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4.2
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4.4
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4.6
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7
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7.8
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8
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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
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58
0
[ 62.81368637084961, 8.816268920898438, 14.939136505126953, 68.74314880371094, -0.7082180976867676, 0.6217594146728516 ]
[ 62.73567581176758, 10.884353637695312, 17.073171615600586, 68.51612854003906, -0.13078734278678894, 1.376462459564209 ]
11.8
59
0
59
0
[ 62.90370559692383, 8.729284286499023, 16.09264373779297, 68.51366424560547, -1.1314778327941895, 0.44495105743408203 ]
[ 62.80961227416992, 10.884353637695312, 17.073171615600586, 68.51612854003906, -0.5493068099021912, 1.376462459564209 ]
12
60
0
60
0
[ 62.99845886230469, 9.284649848937988, 16.283447265625, 68.39530944824219, -1.101731300354004, 0.539794921875 ]
[ 62.73567581176758, 10.884353637695312, 17.073171615600586, 68.51612854003906, -0.6016217470169067, 1.376462459564209 ]
12.2
61
0
61
0
[ 62.55693435668945, 8.916638374328613, 16.886112213134766, 69.1803970336914, -1.0558218955993652, 0.9407672882080078 ]
[ 62.73567581176758, 10.884353637695312, 17.073171615600586, 68.51612854003906, -0.810881495475769, 1.376462459564209 ]
12.4
62
0
62
0
[ 62.43397903442383, 8.343245506286621, 17.59624671936035, 68.7720718383789, -1.2088046073913574, 1.2598848342895508 ]
[ 62.73567581176758, 10.884353637695312, 17.073171615600586, 68.86021423339844, -0.810881495475769, 1.376462459564209 ]
12.6
63
0
63
0
[ 62.288150787353516, 8.463241577148438, 17.843368530273438, 68.74951171875, -1.713733196258545, 0.8648738861083984 ]
[ 62.73567581176758, 10.884353637695312, 17.615175247192383, 68.86021423339844, -0.9678263068199158, 1.376462459564209 ]
12.8
64
0
64
0
[ 62.245323181152344, 8.146038055419922, 17.953889846801758, 67.45362854003906, -2.0629239082336426, 0.8238811492919922 ]
[ 62.365989685058594, 10.884353637695312, 18.06684684753418, 68.86021423339844, -1.438660740852356, 1.376462459564209 ]
13
65
0
65
0
[ 62.1311149597168, 8.4513578414917, 17.861021041870117, 67.1849365234375, -1.8693914413452148, 0.6869516372680664 ]
[ 62.29205322265625, 10.884353637695312, 18.06684684753418, 67.74193572998047, -1.8048652410507202, 1.376462459564209 ]
13.2
66
0
66
0
[ 61.80206298828125, 8.572728157043457, 18.104536056518555, 67.86457061767578, -1.719696044921875, 0.6677045822143555 ]
[ 62.29205322265625, 10.884353637695312, 18.06684684753418, 67.65591430664062, -1.8048652410507202, 1.376462459564209 ]
13.4
67
0
67
0
[ 61.66747283935547, 8.658990859985352, 17.96017074584961, 67.7557373046875, -1.8125128746032715, 0.7819452285766602 ]
[ 61.922367095947266, 10.884353637695312, 18.06684684753418, 67.65591430664062, -1.8048652410507202, 1.376462459564209 ]
13.6
68
0
68
0
[ 61.73550796508789, 8.644317626953125, 17.98149871826172, 67.47340393066406, -2.4412851333618164, 0.6141576766967773 ]
[ 61.84843063354492, 10.884353637695312, 18.06684684753418, 67.65591430664062, -1.8048652410507202, 1.376462459564209 ]
13.8
69
0
69
0
[ 61.760223388671875, 8.51980209350586, 17.687742233276367, 66.72959899902344, -2.1267733573913574, 0.511683464050293 ]
[ 61.84843063354492, 10.884353637695312, 18.06684684753418, 67.65591430664062, -2.2233848571777344, 1.376462459564209 ]
14
70
0
70
0
[ 61.817840576171875, 8.4945068359375, 18.078189849853516, 66.03218078613281, -2.0126380920410156, 0.5375947952270508 ]
