.1000928059220314,
0.014269037172198296,
0.07833699136972427,
-2.311985731124878,
0.11002147942781448,
2.3482279777526855,
2.0770103931427,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
0.1000928059220314,
0.014269037172198296,
0.07833699136972427,
-2.311985731124878,
0.11002147942781448,
2.3482279777526855,
2.0770103931427,
0
] | [
0.10237344354391098,
0.02216379903256893,
0.08407372236251831,
-2.312084436416626,
0.10612586885690689,
2.3491711616516113,
2.083162307739258,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
0.10237344354391098,
0.02216379903256893,
0.08407372236251831,
-2.312084436416626,
0.10612586885690689,
2.3491711616516113,
2.083162307739258,
0
] | [
0.10510589182376862,
0.030127115547657013,
0.08927479386329651,
-2.3120415210723877,
0.1018499806523323,
2.3499505519866943,
2.0887279510498047,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
0.10510589182376862,
0.030127115547657013,
0.08927479386329651,
-2.3120415210723877,
0.1018499806523323,
2.3499505519866943,
2.0887279510498047,
0
] | [
0.10794393718242645,
0.03804376721382141,
0.09377260506153107,
-2.3120534420013428,
0.09714507311582565,
2.351961612701416,
2.093312978744507,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
0.10794393718242645,
0.03804376721382141,
0.09377260506153107,
-2.3120534420013428,
0.09714507311582565,
2.351961612701416,
2.093312978744507,
0
] | [
0.11136830598115921,
0.0464065782725811,
0.09756464511156082,
-2.312138319015503,
0.09234097599983215,
2.3547332286834717,
2.098278760910034,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
0.11136830598115921,
0.0464065782725811,
0.09756464511156082,
-2.312138319015503,
0.09234097599983215,
2.3547332286834717,
2.098278760910034,
0
] | [
0.11504589021205902,
0.0544331930577755,
0.10000121593475342,
-2.3120856285095215,
0.08745285123586655,
2.358649730682373,
2.1033267974853516,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
0.11504589021205902,
0.0544331930577755,
0.10000121593475342,
-2.3120856285095215,
0.08745285123586655,
2.358649730682373,
2.1033267974853516,
0
] | [
0.11884284764528275,
0.06278125196695328,
0.10187537223100662,
-2.3121337890625,
0.08097881823778152,
2.363736629486084,
2.108496904373169,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
0.11884284764528275,
0.06278125196695328,
0.10187537223100662,
-2.3121337890625,
0.08097881823778152,
2.363736629486084,
2.108496904373169,
0
] | [
0.12235604971647263,
0.07204427570104599,
0.10386765003204346,
-2.3121514320373535,
0.07363651692867279,
2.371286392211914,
2.114499092102051,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
0.12235604971647263,
0.07204427570104599,
0.10386765003204346,
-2.3121514320373535,
0.07363651692867279,
2.371286392211914,
2.114499092102051,
0
] | [
0.12513624131679535,
0.08081832528114319,
0.10568360239267349,
-2.3122785091400146,
0.06674596667289734,
2.378443717956543,
2.119227886199951,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
0.12513624131679535,
0.08081832528114319,
0.10568360239267349,
-2.3122785091400146,
0.06674596667289734,
2.378443717956543,
2.119227886199951,
0
] | [
0.12759460508823395,
0.08896834403276443,
0.10728486627340317,
-2.3121964931488037,
0.05869913846254349,
2.385741710662842,
2.1260383129119873,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
0.12759460508823395,
0.08896834403276443,
0.10728486627340317,
-2.3121964931488037,
0.05869913846254349,
2.385741710662842,
2.1260383129119873,
0
] | [
0.13036997616291046,
0.09734858572483063,
0.10817167162895203,
-2.312194347381592,
0.0501636266708374,
2.3963778018951416,
2.1325886249542236,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
0.13036997616291046,
0.09734858572483063,
0.10817167162895203,
-2.312194347381592,
0.0501636266708374,
2.3963778018951416,
2.1325886249542236,
0
] | [
0.13297683000564575,
0.10491111874580383,
0.10829586535692215,
-2.312319278717041,
0.04212679713964462,
