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action
sequence
observation.state
sequence
timestamp
float32
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19.1
frame_index
int64
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572
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index
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[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.39453125, -19.775390625, 32.255859375, -41.572265625, -8.26171875, 20.731706619262695 ]
2.666667
80
0
80
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.482421875, -28.740234375, 21.4453125, -41.8359375, -8.26171875, 20.62706184387207 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.39453125, -22.587890625, 29.8828125, -41.66015625, -8.26171875, 20.731706619262695 ]
2.7
81
0
81
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.74609375, -30.234375, 20.0390625, -41.66015625, -8.26171875, 20.62706184387207 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.39453125, -25.13671875, 27.861328125, -41.66015625, -8.26171875, 20.731706619262695 ]
2.733333
82
0
82
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.921875, -31.640625, 18.984375, -41.66015625, -8.26171875, 20.62706184387207 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.39453125, -27.685546875, 25.6640625, -41.66015625, -8.26171875, 20.731706619262695 ]
2.766667
83
0
83
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.921875, -32.6953125, 18.017578125, -41.66015625, -8.349609375, 20.544553756713867 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.482421875, -29.70703125, 23.90625, -41.66015625, -8.26171875, 20.731706619262695 ]
2.8
84
0
84
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.921875, -33.662109375, 17.40234375, -41.66015625, -8.4375, 20.214521408081055 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.482421875, -31.376953125, 22.5, -41.66015625, -8.26171875, 20.731706619262695 ]
2.833333
85
0
85
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.658203125, -34.453125, 16.875, -41.66015625, -8.4375, 19.059406280517578 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -32.783203125, 21.26953125, -41.66015625, -8.26171875, 20.731706619262695 ]
2.866667
86
0
86
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.306640625, -35.15625, 16.435546875, -41.66015625, -8.4375, 17.57425880432129 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -34.013671875, 20.390625, -41.66015625, -8.26171875, 20.731706619262695 ]
2.9
87
0
87
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.21875, -35.771484375, 16.171875, -41.66015625, -8.4375, 16.089109420776367 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.658203125, -34.98046875, 19.599609375, -41.66015625, -8.26171875, 19.986448287963867 ]
2.933333
88
0
88
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -36.38671875, 15.8203125, -41.66015625, -8.4375, 14.851485252380371 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.658203125, -35.68359375, 19.072265625, -41.66015625, -8.26171875, 18.970190048217773 ]
2.966667
89
0
89
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -36.826171875, 15.556640625, -41.748046875, -8.4375, 13.613862037658691 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.658203125, -36.298828125, 18.6328125, -41.66015625, -8.26171875, 17.547426223754883 ]
3
90
0
90
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -37.08984375, 15.205078125, -41.923828125, -8.4375, 12.211221694946289 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -36.826171875, 18.193359375, -41.66015625, -8.26171875, 16.260162353515625 ]
3.033333
91
0
91
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -37.529296875, 15.029296875, -41.923828125, -8.26171875, 10.726072311401367 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -37.353515625, 17.9296875, -41.66015625, -8.26171875, 14.90514850616455 ]
3.066667
92
0
92
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -37.705078125, 14.94140625, -41.923828125, -8.26171875, 9.075907707214355 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -37.6171875, 17.666015625, -41.66015625, -8.26171875, 13.617886543273926 ]
3.1
93
0
93
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.130859375, -37.880859375, 14.94140625, -41.923828125, -8.26171875, 7.343234062194824 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -37.96875, 17.490234375, -41.66015625, -8.26171875, 12.262872695922852 ]
3.133333
94
0
94
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.21875, -38.056640625, 14.94140625, -42.01171875, -8.26171875, 5.2805280685424805 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -38.14453125, 17.2265625, -41.66015625, -8.349609375, 10.772357940673828 ]
3.166667
95
0
95
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.39453125, -38.056640625, 14.94140625, -42.01171875, -8.26171875, 3.1353135108947754 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -38.232421875, 17.138671875, -41.66015625, -8.349609375, 9.214092254638672 ]
3.2
96
0
96
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.482421875, -38.056640625, 14.94140625, -42.01171875, -8.26171875, 0.9075908064842224 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -38.232421875, 17.138671875, -41.66015625, -8.349609375, 7.384823799133301 ]
3.233333
97
0
97
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.5703125, -38.056640625, 14.94140625, -42.1875, -8.173828125, -0.9900990128517151 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -38.232421875, 17.138671875, -41.66015625, -8.349609375, 5.6233062744140625 ]
3.266667
98
0
98
0
[ -2.28515625, 199.072265625, 183.251953125, 74.70703125, 88.9453125, -4.695652008056641, -4.5703125, -38.056640625, 14.94140625, -42.1875, -8.173828125, -3.1353135108947754 ]
[ -2.373046875, 196.787109375, 180.17578125, 74.70703125, 89.208984375, -3.0674846172332764, -4.5703125, -38.3203125, 17.138671875, -41.66015625, -8.26171875, 3.929539442062378 ]
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": 15,
    "total_frames": 8548,
    "total_tasks": 1,
    "total_videos": 45,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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": {
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "aux_shoulder_pan",
                "aux_shoulder_lift",
                "aux_elbow_flex",
                "aux_wrist_flex",
                "aux_wrist_roll",
                "aux_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",
                "aux_shoulder_pan",
                "aux_shoulder_lift",
                "aux_elbow_flex",
                "aux_wrist_flex",
                "aux_wrist_roll",
                "aux_gripper"
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        "observation.images.laptop": {
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        "observation.images.phone": {
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            "info": {
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        "observation.images.phone2": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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