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float32
0
39.9
frame_index
int64
0
399
episode_index
int64
0
101
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int64
0
40.8k
task_index
int64
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[ -1.0549451112747192, -103.51648712158203, 96.57142639160156, 73.45054626464844, -2.5934066772460938, 1.5337423086166382 ]
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0.1
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1
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0.2
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0.3
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0.6
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0.8
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0.9
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1
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1.1
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11
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
38
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
45
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4.6
46
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46
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4.7
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4.8
48
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48
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4.9
49
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5
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0
50
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5.1
51
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51
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5.2
52
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5.3
53
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53
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5.4
54
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5.5
55
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55
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5.6
56
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56
0
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[ -12.307692527770996, 45.230770111083984, -30.681318283081055, 74.46154022216797, -3.2087912559509277, 9.925725936889648 ]
5.7
57
0
57
0
[ -10.813186645507812, 43.736263275146484, -34.593406677246094, 73.89010620117188, -3.912087917327881, 9.892638206481934 ]
[ -12.395604133605957, 45.93406677246094, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.925725936889648 ]
5.8
58
0
58
0
[ -9.934065818786621, 43.736263275146484, -34.593406677246094, 73.89010620117188, -3.8241758346557617, 9.892638206481934 ]
[ -12.131868362426758, 46.021976470947266, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
5.9
59
0
59
0
[ -9.494505882263184, 42.5054931640625, -34.593406677246094, 73.89010620117188, -3.8241758346557617, 9.892638206481934 ]
[ -11.780220031738281, 46.021976470947266, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6
60
0
60
0
[ -9.406593322753906, 39.9560432434082, -34.153846740722656, 73.97801971435547, -3.8241758346557617, 9.892638206481934 ]
[ -11.604395866394043, 46.021976470947266, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.1
61
0
61
0
[ -9.406593322753906, 39.516483306884766, -34.06593322753906, 73.97801971435547, -3.8241758346557617, 9.892638206481934 ]
[ -11.604395866394043, 45.93406677246094, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.2
62
0
62
0
[ -9.406593322753906, 39.16483688354492, -34.06593322753906, 73.97801971435547, -3.8241758346557617, 9.892638206481934 ]
[ -11.604395866394043, 45.93406677246094, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.3
63
0
63
0
[ -9.406593322753906, 38.373626708984375, -34.593406677246094, 74.06593322753906, -3.8241758346557617, 9.892638206481934 ]
[ -11.604395866394043, 45.93406677246094, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.4
64
0
64
0
[ -9.494505882263184, 35.912086486816406, -33.978023529052734, 74.06593322753906, -3.8241758346557617, 9.662576675415039 ]
[ -11.604395866394043, 45.93406677246094, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.5
65
0
65
0
[ -9.934065818786621, 34.41758346557617, -33.978023529052734, 75.64835357666016, -3.8241758346557617, 9.58588981628418 ]
[ -11.604395866394043, 45.05494689941406, -30.769229888916016, 74.46154022216797, -3.2087912559509277, 9.858203887939453 ]
6.6
66
0
66
0
[ -10.10988998413086, 33.36263656616211, -34.06593322753906, 79.6043930053711, -3.8241758346557617, 9.58588981628418 ]
[ -10.98901081085205, 42.593406677246094, -30.769229888916016, 75.07691955566406, -3.2087912559509277, 9.858203887939453 ]
6.7
67
0
67
0
[ -10.10988998413086, 32.659339904785156, -34.5054931640625, 82.15384674072266, -3.8241758346557617, 9.58588981628418 ]
[ -10.461538314819336, 40.57143020629883, -30.769229888916016, 76.65933990478516, -3.2087912559509277, 9.858203887939453 ]
6.8
68
0
68
0
[ -10.10988998413086, 33.18681335449219, -34.41758346557617, 82.32967376708984, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.42856979370117, -30.769229888916016, 79.82417297363281, -3.2087912559509277, 9.858203887939453 ]
6.9
69
0
69
0
[ -10.10988998413086, 35.29670333862305, -34.5054931640625, 81.36264038085938, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.340660095214844, -30.769229888916016, 81.31867980957031, -3.2087912559509277, 9.858203887939453 ]
7
70
0
70
0
[ -10.10988998413086, 36.52747344970703, -34.593406677246094, 80.13186645507812, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.340660095214844, -30.769229888916016, 81.4945068359375, -3.2087912559509277, 9.858203887939453 ]
7.1
71
0
71
0
[ -10.10988998413086, 36.879119873046875, -34.593406677246094, 78.37362670898438, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.340660095214844, -30.769229888916016, 80.96703338623047, -3.2087912559509277, 9.858203887939453 ]
7.2
72
0
72
0
[ -10.10988998413086, 37.406593322753906, -34.241756439208984, 76.87911987304688, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.340660095214844, -30.769229888916016, 79.64835357666016, -3.2087912559509277, 9.858203887939453 ]
7.3
73
0
73
0
[ -10.10988998413086, 39.16483688354492, -34.593406677246094, 76.52747344970703, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 39.340660095214844, -30.769229888916016, 78.32967376708984, -3.2087912559509277, 9.858203887939453 ]