2.40533709526062,
2.139702796936035,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
0.13297683000564575,
0.10491111874580383,
0.10829586535692215,
-2.312319278717041,
0.04212679713964462,
2.40533709526062,
2.139702796936035,
0
] | [
0.1354215145111084,
0.11203302443027496,
0.10829772800207138,
-2.3121137619018555,
0.03379754349589348,
2.415412664413452,
2.147083044052124,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
0.1354215145111084,
0.11203302443027496,
0.10829772800207138,
-2.3121137619018555,
0.03379754349589348,
2.415412664413452,
2.147083044052124,
0
] | [
0.1374993771314621,
0.11835989356040955,
0.10820980370044708,
-2.3122730255126953,
0.02613857015967369,
2.424506664276123,
2.1553914546966553,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
0.1374993771314621,
0.11835989356040955,
0.10820980370044708,
-2.3122730255126953,
0.02613857015967369,
2.424506664276123,
2.1553914546966553,
0
] | [
0.1402478963136673,
0.1276807188987732,
0.10824857652187347,
-2.312283515930176,
0.012744085863232613,
2.4382829666137695,
2.1663222312927246,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
0.1402478963136673,
0.1276807188987732,
0.10824857652187347,
-2.312283515930176,
0.012744085863232613,
2.4382829666137695,
2.1663222312927246,
0
] | [
0.1407570093870163,
0.12940046191215515,
0.10827549546957016,
-2.3122293949127197,
0.010377826169133186,
2.440675973892212,
2.168931245803833,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
0.1407570093870163,
0.12940046191215515,
0.10827549546957016,
-2.3122293949127197,
0.010377826169133186,
2.440675973892212,
2.168931245803833,
0
] | [
0.14230728149414062,
0.1341760903596878,
0.10827644169330597,
-2.312204122543335,
0.002722530858591199,
2.4479010105133057,
2.1752538681030273,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
0.14230728149414062,
0.1341760903596878,
0.10827644169330597,
-2.312204122543335,
0.002722530858591199,
2.4479010105133057,
2.1752538681030273,
0
] | [
0.1438419371843338,
0.13856159150600433,
0.10823013633489609,
-2.312225818634033,
-0.003621772164478898,
2.4545600414276123,
2.1804568767547607,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
0.1438419371843338,
0.13856159150600433,
0.10823013633489609,
-2.312225818634033,
-0.003621772164478898,
2.4545600414276123,
2.1804568767547607,
0
] | [
0.14520761370658875,
0.14275455474853516,
0.10822231322526932,
-2.3121719360351562,
-0.008622982539236546,
2.46140193939209,
2.185382843017578,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
0.14520761370658875,
0.14275455474853516,
0.10822231322526932,
-2.3121719360351562,
-0.008622982539236546,
2.46140193939209,
2.185382843017578,
0
] | [
0.14653177559375763,
0.1476925164461136,
0.10827688872814178,
-2.3122098445892334,
-0.014978363178670406,
2.4704368114471436,
2.1889896392822266,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
0.14653177559375763,
0.1476925164461136,
0.10827688872814178,
-2.3122098445892334,
-0.014978363178670406,
2.4704368114471436,
2.1889896392822266,
0
] | [
0.14763523638248444,
0.15295448899269104,
0.10829155892133713,
-2.3124961853027344,
-0.021972354501485825,
2.4792044162750244,
2.1910533905029297,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
0.14763523638248444,
0.15295448899269104,
0.10829155892133713,
-2.3124961853027344,
-0.021972354501485825,
2.4792044162750244,
2.1910533905029297,
0
] | [
0.14866457879543304,
0.15771201252937317,
0.10823836922645569,
-2.312525510787964,
-0.02764945663511753,
2.4868319034576416,
2.1941511631011963,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
0.14866457879543304,
0.15771201252937317,
0.10823836922645569,
-2.312525510787964,
-0.02764945663511753,
2.4868319034576416,
2.1941511631011963,
0
] | [
0.15175597369670868,
0.1659916192293167,
0.10811900347471237,
-2.312814235687256,
-0.037953950464725494,
2.496917486190796,
2.195359945297241,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
