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6
6
observation.state
listlengths
6
6
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float64
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120
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int64
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[ -12.784917831420898, -99.96977996826172, 100.54353332519531, 70.09304809570312, 0.957575798034668, 0.7514591217041016 ]
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4.2
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4.4
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4.6
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4.8
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5.2
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5.6
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5.8
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6
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6.2
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7
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7.2
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7.4
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7.6
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7.8
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8
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8.2
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8.4
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
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10.2
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10.4
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10.6
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10.8
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11
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11.2
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11.4
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11.6
58
0
58
0
[ -15.293599128723145, -66.5091323852539, 66.94781494140625, 57.79364013671875, 4.747450828552246, 32.582244873046875 ]
[ -15.91483211517334, -49.979087829589844, 46.83207702636719, 53.291404724121094, 6.77042818069458, 43.600563049316406 ]
11.8
59
0
59
0
[ -13.462066650390625, -78.53954315185547, 74.04795837402344, 63.9853630065918, 3.2202062606811523, 20.432750701904297 ]
[ -15.409599304199219, -63.02802276611328, 63.49135971069336, 57.31656265258789, 5.058365821838379, 34.66947937011719 ]
12
60
0
60
0
[ -12.576942443847656, -89.69219970703125, 87.22796630859375, 63.34600830078125, 3.761918067932129, 16.98064613342285 ]
[ -13.74954891204834, -75.5750732421875, 73.50465393066406, 63.01886749267578, 3.2944228649139404, 23.13642692565918 ]
12.2
61
0
61
0
[ -11.096033096313477, -90.2127685546875, 88.16612243652344, 63.29618835449219, 2.055309295654297, 12.338451385498047 ]
[ -12.594731330871582, -87.70388793945312, 85.46743774414062, 63.43815612792969, 3.6057069301605225, 17.651195526123047 ]
12.4
62
0
62
0
[ -12.168067932128906, -101.9712142944336, 100.94917297363281, 71.97911071777344, 1.515732765197754, 6.719867706298828 ]
[ -11.223384857177734, -89.87871551513672, 88.39167022705078, 63.43815612792969, 2.308690071105957, 13.080168724060059 ]
12.6
63
0
63
0
[ -12.989447593688965, -102.26095581054688, 103.1152572631836, 72.83427429199219, 0.8549795150756836, 4.461147308349609 ]
[ -12.306026458740234, -97.49059295654297, 97.34160614013672, 69.81131744384766, 1.374837875366211, 7.45428991317749 ]
12.8
64
0
64
0
[ -11.441459655761719, -105.19915771484375, 102.9779052734375, 73.28501892089844, 0.14774322509765625, 0.43822479248046875 ]
[ -12.955611228942871, -99.24717712402344, 99.20248413085938, 71.82389831542969, 1.011673092842102, 4.711673736572266 ]
13
65
0
65
0
[ -11.908553123474121, -102.87202453613281, 104.09129333496094, 74.10761260986328, 0.686305046081543, 2.9775772094726562 ]
[ -11.656441688537598, -99.24717712402344, 99.29109191894531, 72.15933227539062, 0.38910505175590515, 1.547116756439209 ]
13.2
66
0
66
0
[ -10.853893280029297, -106.01127624511719, 104.88447570800781, 74.23283386230469, -0.2702503204345703, -1.5819969177246094 ]
[ -11.728617668151855, -99.24717712402344, 99.29109191894531, 72.6624755859375, 0.4409857392311096, 2.601969003677368 ]
13.4
67
0
67
0
[ -11.35347843170166, -107.34628295898438, 108.53535461425781, 75.37086486816406, -0.38498592376708984, -3.4812870025634766 ]
