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action
sequence | observation.state
sequence | timestamp
float32 0
54.1
| frame_index
int64 0
1.62k
| episode_index
int64 0
57
| index
int64 0
48.9k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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| 35
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| 36
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| 43
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
-11.07421875,
118.125,
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97.03125,
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3.0527288913726807
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[
-3.515625,
117.59765625,
121.201171875,
99.84375,
96.85546875,
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| 57
| 0
| 57
| 0
|
[
-12.3046875,
118.125,
120.5859375,
96.591796875,
97.20703125,
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[
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117.59765625,
121.201171875,
98.7890625,
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| 58
| 0
| 58
| 0
|
[
-13.271484375,
118.125,
120.146484375,
96.064453125,
97.20703125,
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[
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117.59765625,
121.201171875,
98.173828125,
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| 59
| 0
| 59
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|
[
-13.974609375,
118.125,
119.1796875,
95.44921875,
97.20703125,
3.0527288913726807
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[
-9.4921875,
117.59765625,
121.201171875,
97.3828125,
96.85546875,
2.757916212081909
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| 60
| 0
| 60
| 0
|
[
-14.4140625,
118.125,
117.685546875,
94.921875,
97.20703125,
3.0527288913726807
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[
-10.634765625,
117.59765625,
121.201171875,
96.85546875,
96.85546875,
2.757916212081909
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| 61
| 0
| 61
| 0
|
[
-14.501953125,
118.125,
115.83984375,
94.39453125,
97.119140625,
3.0527288913726807
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[
-11.162109375,
117.59765625,
120.849609375,
96.064453125,
96.85546875,
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| 62
| 0
| 62
| 0
|
[
-14.58984375,
118.037109375,
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93.8671875,
97.119140625,
3.0527288913726807
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[
-12.216796875,
117.59765625,
119.8828125,
95.625,
96.85546875,
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| 63
| 0
| 63
| 0
|
[
-14.58984375,
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93.33984375,
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[
-12.744140625,
117.59765625,
118.388671875,
95.009765625,
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| 64
| 0
| 64
| 0
|
[
-14.58984375,
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108.896484375,
92.98828125,
97.119140625,
3.0527288913726807
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[
-13.271484375,
117.59765625,
116.71875,
94.306640625,
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| 65
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| 65
| 0
|
[
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106.5234375,
92.724609375,
97.119140625,
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[
-13.271484375,
117.0703125,
114.78515625,
93.779296875,
96.6796875,
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| 66
| 0
| 66
| 0
|
[
-14.58984375,
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92.63671875,
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[
-13.271484375,
116.3671875,
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| 67
| 0
| 67
| 0
|
[
-14.58984375,
107.578125,
101.953125,
92.63671875,
97.119140625,
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[
-13.359375,
115.048828125,
110.56640625,
92.8125,
96.6796875,
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| 68
| 0
| 68
| 0
|
[
-14.58984375,
104.58984375,
99.4921875,
92.63671875,
97.119140625,
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[
-13.53515625,
112.939453125,
108.369140625,
92.63671875,
96.6796875,
2.757916212081909
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| 69
| 0
| 69
| 0
|
[
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92.63671875,
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[
-13.7109375,
110.390625,
106.083984375,
92.548828125,
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| 70
| 0
| 70
| 0
|
[
-14.58984375,
99.140625,
94.04296875,
92.63671875,
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[
-13.447265625,
107.578125,
103.798828125,
92.373046875,
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2.757916212081909
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| 71
| 0
| 71
| 0
|
[
-14.58984375,
96.85546875,
91.318359375,
92.63671875,
97.119140625,
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[
-13.447265625,
104.765625,
101.42578125,
92.109375,
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| 72
| 0
| 72
| 0
|
[
-14.58984375,
94.74609375,
88.681640625,
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[
-13.447265625,
102.3046875,
98.96484375,
92.197265625,
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| 73
| 0
| 73
| 0
|
[
-14.58984375,
92.548828125,
86.1328125,
92.63671875,
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[
-13.447265625,
99.66796875,
96.50390625,
92.4609375,
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| 74
| 0
| 74
| 0
|
[
-14.58984375,
90.3515625,
83.671875,
92.63671875,
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[
-13.447265625,
97.03125,
93.779296875,
92.548828125,
96.591796875,
2.757916212081909
] | 2.5
| 75
| 0
| 75
| 0
|
[
-14.58984375,
88.154296875,
81.38671875,
92.63671875,
97.119140625,
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[
-13.447265625,
94.5703125,
91.23046875,
92.548828125,
96.591796875,
2.757916212081909
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-14.58984375,
86.220703125,
79.189453125,
92.63671875,
97.294921875,
3.0527288913726807
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[
-13.447265625,
92.4609375,
88.76953125,
92.373046875,
96.591796875,
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] | 2.566667
| 77
| 0
| 77
| 0
|
[
-14.58984375,
84.19921875,
