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action
sequence
observation.state
sequence
timestamp
float32
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26.8
frame_index
int64
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[ 37.4843635559082, 80.74909210205078, 85.46051788330078, 65.9986801147461, -42.07091522216797, 32.49274826049805 ]
[ 37.353515625, 85.4296875, 92.021484375, 65.126953125, -38.935546875, 29.928571701049805 ]
2.2
66
0
66
0
[ 37.26429748535156, 79.59626770019531, 84.28059387207031, 66.2722396850586, -42.938690185546875, 33.32836151123047 ]
[ 37.265625, 83.84765625, 90.615234375, 65.390625, -39.814453125, 30.571428298950195 ]
2.233333
67
0
67
0
[ 37.03830337524414, 78.24847412109375, 82.81735229492188, 66.4970703125, -43.74421310424805, 34.32145309448242 ]
[ 37.08984375, 82.177734375, 89.296875, 65.654296875, -40.78125, 31.357141494750977 ]
2.266667
68
0
68
0
[ 36.71064758300781, 77.13233947753906, 81.82704162597656, 66.64793395996094, -44.595428466796875, 35.3121452331543 ]
[ 36.826171875, 80.68359375, 87.890625, 65.91796875, -41.66015625, 32.21428680419922 ]
2.3
69
0
69
0
[ 36.451622009277344, 76.15708923339844, 81.02114868164062, 66.50846862792969, -45.39848709106445, 36.3123779296875 ]
[ 36.73828125, 78.92578125, 86.30859375, 66.181640625, -42.71484375, 33.28571319580078 ]
2.333333
70
0
70
0
[ 36.1136589050293, 75.39691162109375, 80.53412628173828, 66.287109375, -46.292335510253906, 37.28519058227539 ]
[ 36.73828125, 77.958984375, 85.4296875, 66.26953125, -43.2421875, 33.85714340209961 ]
2.366667
71
0
71
0
[ 35.67823791503906, 75.03732299804688, 79.74665832519531, 66.16864013671875, -47.115203857421875, 38.12137222290039 ]
[ 36.73828125, 76.728515625, 84.19921875, 66.357421875, -44.208984375, 34.92857360839844 ]
2.4
72
0
72
0
[ 35.38573455810547, 73.95550537109375, 79.07100677490234, 65.98403930664062, -47.95317077636719, 38.71615982055664 ]
[ 36.73828125, 75.76171875, 83.408203125, 66.357421875, -45.087890625, 35.92856979370117 ]
2.433333
73
0
73
0
[ 34.87681198120117, 73.40896606445312, 78.31279754638672, 65.84917449951172, -48.801231384277344, 39.160552978515625 ]
[ 36.650390625, 75.05859375, 82.705078125, 66.357421875, -45.87890625, 36.78571319580078 ]
2.466667
74
0
74
0
[ 34.49836349487305, 72.6859130859375, 77.59391784667969, 65.68941497802734, -49.339149475097656, 39.50704574584961 ]
[ 36.2109375, 74.267578125, 82.001953125, 66.357421875, -46.669921875, 37.5 ]
2.5
75
0
75
0
[ 34.041542053222656, 71.76407623291016, 76.8797607421875, 65.61690521240234, -49.89922332763672, 39.89666748046875 ]
[ 35.595703125, 73.4765625, 81.03515625, 66.26953125, -47.548828125, 38.14285659790039 ]
2.533333
76
0
76
0
[ 33.685325622558594, 71.27234649658203, 75.83424377441406, 65.66909790039062, -50.13804626464844, 40.02407455444336 ]
[ 34.892578125, 72.7734375, 80.33203125, 66.09375, -48.251953125, 38.64285659790039 ]
2.566667
77
0
77
0
[ 33.36830139160156, 70.43623352050781, 75.2181396484375, 65.68800354003906, -50.18655014038086, 40.17759323120117 ]
[ 34.365234375, 71.89453125, 79.716796875, 66.005859375, -48.955078125, 39.14285659790039 ]
2.6
78
0
78
0
[ 33.13085174560547, 69.46488952636719, 74.30241394042969, 65.85282135009766, -50.261653900146484, 40.099281311035156 ]
[ 34.013671875, 71.19140625, 78.75, 66.005859375, -49.306640625, 39.42856979370117 ]
2.633333
79
0
79
0
[ 32.91694641113281, 69.11600494384766, 73.50801086425781, 66.07815551757812, -50.41629409790039, 40.073463439941406 ]
[ 33.837890625, 70.48828125, 77.958984375, 66.005859375, -49.5703125, 39.642860412597656 ]
2.666667
80
0
80
0
[ 32.76683044433594, 68.35678100585938, 72.70857238769531, 66.31012725830078, -50.68486022949219, 39.942222595214844 ]
[ 33.662109375, 69.609375, 77.080078125, 66.005859375, -49.833984375, 39.71428680419922 ]
2.7
81
0
81
0
[ 32.70164108276367, 67.52088928222656, 72.01038360595703, 66.68777465820312, -51.09407043457031, 39.87997055053711 ]
[ 33.486328125, 68.994140625, 76.2890625, 66.005859375, -50.009765625, 39.78571319580078 ]
2.733333
82
0
82
0