[ -10.934680938720703, -99.24717712402344, 99.29109191894531, 72.6624755859375, -0.07782100886106491, 1.3361462354660034 ]
13.6
68
0
68
0
[ -10.353838920593262, -107.50137329101562, 104.81069946289062, 74.60480499267578, -0.13697147369384766, -1.2233924865722656 ]
[ -11.151208877563477, -99.24717712402344, 99.29109191894531, 73.24947357177734, -0.18158236145973206, 1.2658227682113647 ]
13.8
69
0
69
0
[ -11.475318908691406, -109.02946472167969, 109.53628540039062, 75.85627746582031, 0.19806766510009766, -0.3082904815673828 ]
[ -10.429448127746582, -99.24717712402344, 99.29109191894531, 73.24947357177734, -0.18158236145973206, 1.2658227682113647 ]
14
70
0
70
0
[ -12.82808780670166, -106.41158294677734, 107.1688461303711, 76.29084777832031, -0.05219268798828125, -0.9993801116943359 ]
[ -11.439913749694824, -99.24717712402344, 99.29109191894531, 73.58490753173828, -0.07782100886106491, 1.2658227682113647 ]
14.2
71
0
71
0
[ -12.801736831665039, -108.421142578125, 111.0635757446289, 78.72921752929688, -0.6182222366333008, -4.379871368408203 ]
[ -12.739083290100098, -99.24717712402344, 99.29109191894531, 73.75261688232422, -0.07782100886106491, 1.2658227682113647 ]
14.4
72
0
72
0
[ -13.540074348449707, -108.81808471679688, 111.23029327392578, 78.34751892089844, -0.0762176513671875, -1.542490005493164 ]
[ -12.450379371643066, -99.24717712402344, 99.29109191894531, 74.50733947753906, -0.2853437066078186, 1.2658227682113647 ]
14.6
73
0
73
0
[ -12.87281322479248, -109.6273193359375, 111.95628356933594, 79.83966064453125, -0.8494434356689453, -4.777276992797852 ]
[ -13.316492080688477, -99.24717712402344, 99.29109191894531, 74.59119415283203, -0.12970168888568878, 1.2658227682113647 ]
14.8
74
0
74
0
[ -12.697925567626953, -109.79149627685547, 111.16864776611328, 78.03242492675781, -0.3813953399658203, -4.349876403808594 ]
[ -12.883435249328613, -99.24717712402344, 99.29109191894531, 74.92662811279297, -0.4409857392311096, 1.2658227682113647 ]
15
75
0
75
0
[ -12.578323364257812, -112.52215576171875, 115.12088775634766, 78.88777923583984, -0.09079742431640625, -4.2025604248046875 ]
[ -12.883435249328613, -99.24717712402344, 99.29109191894531, 75.01048278808594, -0.38910505175590515, 1.2658227682113647 ]
15.2
76
0
76
0
[ -12.019991874694824, -112.312255859375, 114.58966827392578, 79.08081817626953, -0.1717844009399414, -4.513559341430664 ]
[ -12.883435249328613, -99.24717712402344, 99.29109191894531, 75.01048278808594, -0.23346303403377533, 1.2658227682113647 ]
15.4
77
0
77
0
[ -14.622017860412598, -108.32257080078125, 112.1416244506836, 79.29107666015625, 0.08018875122070312, -1.427032470703125 ]
[ -12.161674499511719, -99.24717712402344, 99.29109191894531, 75.01048278808594, -0.23346303403377533, 1.2658227682113647 ]
15.6
78
0
78
0
[ -13.469681739807129, -107.18535614013672, 109.75885009765625, 75.62881469726562, 0.1719217300415039, -1.361379623413086 ]
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15.8
79
0
79
0
[ -12.454339981079102, -110.80952453613281, 111.73722076416016, 78.52658081054688, -0.4531536102294922, -3.892892837524414 ]
[ -13.605196952819824, -99.24717712402344, 99.29109191894531, 74.3396224975586, -0.12970168888568878, 1.2658227682113647 ]
16
80
0
80
0
[ -13.685765266418457, -107.93553161621094, 110.60272216796875, 77.69223022460938, -0.47338390350341797, -3.0197372436523438 ]
[ -12.594731330871582, -99.24717712402344, 99.29109191894531, 74.7589111328125, -0.23346303403377533, 1.2658227682113647 ]
16.200001
81
0
81
0
[ -10.988870620727539, -113.97010803222656, 115.7456283569336, 78.50505828857422, -0.7437448501586914, -6.295616149902344 ]
[ -13.605196952819824, -99.24717712402344, 99.29109191894531, 74.7589111328125, -0.23346303403377533, 1.2658227682113647 ]
16.4
82
0
82
0
[ -13.358808517456055, -110.11094665527344, 113.07695770263672, 77.87850189208984, -0.21581649780273438, -3.3363170623779297 ]
[ -11.223384857177734, -99.24717712402344, 99.29109191894531, 74.7589111328125, -0.38910505175590515, 1.2658227682113647 ]
16.6
83
0
83
0
[ -10.95042610168457, -106.37281799316406, 107.90959167480469, 73.88518524169922, -1.938319206237793, -3.7335357666015625 ]
[ -13.172140121459961, -99.24717712402344, 99.29109191894531, 74.7589111328125, -0.33722439408302307, 1.2658227682113647 ]
16.799999
84
0
84
0