76.9921875,
92.63671875,
97.470703125,
3.0527288913726807
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[
-13.447265625,
90.263671875,
86.220703125,
92.4609375,
96.591796875,
2.757916212081909
] | 2.6
| 78
| 0
| 78
| 0
|
[
-14.58984375,
82.353515625,
74.8828125,
92.63671875,
97.470703125,
3.0527288913726807
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[
-13.447265625,
88.2421875,
83.759765625,
92.548828125,
96.591796875,
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] | 2.633333
| 79
| 0
| 79
| 0
|
[
-14.58984375,
80.595703125,
72.861328125,
92.63671875,
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[
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86.1328125,
81.298828125,
92.548828125,
96.591796875,
2.757916212081909
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| 80
| 0
| 80
| 0
|
[
-14.58984375,
79.013671875,
71.103515625,
92.63671875,
97.55859375,
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[
-13.447265625,
84.0234375,
78.92578125,
92.548828125,
96.591796875,
2.757916212081909
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| 81
| 0
| 81
| 0
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[
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77.607421875,
69.43359375,
92.63671875,
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[
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82.08984375,
76.81640625,
92.4609375,
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| 82
| 0
| 82
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[
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76.2890625,
67.8515625,
92.63671875,
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[
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80.5078125,
75.05859375,
92.373046875,
96.591796875,
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| 83
| 0
| 83
| 0
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[
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75.146484375,
66.533203125,
92.63671875,
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3.0527288913726807
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[
-13.447265625,
78.92578125,
73.388671875,
92.4609375,
96.591796875,
2.757916212081909
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| 84
| 0
| 84
| 0
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[
-14.58984375,
74.267578125,
65.478515625,
92.63671875,
97.55859375,
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[
-13.447265625,
77.34375,
71.455078125,
92.548828125,
96.591796875,
2.757916212081909
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| 85
| 0
| 85
| 0
|
[
-14.58984375,
73.388671875,
64.6875,
92.63671875,
97.55859375,
3.0527288913726807
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[
-13.447265625,
76.025390625,
69.78515625,
92.197265625,
96.591796875,
2.757916212081909
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| 86
| 0
| 86
| 0
|
[
-14.58984375,
72.59765625,
64.248046875,
92.63671875,
97.55859375,
3.0527288913726807
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[
-13.447265625,
74.794921875,
68.466796875,
92.197265625,
96.591796875,
2.757916212081909
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| 87
| 0
| 87
| 0
|
[
-14.58984375,
71.982421875,
63.984375,
92.724609375,
97.55859375,
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[
-13.447265625,
73.564453125,
67.32421875,
92.548828125,
96.591796875,
2.757916212081909
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| 88
| 0
| 88
| 0
|
[
-14.58984375,
71.54296875,
63.984375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.447265625,
72.509765625,
66.62109375,
92.548828125,
96.591796875,
2.757916212081909
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-14.58984375,
71.3671875,
63.896484375,
92.98828125,
97.55859375,
3.0527288913726807
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[
-13.447265625,
71.455078125,
65.830078125,
92.548828125,
96.591796875,
2.757916212081909
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| 90
| 0
| 90
| 0
|
[
-14.58984375,
71.3671875,
63.896484375,
92.724609375,
97.470703125,
3.0527288913726807
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[
-13.447265625,
71.103515625,
65.390625,
92.28515625,
96.591796875,
2.757916212081909
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-14.677734375,
71.3671875,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.447265625,
71.015625,
65.126953125,
92.197265625,
96.591796875,
2.757916212081909
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-14.677734375,
71.3671875,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.447265625,
70.927734375,
64.951171875,
92.373046875,
96.591796875,
2.757916212081909
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| 93
| 0
| 93
| 0
|
[
-15.029296875,
71.3671875,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.447265625,
70.83984375,
64.6875,
92.548828125,
96.591796875,
2.757916212081909
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-15.46875,
71.455078125,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.359375,
70.83984375,
64.6875,
92.548828125,
96.591796875,
2.757916212081909
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-15.908203125,
71.455078125,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-13.798828125,
70.751953125,
64.6875,
92.548828125,
96.591796875,
2.757916212081909
] | 3.2
| 96
| 0
| 96
| 0
|
[
-16.34765625,
71.455078125,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-14.23828125,
70.751953125,
64.599609375,
92.548828125,
96.591796875,
2.757916212081909
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-16.787109375,
71.54296875,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-14.58984375,
70.751953125,
64.599609375,
92.548828125,
96.591796875,
2.757916212081909
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| 98
| 0
| 98
| 0
|
[
-17.2265625,
71.630859375,
63.80859375,
92.724609375,
97.55859375,
3.0527288913726807
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[
-15.1171875,
70.751953125,
64.599609375,
92.548828125,
96.591796875,
2.757916212081909
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 58,
"total_frames": 48942,
"total_tasks": 1,
"total_videos": 116,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:58"
},
"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": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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