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float32
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68.3
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int64
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1.71k
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int64
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1.71k
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[ 18.778980255126953, -17.6718692779541, 80.82807922363281, -35.16059875488281, 3.6385836601257324, 42.665775299072266 ]
2.32
58
0
58
0
[ 19.771297454833984, -9.896400451660156, 69.29875946044922, -39.359519958496094, 3.928262710571289, 42.1045036315918 ]
[ 18.856260299682617, -15.81611156463623, 79.20792388916016, -35.93147659301758, 3.6385836601257324, 42.73275375366211 ]
2.36
59
0
59
0
[ 18.70626449584961, -8.487716674804688, 66.53143310546875, -37.872955322265625, 3.9258995056152344, 42.52641296386719 ]
[ 18.856260299682617, -14.719527244567871, 76.95769500732422, -36.445396423339844, 3.6385836601257324, 42.79973220825195 ]
2.4
60
0
60
0
[ 19.50240707397461, -6.4069366455078125, 64.486328125, -38.40249252319336, 4.005402088165283, 42.934051513671875 ]
[ 19.088098526000977, -12.69506549835205, 74.43744659423828, -37.30192565917969, 3.6385836601257324, 42.79973220825195 ]
2.44
61
0
61
0
[ 19.173809051513672, -4.24627685546875, 63.33692169189453, -38.52425003051758, 3.996696949005127, 42.54299545288086 ]
[ 19.010818481445312, -10.333192825317383, 72.8172836303711, -37.64453887939453, 3.6385836601257324, 42.665775299072266 ]
2.48
62
0
62
0
[ 19.847179412841797, -0.798797607421875, 59.677764892578125, -38.42731857299805, 3.851914882659912, 42.96699523925781 ]
[ 19.16537857055664, -8.308730125427246, 70.92709350585938, -37.55888748168945, 3.8339438438415527, 42.665775299072266 ]
2.52
63
0
63
0
[ 19.25259017944336, -1.115692138671875, 58.26624298095703, -38.489253997802734, 3.8988170623779297, 42.85239791870117 ]
[ 19.16537857055664, -6.284268379211426, 68.94689178466797, -37.55888748168945, 3.8339438438415527, 42.665775299072266 ]
2.56
64
0
64
0
[ 19.16634750366211, 0.712127685546875, 56.7950439453125, -38.78276443481445, 4.005170822143555, 42.63304138183594 ]
[ 19.010818481445312, -4.428511142730713, 67.23672485351562, -37.64453887939453, 3.8339438438415527, 42.46483612060547 ]
2.6
65
0
65
0
[ 19.329410552978516, 3.0511474609375, 54.648651123046875, -39.20329666137695, 3.8489489555358887, 42.77667236328125 ]
[ 19.088098526000977, -2.2353436946868896, 65.16651916503906, -37.64453887939453, 3.8339438438415527, 42.8667106628418 ]
2.64
66
0
66
0
[ 19.145465850830078, 3.5254440307617188, 52.80786895751953, -39.29326248168945, 4.0297698974609375, 42.25883865356445 ]
[ 19.010818481445312, -0.8013496398925781, 62.916290283203125, -37.64453887939453, 3.8339438438415527, 42.8667106628418 ]
2.68
67
0
67
0
[ 19.065258026123047, 4.93292236328125, 52.121307373046875, -38.86797332763672, 3.8520607948303223, 43.08539962768555 ]
[ 19.16537857055664, 0.9700548052787781, 60.75607681274414, -37.9015007019043, 3.8339438438415527, 42.79973220825195 ]
2.72
68
0
68
0
[ 18.698726654052734, 6.5561676025390625, 49.513328552246094, -39.68962478637695, 3.9443492889404297, 43.06599807739258 ]
[ 19.088098526000977, 2.9945170879364014, 58.68586730957031, -38.1584587097168, 3.8339438438415527, 42.73275375366211 ]
2.76
69
0
69
0
[ 18.387866973876953, 6.940582275390625, 48.12770080566406, -39.42624282836914, 3.955343723297119, 42.98521041870117 ]
[ 19.088098526000977, 4.006748199462891, 57.245723724365234, -38.244110107421875, 3.8339438438415527, 42.73275375366211 ]
2.8
70
0
70
0