[ -13.150449752807617, -111.15010070800781, 115.18136596679688, 78.0857162475586, -0.7722501754760742, -5.098459243774414 ]
[ -11.223384857177734, -99.33082580566406, 99.29109191894531, 73.41719055175781, -1.5823606252670288, 1.2658227682113647 ]
17
85
0
85
0
[ -12.555261611938477, -108.72671508789062, 111.27301025390625, 76.06747436523438, -0.3810081481933594, -3.9587879180908203 ]
[ -13.027788162231445, -99.33082580566406, 99.29109191894531, 74.59119415283203, -0.9597924947738647, 1.2658227682113647 ]
17.200001
86
0
86
0
[ -9.271989822387695, -108.851806640625, 109.12728881835938, 74.16116333007812, -2.0771894454956055, -6.892173767089844 ]
[ -12.739083290100098, -99.33082580566406, 99.29109191894531, 74.50733947753906, -0.5966277718544006, 1.2658227682113647 ]
17.4
87
0
87
0
[ 7.0826873779296875, -75.01337432861328, 66.93811798095703, 60.4639892578125, -0.736170768737793, 8.467592239379883 ]
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17.6
88
0
88
0
[ -8.534590721130371, -111.56144714355469, 112.46730041503906, 76.85750579833984, -0.803645133972168, -8.676994323730469 ]
[ 2.850956439971924, -83.7724838256836, 82.72042846679688, 63.689727783203125, -1.167315125465393, 6.821378231048584 ]
17.799999
89
0
89
0
[ 7.5832037925720215, -71.84371948242188, 54.354408264160156, 53.741817474365234, 1.6759004592895508, 11.332209587097168 ]
[ -5.377120018005371, -92.6390609741211, 80.2392578125, 73.58490753173828, -0.8560311198234558, 1.6877636909484863 ]
18
90
0
90
0
[ -10.38266372680664, -108.08492279052734, 106.5423583984375, 72.23892211914062, 0.044541358947753906, -2.7730770111083984 ]
[ 3.789245843887329, -82.68506622314453, 93.88568878173828, 60.92243194580078, 1.2710765600204468, 9.423347473144531 ]
18.200001
91
0
91
0
[ -10.460431098937988, -102.518798828125, 102.26631164550781, 72.86358642578125, -0.6064167022705078, -4.356927871704102 ]
[ -5.810176849365234, -85.86365509033203, 72.17545318603516, 68.63731384277344, 0.38910505175590515, 2.250351667404175 ]
18.4
92
0
92
0
[ 5.291999816894531, 34.47835922241211, -44.14654541015625, 60.59305953979492, 11.701513290405273, 39.06343078613281 ]
[ -9.852039337158203, -98.24341583251953, 96.18962860107422, 71.82389831542969, -0.5966277718544006, 1.2658227682113647 ]
18.6
93
0
93
0
[ -12.02646541595459, -91.86210632324219, 86.71018981933594, 65.3279800415039, 2.5755109786987305, 9.467674255371094 ]
[ 1.046553611755371, -80.76118469238281, 80.94815826416016, 63.43815612792969, 8.01556396484375, 13.080168724060059 ]
18.799999
94
0
94
0
[ 7.578129768371582, -70.3923568725586, 50.681514739990234, 54.017818450927734, 3.1532773971557617, 16.98651123046875 ]
[ -7.470227241516113, -48.47344207763672, 47.71820831298828, 64.19287109375, 4.176394462585449, 31.50492286682129 ]
19
95
0
95
0
[ -11.786864280700684, -107.89678955078125, 110.5416488647461, 75.22472381591797, -0.9026002883911133, -4.849653244018555 ]
[ 1.912666916847229, -67.04307556152344, 52.50332260131836, 56.310272216796875, 3.3463034629821777, 18.635725021362305 ]
19.200001
96
0
96
0
[ 18.630756378173828, -44.77798843383789, 34.725772857666016, 53.00204849243164, 2.1275453567504883, 33.322444915771484 ]
[ -6.604114055633545, -88.12212371826172, 72.61852264404297, 69.30817413330078, -0.07782100886106491, 4.99296760559082 ]
19.4
97
0
97
0
[ -3.547941207885742, -8.056636810302734, -18.677642822265625, 63.994300842285156, 5.1647748947143555, 41.026206970214844 ]
[ 4.438830852508545, -86.86741638183594, 95.21488952636719, 59.496856689453125, 1.7380025386810303, 13.853727340698242 ]
19.6
98
0
98
0
[ -13.180289268493652, -79.9837646484375, 78.3290786743164, 69.42819213867188, 0.6059207916259766, 2.9628372192382812 ]
[ 10.50162410736084, -36.76285934448242, 53.83251953125, 62.43186569213867, 4.487678527832031, 35.2320671081543 ]
19.799999
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": "so101_follower",
    "total_episodes": 1,
    "total_frames": 599,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 5,
    "splits": {
        "train": "0:1"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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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": 5,
                "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"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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