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sequence
observation.state
sequence
timestamp
float32
0
12.5
frame_index
int64
0
375
episode_index
int64
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85
index
int64
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19.9k
task_index
int64
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0
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[ -19.6875, 106.083984375, 107.314453125, 88.330078125, -16.171875, 1.183843970298767 ]
2.4
72
0
72
0
[ -20.56640625, 103.18359375, 103.095703125, 87.01171875, -15.64453125, 0.9075908064842224 ]
[ -20.302734375, 104.677734375, 107.314453125, 88.330078125, -15.99609375, 1.183843970298767 ]
2.433333
73
0
73
0
[ -20.0390625, 102.65625, 103.359375, 86.572265625, -15.64453125, 2.3102309703826904 ]
[ -20.56640625, 103.271484375, 107.314453125, 88.2421875, -15.99609375, 1.2534818649291992 ]
2.466667
74
0
74
0
[ -19.423828125, 102.48046875, 103.7109375, 86.044921875, -15.64453125, 3.2178218364715576 ]
[ -20.478515625, 102.3046875, 107.314453125, 87.626953125, -15.99609375, 1.671309232711792 ]
2.5
75
0
75
0
[ -18.6328125, 101.865234375, 103.798828125, 86.044921875, -15.556640625, 4.042904376983643 ]
[ -20.21484375, 101.865234375, 107.314453125, 87.01171875, -15.99609375, 2.0891363620758057 ]
2.533333
76
0
76
0
[ -17.841796875, 101.513671875, 104.0625, 85.517578125, -15.556640625, 6.683168411254883 ]
[ -19.599609375, 101.6015625, 107.314453125, 86.748046875, -15.99609375, 3.0640668869018555 ]
2.566667
77
0
77
0
[ -16.875, 100.810546875, 103.88671875, 85.25390625, -15.556640625, 10.066006660461426 ]
[ -18.6328125, 100.986328125, 107.314453125, 86.484375, -15.99609375, 4.805014133453369 ]
2.6
78
0
78
0
[ -15.99609375, 100.37109375, 103.88671875, 84.90234375, -15.556640625, 11.468647003173828 ]
[ -17.578125, 100.546875, 107.314453125, 86.044921875, -15.99609375, 7.38161563873291 ]
2.633333
79
0
79
0
[ -15.380859375, 100.01953125, 103.974609375, 84.55078125, -15.64453125, 12.87128734588623 ]
[ -16.5234375, 99.84375, 107.314453125, 85.693359375, -15.99609375, 9.540390014648438 ]
2.666667
80
0
80
0
[ -14.94140625, 99.4921875, 104.0625, 84.462890625, -15.732421875, 16.996700286865234 ]
[ -15.908203125, 99.404296875, 107.314453125, 85.25390625, -15.908203125, 11.281336784362793 ]
2.7
81
0
81
0
[ -14.4140625, 98.96484375, 104.150390625, 84.111328125, -15.732421875, 18.729372024536133 ]
[ -15.556640625, 99.228515625, 107.314453125, 85.166015625, -15.908203125, 13.997215270996094 ]
2.733333
82
0
82
0
[ -14.150390625, 98.349609375, 104.23828125, 83.84765625, -15.64453125, 20.62706184387207 ]
[ -15.1171875, 98.525390625, 107.314453125, 85.166015625, -15.908203125, 16.434539794921875 ]
2.766667
83
0
83
0
[ -14.150390625, 97.91015625, 104.501953125, 83.583984375, -15.64453125, 23.102310180664062 ]
[ -14.58984375, 97.822265625, 107.314453125, 85.078125, -15.908203125, 18.59331512451172 ]
2.8
84
0
84
0
[ -14.326171875, 97.470703125, 104.94140625, 83.232421875, -15.64453125, 25.825082778930664 ]
[ -14.150390625, 97.20703125, 107.314453125, 84.55078125, -15.908203125, 20.821725845336914 ]
2.833333
85
0
85
0
[ -14.58984375, 96.85546875, 105.29296875, 82.880859375, -15.64453125, 27.310232162475586 ]