[ 18.411792755126953, 8.596244812011719, 46.724884033203125, -38.674739837646484, 3.9914040565490723, 43.22085952758789 ]
[ 19.088098526000977, 5.609447479248047, 55.265525817871094, -38.4154167175293, 3.8339438438415527, 42.73275375366211 ]
2.84
71
0
71
0
[ 18.166065216064453, 9.329353332519531, 44.97386932373047, -39.04111099243164, 4.039851188659668, 42.641693115234375 ]
[ 18.93354034423828, 7.0434417724609375, 53.46534729003906, -38.58672332763672, 3.8339438438415527, 42.73275375366211 ]
2.88
72
0
72
0
[ 18.07864761352539, 11.133705139160156, 42.06230163574219, -39.659889221191406, 4.038020610809326, 42.65205001831055 ]
[ 18.778980255126953, 7.802615165710449, 52.20521926879883, -38.50107192993164, 3.8339438438415527, 42.73275375366211 ]
2.92
73
0
73
0
[ 17.776226043701172, 12.228538513183594, 40.915924072265625, -39.83034133911133, 3.970487594604492, 43.11992263793945 ]
[ 18.54714012145996, 9.15225601196289, 50.22502136230469, -38.58672332763672, 3.8339438438415527, 42.79973220825195 ]
2.96
74
0
74
0
[ 17.60232925415039, 14.294357299804688, 40.242271423339844, -38.82242965698242, 3.881106376647949, 42.97923278808594 ]
[ 18.238021850585938, 10.164487838745117, 48.604862213134766, -38.58672332763672, 3.8339438438415527, 42.73275375366211 ]
3
75
0
75
0
[ 16.98623275756836, 14.886924743652344, 39.21471405029297, -39.28383255004883, 3.820117473602295, 43.15325164794922 ]
[ 17.928903579711914, 11.767187118530273, 46.624664306640625, -38.75802993774414, 3.8339438438415527, 42.8667106628418 ]
3.04
76
0
76
0
[ 17.343486785888672, 15.072929382324219, 37.213470458984375, -40.06850051879883, 3.774453639984131, 43.41564178466797 ]
[ 17.774343490600586, 13.201181411743164, 44.91448974609375, -38.75802993774414, 3.8339438438415527, 42.8667106628418 ]
3.08
77
0
77
0
[ 16.801410675048828, 16.25647735595703, 37.10546112060547, -39.33351516723633, 3.6969189643859863, 43.54728698730469 ]
[ 17.697063446044922, 14.635174751281738, 43.65436553955078, -38.67237854003906, 3.8339438438415527, 42.93368911743164 ]
3.12
78
0
78
0
[ 16.12741470336914, 15.982078552246094, 37.16804504394531, -39.14048767089844, 3.70705509185791, 42.512454986572266 ]
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3.16
79
0
79
0
[ 16.451480865478516, 16.159042358398438, 37.841392517089844, -39.338924407958984, 3.7595772743225098, 40.93429946899414 ]
[ 17.542503356933594, 16.23787498474121, 41.22412109375, -38.92933654785156, 3.8339438438415527, 42.93368911743164 ]
3.2
80
0
80
0
[ 16.235767364501953, 16.909561157226562, 36.761070251464844, -39.40634536743164, 3.697993278503418, 38.863826751708984 ]
[ 17.156105041503906, 16.575284957885742, 40.414039611816406, -39.01498794555664, 3.8339438438415527, 42.93368911743164 ]
3.24
81
0
81
0
[ 15.866321563720703, 17.78844451904297, 36.60810852050781, -39.055381774902344, 3.6599717140197754, 36.45668411254883 ]
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3.28
82
0
82
0
[ 15.649059295654297, 19.057777404785156, 37.73053741455078, -39.30681228637695, 3.533946990966797, 33.80366516113281 ]
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3.32
83
0
83
0
[ 15.574626922607422, 18.01219940185547, 38.53062438964844, -39.41940689086914, 3.529031276702881, 31.714435577392578 ]
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3.36
84
0
84
0
[ 15.273677825927734, 18.76337432861328, 37.28202819824219, -39.76653289794922, 3.5705137252807617, 28.285255432128906 ]
[ 15.919629096984863, 18.684099197387695, 39.51395034790039, -39.01498794555664, 3.7851037979125977, 38.71399688720703 ]
3.4
85
0
85
0