7.4
74
0
74
0
[ -10.10988998413086, 40.0439567565918, -34.593406677246094, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 40.39560317993164, -30.85714340209961, 77.53845977783203, -3.2087912559509277, 9.858203887939453 ]
7.5
75
0
75
0
[ -10.10988998413086, 40.483516693115234, -34.593406677246094, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 41.978023529052734, -30.85714340209961, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
7.6
76
0
76
0
[ -9.934065818786621, 40.57143020629883, -34.32966995239258, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 42.593406677246094, -30.85714340209961, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
7.7
77
0
77
0
[ -9.582417488098145, 40.57143020629883, -34.5054931640625, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -10.373626708984375, 42.593406677246094, -30.85714340209961, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
7.8
78
0
78
0
[ -9.494505882263184, 41.098899841308594, -34.153846740722656, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -10.285714149475098, 42.593406677246094, -30.85714340209961, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
7.9
79
0
79
0
[ -9.494505882263184, 43.29670333862305, -34.68132019042969, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -9.934065818786621, 42.85714340209961, -30.85714340209961, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8
80
0
80
0
[ -9.582417488098145, 44.35165023803711, -36.17582321166992, 76.43955993652344, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 44.35165023803711, -31.120878219604492, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8.1
81
0
81
0
[ -9.670330047607422, 45.31867980957031, -37.846153259277344, 76.87911987304688, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 46.19780349731445, -31.91208839416504, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8.2
82
0
82
0
[ -10.021978378295898, 46.63736343383789, -38.81318664550781, 76.61538696289062, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 47.07692337036133, -33.31867980957031, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8.3
83
0
83
0
[ -10.10988998413086, 47.69230651855469, -39.69230651855469, 76.61538696289062, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 47.868133544921875, -34.901100158691406, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8.4
84
0
84
0
[ -10.197802543640137, 47.78022003173828, -40.21977996826172, 76.87911987304688, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 48.83516311645508, -36.131866455078125, 77.27472686767578, -3.2087912559509277, 9.858203887939453 ]
8.5
85
0
85
0
[ -10.98901081085205, 47.9560432434082, -40.30769348144531, 76.79120635986328, -3.8241758346557617, 9.509202003479004 ]
[ -9.670330047607422, 49.010990142822266, -37.010990142822266, 77.27472686767578, -3.296703338623047, 9.858203887939453 ]
8.6
86
0
86
0
[ -11.516483306884766, 47.868133544921875, -40.30769348144531, 76.87911987304688, -3.8241758346557617, 9.432515144348145 ]
[ -9.934065818786621, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.993247985839844 ]
8.7
87
0
87
0
[ -11.868131637573242, 47.78022003173828, -40.30769348144531, 76.96703338623047, -3.8241758346557617, 9.432515144348145 ]
[ -10.197802543640137, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.993247985839844 ]
8.8
88
0
88
0
[ -12.219779968261719, 47.868133544921875, -39.78022003173828, 76.96703338623047, -3.8241758346557617, 9.432515144348145 ]
[ -10.197802543640137, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.993247985839844 ]
8.9
89
0
89
0
[ -12.219779968261719, 48.0439567565918, -39.868133544921875, 76.96703338623047, -3.8241758346557617, 9.432515144348145 ]
[ -10.373626708984375, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.993247985839844 ]
9
90
0
90
0
[ -12.219779968261719, 48.21977996826172, -39.69230651855469, 76.96703338623047, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.993247985839844 ]
9.1
91
0
91
0
[ -12.219779968261719, 48.21977996826172, -39.60439682006836, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.925725936889648 ]
9.2
92
0
92
0
[ -12.219779968261719, 48.483516693115234, -39.60439682006836, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 49.010990142822266, -37.098899841308594, 77.27472686767578, -3.296703338623047, 9.858203887939453 ]
9.3
93
0
93
0
[ -12.307692527770996, 49.80219650268555, -39.69230651855469, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 49.36263656616211, -37.18681335449219, 77.27472686767578, -3.296703338623047, 9.858203887939453 ]
9.4
94
0
94
0
[ -12.307692527770996, 50.06593322753906, -40.0439567565918, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 50.06593322753906, -37.4505500793457, 77.27472686767578, -3.296703338623047, 9.790681838989258 ]
9.5
95
0
95
0
[ -12.307692527770996, 50.241756439208984, -40.0439567565918, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 50.593406677246094, -38.06593322753906, 77.27472686767578, -3.2087912559509277, 9.790681838989258 ]
9.6
96
0
96
0
[ -12.307692527770996, 50.5054931640625, -39.69230651855469, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 50.593406677246094, -38.06593322753906, 77.27472686767578, -3.2087912559509277, 9.790681838989258 ]
9.7
97
0
97
0
[ -12.307692527770996, 50.593406677246094, -39.60439682006836, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 50.769229888916016, -38.06593322753906, 77.27472686767578, -3.2087912559509277, 9.790681838989258 ]
9.8
98
0
98
0
[ -12.395604133605957, 50.769229888916016, -39.25274658203125, 77.05494689941406, -3.8241758346557617, 9.432515144348145 ]
[ -10.461538314819336, 50.85714340209961, -38.06593322753906, 77.27472686767578, -3.2087912559509277, 9.790681838989258 ]
9.9
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": "so_follower",
    "total_episodes": 101,
    "total_frames": 40400,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:101"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.side": {
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            "shape": [
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                640,
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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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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