[ -14.150390625, 96.767578125, 107.314453125, 84.111328125, -15.908203125, 23.328689575195312 ]
2.866667
86
0
86
0
[ -14.58984375, 96.240234375, 105.380859375, 82.79296875, -15.556640625, 27.7227725982666 ]
[ -14.326171875, 96.240234375, 107.314453125, 83.583984375, -15.908203125, 25.417827606201172 ]
2.9
87
0
87
0
[ -14.677734375, 95.361328125, 105.380859375, 82.79296875, -15.556640625, 27.557754516601562 ]
[ -14.326171875, 95.80078125, 107.314453125, 83.49609375, -15.99609375, 26.532033920288086 ]
2.933333
88
0
88
0
[ -14.765625, 94.39453125, 105.46875, 82.705078125, -15.556640625, 27.557754516601562 ]
[ -14.150390625, 95.625, 107.314453125, 83.49609375, -15.99609375, 27.01949691772461 ]
2.966667
89
0
89
0
[ -14.94140625, 93.33984375, 105.556640625, 82.6171875, -15.556640625, 28.05280303955078 ]
[ -14.150390625, 94.39453125, 107.314453125, 83.49609375, -15.908203125, 27.298051834106445 ]
3
90
0
90
0
[ -14.94140625, 92.8125, 105.732421875, 82.44140625, -15.556640625, 27.887788772583008 ]
[ -14.150390625, 93.076171875, 107.314453125, 83.49609375, -15.908203125, 27.646240234375 ]
3.033333
91
0
91
0
[ -14.853515625, 92.8125, 106.435546875, 82.001953125, -15.556640625, 27.887788772583008 ]
[ -14.150390625, 92.109375, 107.314453125, 83.49609375, -15.908203125, 27.715877532958984 ]
3.066667
92
0
92
0
[ -14.853515625, 92.373046875, 107.2265625, 81.9140625, -15.556640625, 27.805280685424805 ]
[ -14.150390625, 91.7578125, 107.314453125, 83.232421875, -15.908203125, 27.715877532958984 ]
3.1
93
0
93
0
[ -14.94140625, 91.93359375, 108.369140625, 81.38671875, -15.556640625, 27.887788772583008 ]
[ -14.150390625, 91.669921875, 107.578125, 82.705078125, -15.908203125, 27.715877532958984 ]
3.133333
94
0
94
0
[ -14.853515625, 91.669921875, 108.896484375, 80.771484375, -15.556640625, 27.887788772583008 ]
[ -14.150390625, 91.494140625, 108.28125, 82.177734375, -15.908203125, 27.715877532958984 ]
3.166667
95
0
95
0
[ -14.58984375, 91.0546875, 108.896484375, 80.419921875, -15.556640625, 28.05280303955078 ]
[ -14.150390625, 91.0546875, 109.3359375, 81.5625, -15.908203125, 27.715877532958984 ]
3.2
96
0
96
0
[ -14.58984375, 89.736328125, 108.896484375, 80.419921875, -15.556640625, 28.795379638671875 ]
[ -14.150390625, 90.439453125, 109.599609375, 81.2109375, -15.908203125, 27.715877532958984 ]
3.233333
97
0
97
0
[ -14.765625, 88.505859375, 108.984375, 80.33203125, -15.556640625, 29.290428161621094 ]
[ -14.150390625, 89.560546875, 109.599609375, 81.03515625, -15.908203125, 28.133705139160156 ]
3.266667
98
0
98
0
[ -14.677734375, 87.802734375, 109.072265625, 79.892578125, -15.556640625, 29.20792007446289 ]
[ -14.150390625, 88.2421875, 109.599609375, 81.03515625, -15.908203125, 28.69080924987793 ]
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": "so101",
    "total_episodes": 50,
    "total_frames": 11958,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.side": {
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            "names": [
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                "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,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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