[ 15.44522476196289, 18.60039520263672, 37.43291473388672, -39.43632888793945, 3.561984062194824, 24.94544792175293 ]
[ 15.8423490524292, 19.61197853088379, 39.60396194458008, -39.01498794555664, 3.7362637519836426, 36.3027458190918 ]
3.44
86
0
86
0
[ 15.336742401123047, 19.173927307128906, 38.18443298339844, -40.244747161865234, 3.5898571014404297, 21.576753616333008 ]
[ 15.8423490524292, 19.696331024169922, 40.05400466918945, -39.01498794555664, 3.7362637519836426, 33.89149475097656 ]
3.48
87
0
87
0
[ 14.39459228515625, 19.17279815673828, 38.32453918457031, -40.06879806518555, 3.5665550231933594, 19.59440803527832 ]
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3.52
88
0
88
0
[ 15.395275115966797, 20.07482147216797, 38.28643798828125, -40.379798889160156, 3.5851330757141113, 18.458864212036133 ]
[ 15.455950736999512, 19.780683517456055, 39.78397750854492, -39.01498794555664, 3.6874237060546875, 28.064300537109375 ]
3.56
89
0
89
0
[ 14.778289794921875, 19.720108032226562, 38.0982666015625, -39.686519622802734, 3.6402149200439453, 17.204608917236328 ]
[ 14.914992332458496, 19.780683517456055, 39.87398910522461, -39.18629455566406, 3.6385836601257324, 25.11721420288086 ]
3.6
90
0
90
0
[ 14.902088165283203, 19.720054626464844, 37.32228088378906, -40.13119125366211, 3.618027687072754, 16.67681884765625 ]
[ 14.68315315246582, 20.033740997314453, 39.87398910522461, -39.18629455566406, 3.5897436141967773, 23.10783576965332 ]
3.64
91
0
91
0
[ 14.791206359863281, 19.080657958984375, 39.52740478515625, -39.729713439941406, 3.559338092803955, 15.502090454101562 ]
[ 14.837712287902832, 20.455503463745117, 39.78397750854492, -39.271949768066406, 3.345543384552002, 22.43804359436035 ]
3.68
92
0
92
0
[ 14.04880142211914, 19.467269897460938, 37.965553283691406, -40.040489196777344, 3.6168646812438965, 15.097230911254883 ]
[ 14.68315315246582, 20.455503463745117, 39.60396194458008, -39.271949768066406, 3.296703338623047, 21.902210235595703 ]
3.72
93
0
93
0
[ 14.110889434814453, 20.780685424804688, 36.690589904785156, -39.6844367980957, 3.5968575477600098, 14.695348739624023 ]
[ 14.68315315246582, 20.455503463745117, 39.51395034790039, -39.357601165771484, 3.296703338623047, 21.768251419067383 ]
3.76
94
0
94
0
[ 13.741119384765625, 19.901649475097656, 37.45635986328125, -40.1904182434082, 3.487572193145752, 14.446965217590332 ]
[ 14.68315315246582, 20.455503463745117, 39.96399688720703, -39.44325637817383, 3.296703338623047, 21.56731414794922 ]
3.8
95
0
95
0
[ 13.764945983886719, 20.301353454589844, 37.87297821044922, -39.84462356567383, 3.4809317588806152, 14.763982772827148 ]
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3.84
96
0
96
0
[ 13.912895202636719, 21.15673065185547, 37.93415069580078, -40.070640563964844, 3.5046591758728027, 14.54067325592041 ]
[ 14.37403392791748, 21.04597282409668, 39.15391540527344, -39.44325637817383, 3.296703338623047, 21.500335693359375 ]
3.88
97
0
97
0
[ 14.488819122314453, 19.52501678466797, 38.214508056640625, -39.782264709472656, 3.486970901489258, 14.257726669311523 ]
[ 14.219474792480469, 21.04597282409668, 39.15391540527344, -39.614559173583984, 3.443223476409912, 21.500335693359375 ]
3.92
98
0
98
0
[ 13.87942886352539, 20.79515838623047, 37.606483459472656, -39.525550842285156, 3.5125465393066406, 14.133983612060547 ]
[ 14.219474792480469, 21.04597282409668, 39.15391540527344, -39.614559173583984, 3.5409035682678223, 21.500335693359375 ]
3.96
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": "so101_follower",
    "total_episodes": 1,
    "total_frames": 1709,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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