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float32
0
59.2
frame_index
int64
0
592
episode_index
int64
0
4
index
int64
0
2.96k
task_index
int64
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[ -7.060860633850098, -97.83590698242188, 98.7623291015625, 75.18941497802734, -54.78663635253906, 2.5115270614624023 ]
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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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0.4
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0.5
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0.8
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1
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1.1
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1.2
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1.3
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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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2.5
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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
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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
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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5.7
57
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57
0
[ -30.8753662109375, 9.949909210205078, 33.27301788330078, 24.109163284301758, -68.12281799316406, 53.27342987060547 ]
[ -32.09233093261719, 8.631579399108887, 33.064517974853516, 27.979496002197266, -67.69957733154297, 52.460105895996094 ]
5.8
58
0
58
0
[ -31.583267211914062, 11.744983673095703, 32.33851623535156, 23.086360931396484, -68.0201644897461, 51.81066131591797 ]
[ -31.571109771728516, 9.810525894165039, 33.33333206176758, 25.245620727539062, -67.69957733154297, 52.85904312133789 ]
5.9
59
0
59
0
[ -31.797256469726562, 13.105400085449219, 32.56019973754883, 22.41428565979004, -67.5489273071289, 52.338134765625 ]
[ -31.571109771728516, 10.90526294708252, 33.42293930053711, 23.70781707763672, -67.69957733154297, 52.79255294799805 ]
6
60
0
60
0
[ -32.131256103515625, 12.921993255615234, 32.55885314941406, 23.065404891967773, -67.55487060546875, 52.202247619628906 ]
[ -31.571109771728516, 12.33684253692627, 32.79570007324219, 22.511747360229492, -67.69957733154297, 52.39361572265625 ]
6.1
61
0
61
0
[ -31.93669319152832, 13.022014617919922, 33.35271453857422, 23.381080627441406, -67.50332641601562, 50.89038848876953 ]
[ -31.794490814208984, 12.757894515991211, 32.34767150878906, 22.340879440307617, -67.69957733154297, 52.39361572265625 ]
6.2
62
0
62
0
[ -32.29271697998047, 11.5975341796875, 34.16065979003906, 22.793516159057617, -67.58004760742188, 49.869354248046875 ]
[ -31.794490814208984, 12.8421049118042, 32.52688217163086, 22.340879440307617, -67.69957733154297, 51.79521179199219 ]
6.3
63
0
63
0
[ -32.593421936035156, 12.84109878540039, 32.89604949951172, 22.35923957824707, -67.4271240234375, 46.385169982910156 ]
[ -31.86894989013672, 12.589473724365234, 32.974910736083984, 22.340879440307617, -67.69957733154297, 50.73138427734375 ]
6.4
64
0
64
0
[ -32.54595947265625, 11.803653717041016, 34.17074966430664, 22.50867462158203, -67.45274353027344, 39.82522201538086 ]
[ -32.09233093261719, 12.589473724365234, 32.974910736083984, 22.170013427734375, -67.69957733154297, 49.069149017333984 ]
6.5
65
0
65
0
[ -32.090797424316406, 11.601142883300781, 33.741390228271484, 23.15102195739746, -67.32498168945312, 27.209835052490234 ]
[ -32.241249084472656, 12.505263328552246, 33.24372863769531, 22.170013427734375, -67.69957733154297, 46.07712936401367 ]
6.6
66
0
66
0
[ -32.196327209472656, 11.271228790283203, 33.75947570800781, 23.87412452697754, -67.45675659179688, 14.971583366394043 ]
[ -32.16679000854492, 12.505263328552246, 33.33333206176758, 22.170013427734375, -67.69957733154297, 39.694149017333984 ]
6.7
67
0
67
0
[ -32.834129333496094, 11.130355834960938, 33.498619079589844, 24.61564064025879, -67.3180160522461, 7.919168472290039 ]
[ -32.16679000854492, 12.505263328552246, 33.33333206176758, 22.170013427734375, -67.69957733154297, 29.255319595336914 ]
6.8
68
0
68
0
[ -32.184661865234375, 11.709423065185547, 33.51386260986328, 23.4195556640625, -66.82862091064453, 5.463381767272949 ]