[ 61.84843063354492, 10.884353637695312, 18.157180786132812, 67.13978576660156, -2.2233848571777344, 1.376462459564209 ]
14.2
71
0
71
0
[ 61.809730529785156, 8.463407516479492, 18.413593292236328, 66.97010040283203, -1.9988722801208496, 0.3685188293457031 ]
[ 61.84843063354492, 10.884353637695312, 18.33785057067871, 66.27957153320312, -2.2233848571777344, 1.376462459564209 ]
14.4
72
0
72
0
[ 61.806671142578125, 8.302266120910645, 18.445758819580078, 64.78523254394531, -1.7877693176269531, 0.5533456802368164 ]
[ 61.84843063354492, 10.884353637695312, 18.33785057067871, 66.53763580322266, -2.2233848571777344, 1.376462459564209 ]
14.6
73
0
73
0
[ 61.852508544921875, 8.2037935256958, 18.70576286315918, 65.26605987548828, -1.7782669067382812, 0.5404787063598633 ]
[ 61.84843063354492, 10.884353637695312, 18.33785057067871, 65.07527160644531, -2.171069860458374, 1.376462459564209 ]
14.8
74
0
74
0
[ 61.683197021484375, 8.135981559753418, 18.646610260009766, 64.36834716796875, -3.4169392585754395, 0.47431373596191406 ]
[ 61.84843063354492, 10.884353637695312, 18.970190048217773, 65.16129302978516, -2.171069860458374, 1.376462459564209 ]
15
75
0
75
0
[ 61.609371185302734, 8.249645233154297, 18.664201736450195, 65.46664428710938, -2.496415615081787, 14.330605506896973 ]
[ 61.84843063354492, 10.884353637695312, 18.970190048217773, 64.6451644897461, -3.112738609313965, 1.376462459564209 ]
15.2
76
0
76
0
[ 61.470252990722656, 8.191089630126953, 18.607519149780273, 65.95539855957031, -2.2426528930664062, 6.063668727874756 ]
[ 61.84843063354492, 10.884353637695312, 18.970190048217773, 65.16129302978516, -2.8511641025543213, 10.736407279968262 ]
15.4
77
0
77
0
[ 61.25022888183594, 8.087150573730469, 18.809192657470703, 66.41047668457031, -2.482626438140869, 1.465224266052246 ]
[ 61.84843063354492, 10.884353637695312, 18.970190048217773, 65.50537872314453, -2.641904354095459, 7.295251369476318 ]
15.6
78
0
78
0
[ 61.30416488647461, 7.92665958404541, 18.981197357177734, 66.53173828125, -1.9692935943603516, 8.6201753616333 ]
[ 61.330867767333984, 10.884353637695312, 18.970190048217773, 65.8494644165039, -2.641904354095459, 2.27116322517395 ]
15.8
79
0
79
0
[ 61.332672119140625, 9.272933006286621, 17.91238784790039, 65.91363525390625, -2.6419477462768555, 2.1911611557006836 ]
[ 61.330867767333984, 10.884353637695312, 19.060523986816406, 65.8494644165039, -2.328014612197876, 7.501720428466797 ]
16
80
0
80
0
[ 61.150325775146484, 7.50241231918335, 18.732650756835938, 65.89289093017578, -2.7183475494384766, 1.6765708923339844 ]
[ 61.330867767333984, 10.884353637695312, 19.060523986816406, 65.76344299316406, -2.3803296089172363, 7.845836162567139 ]
16.200001
81
0
81
0
[ 61.04405975341797, 8.013582229614258, 18.1904239654541, 65.99056243896484, -2.592822551727295, 1.380539894104004 ]
[ 61.330867767333984, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.5372743606567383, 2.3399863243103027 ]
16.4
82
0
82
0
[ 61.08003234863281, 8.36419677734375, 18.03581428527832, 65.77261352539062, -2.542435646057129, 1.5399093627929688 ]
[ 61.330867767333984, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.484959363937378, 2.133516788482666 ]
16.6
83
0
83
0
[ 60.66129684448242, 8.56100082397461, 17.846773147583008, 65.6631088256836, -2.792233943939209, 1.3245105743408203 ]
[ 61.330867767333984, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.484959363937378, 2.133516788482666 ]
16.799999
84
0
84
0
[ 60.866233825683594, 8.6458101272583, 18.17735481262207, 65.66094207763672, -2.684844493865967, 1.0250768661499023 ]
[ 60.73937225341797, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.484959363937378, 2.133516788482666 ]
17
85
0
85
0
