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6
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8.8
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9
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9.2
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9.6
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9.8
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10
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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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11.8
59
0
59
0
[ 65.37805938720703, 2.9392547607421875, 21.153743743896484, 64.35731506347656, 48.91167449951172, 0.5034341812133789 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.04301452636719, 49.254512786865234, 0.8947006464004517 ]
12
60
0
60
0
[ 65.46605682373047, 2.923638343811035, 21.563434600830078, 64.51815795898438, 49.73179244995117, 0.4441385269165039 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 63.95698928833008, 49.254512786865234, 0.8947006464004517 ]
12.2
61
0
61
0
[ 65.53366088867188, 2.6739368438720703, 21.171489715576172, 64.89939880371094, 49.16907501220703, 0.691401481628418 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 63.95698928833008, 49.46377182006836, 0.8947006464004517 ]
12.4
62
0
62
0
[ 65.54739379882812, 2.47312068939209, 21.11954116821289, 64.69722747802734, 50.59392166137695, 0.5326080322265625 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.12903594970703, 49.3591423034668, 0.8947006464004517 ]
12.6
63
0
63
0
[ 65.49352264404297, 2.6049270629882812, 20.79166030883789, 64.64299011230469, 50.44065475463867, 0.7964181900024414 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.12903594970703, 50.19618225097656, 0.8947006464004517 ]
12.8
64
0
64
0
[ 65.44327545166016, 2.6871285438537598, 20.606868743896484, 64.7790298461914, 50.28342056274414, 0.5158586502075195 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.12903594970703, 50.19618225097656, 0.8947006464004517 ]
13
65
0
65
0
[ 65.3409652709961, 2.762484550476074, 20.845075607299805, 65.03035736083984, 52.95555877685547, 0.4807891845703125 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.12903594970703, 50.19618225097656, 0.8947006464004517 ]
13.2
66
0
66
0
[ 64.55549621582031, 2.6369476318359375, 20.753557205200195, 65.0673599243164, 51.510921478271484, 0.7204313278198242 ]
[ 65.39741516113281, 4.761904716491699, 21.860885620117188, 64.12903594970703, 52.393409729003906, 0.8947006464004517 ]
13.4
67
0
67
0
[ 64.28710174560547, 2.7024149894714355, 20.418346405029297, 65.06301879882812, 50.665523529052734, 0.786890983581543 ]
[ 64.65804290771484, 4.761904716491699, 21.860885620117188, 64.12903594970703, 51.87025833129883, 0.8947006464004517 ]
13.6
68
0
68
0
[ 64.65437316894531, 2.9017486572265625, 20.41667938232422, 64.93635559082031, 50.84110641479492, 0.8234920501708984 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.30107879638672, 50.9285888671875, 0.8947006464004517 ]
13.8
69
0
69
0
[ 64.32453155517578, 2.836358070373535, 20.071096420288086, 65.06476593017578, 50.209781646728516, 0.7425632476806641 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.30107879638672, 50.9285888671875, 0.8947006464004517 ]
14
70
0
70
0
[ 64.54832458496094, 2.910226345062256, 19.507904052734375, 64.79923248291016, 50.050785064697266, 0.6795120239257812 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.30107879638672, 50.51007080078125, 0.8947006464004517 ]
14.2
71
0
71
0
[ 64.67650604248047, 2.705672264099121, 19.829490661621094, 64.70355224609375, 49.9371223449707, 0.7166328430175781 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.30107879638672, 50.300811767578125, 0.8947006464004517 ]
14.4
72
0
72
0
[ 64.69139099121094, 2.488234043121338, 19.65131378173828, 65.07949829101562, 49.47027587890625, 0.7881145477294922 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.30107879638672, 50.300811767578125, 0.8947006464004517 ]
14.6
73
0
73
0
[ 64.32814025878906, 4.100406646728516, 17.209388732910156, 64.75575256347656, 49.66297149658203, 1.1589069366455078 ]
[ 64.36228942871094, 4.761904716491699, 21.860885620117188, 64.38710021972656, 49.77766036987305, 0.8947006464004517 ]
14.8
74
0
74
0
[ 64.52242279052734, 3.8634071350097656, 18.335453033447266, 64.76068115234375, 50.012855529785156, 0.8985157012939453 ]
[ 64.36228942871094, 5.102040767669678, 19.7831974029541, 64.4731216430664, 49.77766036987305, 0.8947006464004517 ]