[ 32.639156341552734, 66.943359375, 71.05044555664062, 67.13020324707031, -51.38959503173828, 39.817108154296875 ]
[ 33.3984375, 68.37890625, 75.5859375, 66.005859375, -50.2734375, 39.78571319580078 ]
2.766667
83
0
83
0
[ 32.600799560546875, 66.31521606445312, 70.33368682861328, 67.51872253417969, -51.72186279296875, 39.7794189453125 ]
[ 33.22265625, 67.587890625, 74.794921875, 66.26953125, -50.537109375, 39.78571319580078 ]
2.8
84
0
84
0
[ 32.62574005126953, 65.66229248046875, 69.55624389648438, 67.92018127441406, -52.0394172668457, 39.80036544799805 ]
[ 33.046875, 66.884765625, 73.916015625, 66.708984375, -50.9765625, 39.78571319580078 ]
2.833333
85
0
85
0
[ 32.6227912902832, 64.97711181640625, 68.85472106933594, 68.45611572265625, -52.167911529541016, 39.80842208862305 ]
[ 32.87109375, 66.181640625, 73.212890625, 67.060546875, -51.240234375, 39.78571319580078 ]
2.866667
86
0
86
0
[ 32.6220703125, 64.36270904541016, 67.89837646484375, 69.03707885742188, -52.46942901611328, 39.97560119628906 ]
[ 32.783203125, 65.56640625, 72.421875, 67.412109375, -51.50390625, 39.78571319580078 ]
2.9
87
0
87
0
[ 32.578121185302734, 63.47074890136719, 66.97157287597656, 69.78192138671875, -52.37725830078125, 39.82481002807617 ]
[ 32.607421875, 64.86328125, 71.54296875, 67.939453125, -51.767578125, 39.78571319580078 ]
2.933333
88
0
88
0
[ 32.484588623046875, 62.718833923339844, 65.91328430175781, 70.69855499267578, -52.34224319458008, 39.90652084350586 ]
[ 32.51953125, 64.16015625, 70.751953125, 68.37890625, -52.03125, 39.78571319580078 ]
2.966667
89
0
89
0
[ 32.38975524902344, 62.283470153808594, 64.73731994628906, 71.78120422363281, -51.9781608581543, 39.96961212158203 ]
[ 32.431640625, 63.369140625, 69.873046875, 68.994140625, -52.119140625, 39.78571319580078 ]
3
90
0
90
0
[ 32.26630401611328, 61.366798400878906, 63.21236801147461, 73.13835906982422, -51.60051727294922, 40.12508773803711 ]
[ 32.431640625, 62.578125, 68.90625, 69.78515625, -52.119140625, 39.78571319580078 ]
3.033333
91
0
91
0
[ 32.10818099975586, 60.689002990722656, 61.87088394165039, 74.40856170654297, -51.18157196044922, 40.12852478027344 ]
[ 32.431640625, 62.138671875, 67.8515625, 70.6640625, -52.119140625, 39.78571319580078 ]
3.066667
92
0
92
0
[ 31.955718994140625, 59.84423828125, 60.401222229003906, 75.6791000366211, -50.89556121826172, 40.412288665771484 ]
[ 32.431640625, 61.435546875, 66.796875, 71.806640625, -52.03125, 39.78571319580078 ]
3.1
93
0
93
0
[ 31.721094131469727, 59.298980712890625, 58.88996505737305, 76.90625762939453, -50.91722106933594, 40.45454025268555 ]
[ 32.431640625, 60.556640625, 65.302734375, 72.861328125, -51.6796875, 39.78571319580078 ]
3.133333
94
0
94
0
[ 31.495059967041016, 58.554710388183594, 57.63071823120117, 77.9016342163086, -50.794593811035156, 40.53935623168945 ]
[ 32.431640625, 59.765625, 63.984375, 74.091796875, -51.328125, 39.92856979370117 ]
3.166667
95
0
95
0
[ 31.210063934326172, 57.809654235839844, 56.11548614501953, 79.07615661621094, -50.917823791503906, 40.73307800292969 ]
[ 32.431640625, 58.974609375, 62.490234375, 75.234375, -51.240234375, 40.07142639160156 ]
3.2
96
0
96
0
[ 30.951717376708984, 57.096649169921875, 54.61894607543945, 80.29212951660156, -51.00146484375, 41.06256103515625 ]
[ 32.255859375, 58.447265625, 61.259765625, 76.2890625, -51.240234375, 40.21428680419922 ]
3.233333
97
0
97
0
[ 30.67296028137207, 56.50621032714844, 52.97901916503906, 81.38954162597656, -50.944679260253906, 41.2075309753418 ]
[ 31.904296875, 57.65625, 59.765625, 77.51953125, -51.240234375, 40.35714340209961 ]
3.266667
98
0
98
0
[ 30.542095184326172, 56.106101989746094, 51.3878059387207, 82.20660400390625, -50.78253936767578, 41.38440704345703 ]
[ 31.2890625, 56.953125, 58.271484375, 78.75, -51.240234375, 40.64285659790039 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 4004,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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                "has_audio": false
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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