[ -32.241249084472656, 12.33684253692627, 33.24372863769531, 22.59718132019043, -67.69957733154297, 17.619680404663086 ]
6.9
69
0
69
0
[ -32.684959411621094, 11.106559753417969, 32.84185791015625, 23.36664581298828, -66.65758514404297, 6.258815765380859 ]
[ -32.09233093261719, 12.168420791625977, 33.24372863769531, 22.85348129272461, -67.38445281982422, 9.574467658996582 ]
7
70
0
70
0
[ -32.562320709228516, 9.993049621582031, 34.037696838378906, 23.401975631713867, -66.35218811035156, 6.6983184814453125 ]
[ -32.16679000854492, 12.168420791625977, 33.15412139892578, 22.85348129272461, -66.96428680419922, 7.247340202331543 ]
7.1
71
0
71
0
[ -32.90220260620117, 7.804767608642578, 34.6977653503418, 24.250743865966797, -66.21176147460938, 6.512408256530762 ]
[ -32.16679000854492, 11.831579208374023, 33.42293930053711, 22.85348129272461, -66.85924530029297, 6.914893627166748 ]
7.2
72
0
72
0
[ -33.68614959716797, 1.7424087524414062, 37.10472869873047, 26.47563934326172, -66.17407989501953, 7.148009300231934 ]
[ -32.16679000854492, 10.568421363830566, 34.58781433105469, 23.10978126525879, -66.85924530029297, 6.848404407501221 ]
7.3
73
0
73
0
[ -35.556007385253906, -8.397930145263672, 41.14936828613281, 32.00261688232422, -65.97895050048828, 7.6258955001831055 ]
[ -32.539093017578125, 8.463157653808594, 35.93190002441406, 24.30585289001465, -66.7016830444336, 6.848404407501221 ]
7.4
74
0
74
0
[ -39.484073638916016, -20.482845306396484, 45.59797286987305, 40.1313591003418, -65.58468627929688, 7.852036952972412 ]
[ -33.80491256713867, 3.9157893657684326, 38.88888931274414, 26.95429229736328, -66.22898864746094, 7.180850982666016 ]
7.5
75
0
75
0
[ -45.51817321777344, -32.46705627441406, 51.14359664916992, 44.613887786865234, -65.09589385986328, 7.474750518798828 ]
[ -36.48548126220703, -4, 43.36917495727539, 32.59291076660156, -66.01890563964844, 7.513298034667969 ]
7.6
76
0
76
0
[ -53.727237701416016, -38.563724517822266, 54.62610626220703, 46.336334228515625, -65.55994415283203, 6.6644134521484375 ]
[ -39.910648345947266, -14.610526084899902, 47.84946060180664, 39.9401969909668, -65.23109436035156, 7.579787254333496 ]
7.7
77
0
77
0
[ -60.14797592163086, -38.36802673339844, 55.28447341918945, 45.76112747192383, -68.48457336425781, 6.521440505981445 ]
[ -45.56962203979492, -26.399999618530273, 53.225807189941406, 44.38274383544922, -65.49369812011719, 7.3138298988342285 ]
7.8
78
0
78
0
[ -68.86180114746094, -35.42721176147461, 56.18380355834961, 44.15461349487305, -74.35151672363281, 6.497598648071289 ]
[ -53.462398529052734, -33.05263137817383, 55.73476791381836, 45.57881164550781, -65.91386413574219, 6.848404407501221 ]
7.9
79
0
79
0
[ -72.23081970214844, -34.60724639892578, 57.8355712890625, 42.112972259521484, -75.98808288574219, 6.071497917175293 ]
[ -59.940433502197266, -34.31578826904297, 56.9892463684082, 45.23707962036133, -68.64495849609375, 6.582446575164795 ]
8
80
0
80
0
[ -75.94477844238281, -32.31954574584961, 58.33308410644531, 40.15489196777344, -77.65496826171875, 6.186057090759277 ]
[ -67.68428802490234, -34.06315612792969, 58.42293930053711, 44.211875915527344, -73.5819320678711, 6.44946813583374 ]
8.1
81
0
81
0
[ -78.51606750488281, -31.50409698486328, 59.12736511230469, 38.203575134277344, -79.08435821533203, 6.315749168395996 ]
[ -71.85405731201172, -32.968421936035156, 59.13978576660156, 42.41777038574219, -76.05042266845703, 6.316489219665527 ]
8.2
82
0
82
0
[ -79.8465576171875, -32.65712356567383, 59.14408874511719, 36.417381286621094, -78.75797271728516, 5.979612350463867 ]
[ -76.0982894897461, -31.36842155456543, 59.94623565673828, 40.452796936035156, -77.73109436035156, 6.316489219665527 ]
8.3
83
0
83
0
[ -79.58482360839844, -32.84424591064453, 59.85503387451172, 34.89141845703125, -77.24998474121094, 5.839856147766113 ]
[ -78.55547332763672, -31.11578941345215, 60.12544631958008, 38.57325744628906, -78.51890563964844, 6.316489219665527 ]
8.4
84
0
84
0
[ -78.55828094482422, -32.11244583129883, 61.05598449707031, 33.95648193359375, -76.39974212646484, 6.351041793823242 ]
[ -79.3745346069336, -31.11578941345215, 60.5734748840332, 36.864585876464844, -78.15126037597656, 6.183510780334473 ]
8.5
85
0
85
0
[ -77.66779327392578, -33.71527099609375, 62.29216766357422, 33.167510986328125, -75.33267974853516, 5.88089656829834 ]