0.15175597369670868,
0.1659916192293167,
0.10811900347471237,
-2.312814235687256,
-0.037953950464725494,
2.496917486190796,
2.195359945297241,
0
] | [
0.15175317227840424,
0.16598987579345703,
0.10812173038721085,
-2.3128161430358887,
-0.03795470669865608,
2.4969139099121094,
2.195356607437134,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
0.15175317227840424,
0.16598987579345703,
0.10812173038721085,
-2.3128161430358887,
-0.03795470669865608,
2.4969139099121094,
2.195356607437134,
0
] | [
0.1517634242773056,
0.16601969301700592,
0.10806944221258163,
-2.312807083129883,
-0.037947140634059906,
2.4969117641448975,
2.195403575897217,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
0.1517634242773056,
0.16601969301700592,
0.10806944221258163,
-2.312807083129883,
-0.037947140634059906,
2.4969117641448975,
2.195403575897217,
0
] | [
0.15172156691551208,
0.16676391661167145,
0.10769477486610413,
-2.3127315044403076,
-0.037860337644815445,
2.4970905780792236,
2.198795795440674,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
0.15172156691551208,
0.16676391661167145,
0.10769477486610413,
-2.3127315044403076,
-0.037860337644815445,
2.4970905780792236,
2.198795795440674,
0
] | [
0.15171365439891815,
0.16914129257202148,
0.10711421817541122,
-2.312746047973633,
-0.03776935115456581,
2.498791456222534,
2.2038795948028564,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
0.15171365439891815,
0.16914129257202148,
0.10711421817541122,
-2.312746047973633,
-0.03776935115456581,
2.498791456222534,
2.2038795948028564,
0
] | [
0.15174515545368195,
0.17282506823539734,
0.10657814145088196,
-2.312790870666504,
-0.0377582423388958,
2.5016531944274902,
2.210212230682373,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
0.15174515545368195,
0.17282506823539734,
0.10657814145088196,
-2.312790870666504,
-0.0377582423388958,
2.5016531944274902,
2.210212230682373,
0
] | [
0.1516738086938858,
0.17825822532176971,
0.10604256391525269,
-2.312661647796631,
-0.03775656968355179,
2.507047414779663,
2.2217648029327393,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
0.1516738086938858,
0.17825822532176971,
0.10604256391525269,
-2.312661647796631,
-0.03775656968355179,
2.507047414779663,
2.2217648029327393,
0
] | [
0.15168899297714233,
0.18514133989810944,
0.10564243048429489,
-2.3128159046173096,
-0.03775341436266899,
2.5143625736236572,
2.2336184978485107,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
0.15168899297714233,
0.18514133989810944,
0.10564243048429489,
-2.3128159046173096,
-0.03775341436266899,
2.5143625736236572,
2.2336184978485107,
0
] | [
0.15164972841739655,
0.19266332685947418,
0.10558906197547913,
-2.3128421306610107,
-0.03775588423013687,
2.52113676071167,
2.246495008468628,
0
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
Simple Teleoperated Franka Pick-Cube Dataset in LeRobot Format
This repository contains the franka dataset in parquet format used to train PiZero in the paper Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale. This dataset is in LeRobot format and thus ready to use for training OpenPi, lerobot and other models which support this common format. The Robot Control Stack (RCS) is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models. It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference.
Project page: https://robotcontrolstack.github.io/ RCS Code: https://github.com/RobotControlStack/robot-control-stack
If you are looking for the raw format that was recorded in RCS, see this dataset.
Citation
If you find this dataset or RCS useful for your work, please consider citing it:
@inproceedings{juelg2025robotcontrolstack,
title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale},
author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
year={2025},
booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
note={Accepted for publication.}
}
- Downloads last month
- 26