[ 60.38282012939453, 8.089250564575195, 18.66581916809082, 65.6865005493164, -2.8815369606018066, 1.0542984008789062 ]
[ 60.73937225341797, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.4326446056365967, 1.7205780744552612 ]
17.200001
86
0
86
0
[ 60.19355392456055, 6.64307975769043, 20.891530990600586, 65.36637878417969, -3.0036425590515137, 1.2319755554199219 ]
[ 60.591495513916016, 10.459183692932129, 19.060523986816406, 65.76344299316406, -2.641904354095459, 1.7205780744552612 ]
17.4
87
0
87
0
[ 59.672889709472656, 7.1351518630981445, 19.88862419128418, 65.73591613769531, -3.3298821449279785, 0.9538936614990234 ]
[ 60.29574966430664, 9.863945960998535, 20.86720848083496, 65.67742156982422, -2.7465341091156006, 1.7205780744552612 ]
17.6
88
0
88
0
[ 59.330726623535156, 7.443671226501465, 19.700143814086914, 65.70001983642578, -3.2040915489196777, 1.077042579650879 ]
[ 59.7781867980957, 9.693877220153809, 20.776874542236328, 65.33333587646484, -3.112738609313965, 1.7205780744552612 ]
17.799999
89
0
89
0
[ 59.64033126831055, 7.258551597595215, 20.0169734954834, 64.80252075195312, -3.2573509216308594, 0.9818239212036133 ]
[ 59.70425033569336, 9.693877220153809, 20.776874542236328, 65.33333587646484, -3.112738609313965, 1.7205780744552612 ]
18
90
0
90
0
[ 59.46528244018555, 7.169423580169678, 20.48863983154297, 64.86024475097656, -3.184365749359131, 0.8770103454589844 ]
[ 59.70425033569336, 9.693877220153809, 20.776874542236328, 65.07527160644531, -3.112738609313965, 1.7205780744552612 ]
18.200001
91
0
91
0
[ 59.64437484741211, 7.577471733093262, 20.4051570892334, 62.519229888916016, -3.1894426345825195, 0.8510417938232422 ]
[ 59.70425033569336, 9.693877220153809, 20.776874542236328, 65.07527160644531, -3.112738609313965, 1.7205780744552612 ]
18.4
92
0
92
0
[ 59.538063049316406, 7.533177375793457, 20.164403915405273, 62.551143646240234, -2.980307102203369, 0.9824485778808594 ]
[ 59.70425033569336, 9.693877220153809, 20.776874542236328, 63.35483932495117, -3.112738609313965, 1.7205780744552612 ]
18.6
93
0
93
0
[ 59.167510986328125, 7.3834099769592285, 20.704612731933594, 62.407936096191406, -1.9580564498901367, 0.7491979598999023 ]
[ 59.70425033569336, 9.693877220153809, 20.776874542236328, 62.92473220825195, -3.112738609313965, 1.7205780744552612 ]
18.799999
94
0
94
0
[ 59.13581848144531, 7.26149845123291, 20.877338409423828, 61.908077239990234, -2.2845511436462402, 0.7384757995605469 ]
[ 59.26062774658203, 9.693877220153809, 20.776874542236328, 62.752689361572266, -2.328014612197876, 1.7205780744552612 ]
19
95
0
95
0
[ 58.8631477355957, 7.516767501831055, 20.857784271240234, 61.39094543457031, -2.7625584602355957, 0.8478069305419922 ]
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19.200001
96
0
96
0
[ 58.91748046875, 7.496075630187988, 20.892803192138672, 60.66421127319336, -2.843137264251709, 0.7085838317871094 ]
[ 58.96487808227539, 9.693877220153809, 20.776874542236328, 61.720428466796875, -2.5372743606567383, 1.7205780744552612 ]
19.4
97
0
97
0
[ 58.7104606628418, 7.276922702789307, 21.06552505493164, 62.082725524902344, -2.773935317993164, 0.8039388656616211 ]
[ 58.96487808227539, 9.693877220153809, 20.776874542236328, 61.032257080078125, -2.484959363937378, 1.7205780744552612 ]
19.6
98
0
98
0
[ 58.8546028137207, 7.049029350280762, 20.788631439208984, 62.405879974365234, -2.8018345832824707, 1.1593999862670898 ]
[ 58.96487808227539, 9.693877220153809, 20.776874542236328, 61.720428466796875, -2.484959363937378, 1.7205780744552612 ]
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": 898,
    "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
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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