[ -79.22561645507812, -31.11578941345215, 61.73834991455078, 35.41221618652344, -76.8382339477539, 6.117021083831787 ]
8.6
86
0
86
0
[ -77.92330169677734, -35.21877670288086, 61.45723342895508, 33.179840087890625, -75.16842651367188, 5.972887992858887 ]
[ -78.62993621826172, -31.200000762939453, 62.99283218383789, 34.55788040161133, -76.26050567626953, 6.05053186416626 ]
8.7
87
0
87
0
[ -77.51170349121094, -34.55015563964844, 61.57732009887695, 33.67266845703125, -75.00556945800781, 6.299962043762207 ]
[ -78.33209228515625, -31.36842155456543, 63.17204284667969, 34.38701248168945, -75.57772827148438, 6.05053186416626 ]
8.8
88
0
88
0
[ -77.22502136230469, -35.326507568359375, 62.22376251220703, 33.09986877441406, -74.52914428710938, 6.9731011390686035 ]
[ -78.25762939453125, -31.957895278930664, 63.17204284667969, 34.30158233642578, -75.2100830078125, 6.05053186416626 ]
8.9
89
0
89
0
[ -76.93304443359375, -34.78318405151367, 62.393829345703125, 33.045013427734375, -74.34078216552734, 14.453165054321289 ]
[ -77.95979309082031, -32.21052551269531, 63.26165008544922, 34.216148376464844, -74.94747924804688, 6.05053186416626 ]
9
90
0
90
0
[ -77.07191467285156, -34.95775604248047, 61.69257354736328, 33.18588638305664, -74.40162658691406, 23.762096405029297 ]
[ -77.58749389648438, -32.294734954833984, 63.26165008544922, 34.216148376464844, -74.579833984375, 7.712766170501709 ]
9.1
91
0
91
0
[ -77.15225219726562, -35.917659759521484, 61.75553894042969, 32.88756561279297, -74.32545471191406, 32.639320373535156 ]
[ -77.51303100585938, -32.294734954833984, 63.26165008544922, 34.216148376464844, -74.579833984375, 14.228723526000977 ]
9.2
92
0
92
0
[ -77.66181945800781, -35.64468765258789, 63.45562744140625, 32.166358947753906, -74.1468276977539, 37.824371337890625 ]
[ -77.51303100585938, -32.547367095947266, 63.26165008544922, 34.216148376464844, -74.47479248046875, 22.805850982666016 ]
9.3
93
0
93
0
[ -77.45851135253906, -36.4041862487793, 63.62540054321289, 32.11918640136719, -74.16403198242188, 40.36247253417969 ]
[ -77.58749389648438, -32.79999923706055, 63.978492736816406, 33.70354461669922, -74.3697509765625, 30.917552947998047 ]
9.4
94
0
94
0
[ -76.75375366210938, -36.57602310180664, 63.577354431152344, 31.75008201599121, -73.9040298461914, 41.66128158569336 ]
[ -77.58749389648438, -33.05263137817383, 64.78494262695312, 33.361812591552734, -74.31723022460938, 36.4361686706543 ]
9.5
95
0
95
0
[ -75.57350158691406, -37.92420196533203, 64.22059631347656, 31.31761932373047, -73.51456451416016, 41.78430938720703 ]
[ -77.43856811523438, -33.55789566040039, 64.87454986572266, 33.10551071166992, -74.31723022460938, 39.62765884399414 ]
9.6
96
0
96
0
[ -71.12364196777344, -40.70130920410156, 64.03276824951172, 32.91651916503906, -71.31192016601562, 41.3704719543457 ]
[ -76.6939697265625, -34.06315612792969, 65.05376434326172, 32.59291076660156, -74.0020980834961, 40.89095687866211 ]
9.7
97
0
97
0
[ -63.714046478271484, -46.1704216003418, 63.73883056640625, 33.52510452270508, -67.09481811523438, 41.85102844238281 ]
[ -75.13030242919922, -35.91579055786133, 65.23297119140625, 32.93464279174805, -72.79412078857422, 41.15691375732422 ]
9.8
98
0
98
0
[ -54.701744079589844, -57.110836029052734, 65.98833465576172, 34.42606735229492, -61.587890625, 41.956703186035156 ]
[ -71.40729522705078, -38.77894592285156, 65.32257843017578, 33.361812591552734, -70.90335845947266, 41.289894104003906 ]
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": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 5,
    "total_frames": 2962,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
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            "names": [
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        "observation.images.front": {
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            "names": [
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            "info": {
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                "video.channels": 3,
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        "observation.images.top": {
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            "names": [
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                "has_audio": false
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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