15
75
0
75
0
[ 64.47471618652344, 3.8273324966430664, 18.99563980102539, 64.71879577636719, 50.0964469909668, 0.9301671981811523 ]
[ 64.36228942871094, 5.187074661254883, 19.7831974029541, 64.4731216430664, 49.77766036987305, 0.8947006464004517 ]
15.2
76
0
76
0
[ 64.2799072265625, 5.511594295501709, 18.378393173217773, 64.80106353759766, 49.73274230957031, 1.1139049530029297 ]
[ 64.36228942871094, 5.187074661254883, 19.7831974029541, 64.4731216430664, 49.77766036987305, 0.8947006464004517 ]
15.4
77
0
77
0
[ 64.43191528320312, 4.452919960021973, 19.02391815185547, 64.80301666259766, 49.595863342285156, 1.1115522384643555 ]
[ 64.36228942871094, 6.377551078796387, 19.873531341552734, 64.55914306640625, 49.77766036987305, 0.8947006464004517 ]
15.6
78
0
78
0
[ 64.62545013427734, 4.160374641418457, 19.211868286132812, 64.97406005859375, 50.181358337402344, 1.4568967819213867 ]
[ 64.36228942871094, 6.377551078796387, 19.873531341552734, 64.4731216430664, 49.77766036987305, 0.8947006464004517 ]
15.8
79
0
79
0
[ 64.36639404296875, 4.765466690063477, 18.313291549682617, 64.97615814208984, 50.610328674316406, 0.74627685546875 ]
[ 64.36228942871094, 6.377551078796387, 19.873531341552734, 64.4731216430664, 49.88228988647461, 1.0323468446731567 ]
16
80
0
80
0
[ 64.59688568115234, 5.232840538024902, 18.165035247802734, 65.21648406982422, 50.56958770751953, 0.7085399627685547 ]
[ 64.36228942871094, 6.377551078796387, 19.873531341552734, 64.4731216430664, 50.091552734375, 1.0323468446731567 ]
16.200001
81
0
81
0
[ 64.50563049316406, 4.634988784790039, 19.401290893554688, 65.2005615234375, 50.264461517333984, 0.5297727584838867 ]
[ 64.36228942871094, 6.377551078796387, 19.873531341552734, 64.4731216430664, 50.19618225097656, 0.9635237455368042 ]
16.4
82
0
82
0
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[ 64.36228942871094, 6.377551078796387, 19.9638671875, 64.4731216430664, 50.19618225097656, 0.8947006464004517 ]
16.6
83
0
83
0
[ 64.15801239013672, 5.349471092224121, 18.538219451904297, 65.15544128417969, 50.398460388183594, 0.6696033477783203 ]
[ 64.06654357910156, 6.377551078796387, 19.9638671875, 64.4731216430664, 50.19618225097656, 0.8947006464004517 ]
16.799999
84
0
84
0
[ 64.47571563720703, 9.03160572052002, 12.255964279174805, 65.39996337890625, 50.35792541503906, 0.9343385696411133 ]
[ 64.06654357910156, 6.377551078796387, 19.9638671875, 64.4731216430664, 50.19618225097656, 0.8947006464004517 ]
17
85
0
85
0
[ 64.38341522216797, 7.4413042068481445, 16.000442504882812, 64.89966583251953, 50.37954330444336, 0.45448875427246094 ]
[ 64.06654357910156, 9.693877220153809, 15.085817337036133, 64.73118591308594, 50.19618225097656, 0.8947006464004517 ]
17.200001
86
0
86
0
[ 64.34151458740234, 7.462264060974121, 16.29131507873535, 64.7968521118164, 50.74839401245117, 0.4242391586303711 ]
[ 64.06654357910156, 9.778911590576172, 16.169828414916992, 65.16129302978516, 50.19618225097656, 0.8947006464004517 ]
17.4
87
0
87
0
[ 64.21681213378906, 6.808731555938721, 16.4153995513916, 65.02799987792969, 50.58634567260742, 0.6292810440063477 ]
[ 64.06654357910156, 9.778911590576172, 16.169828414916992, 64.4731216430664, 50.40544128417969, 0.8947006464004517 ]
17.6
88
0
88
0
[ 64.0277328491211, 6.819394111633301, 16.85146713256836, 65.18844604492188, 50.81959915161133, 0.9523115158081055 ]
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17.799999
89
0
89
0
[ 64.03620147705078, 7.21730375289917, 16.843124389648438, 65.43217468261719, 50.62968826293945, 0.7216110229492188 ]
[ 64.06654357910156, 9.778911590576172, 17.073171615600586, 64.6451644897461, 50.51007080078125, 0.8947006464004517 ]
18
90
0
90
0
[ 64.05536651611328, 7.056924819946289, 17.174243927001953, 65.77439880371094, 50.496273040771484, 0.6687383651733398 ]
[ 64.06654357910156, 9.778911590576172, 17.073171615600586, 64.6451644897461, 50.51007080078125, 0.8947006464004517 ]
18.200001
91
0
91
0
[ 64.18143463134766, 6.993841171264648, 17.477310180664062, 65.94981384277344, 50.786312103271484, 0.6858339309692383 ]
[ 64.06654357910156, 9.778911590576172, 17.073171615600586, 65.16129302978516, 50.51007080078125, 0.8947006464004517 ]
18.4
92
0
92
0
[ 64.15174865722656, 6.714243412017822, 17.9886531829834, 69.97859954833984, 51.28895950317383, 0.5988979339599609 ]
[ 64.06654357910156, 9.778911590576172, 17.615175247192383, 65.247314453125, 50.51007080078125, 0.8947006464004517 ]
18.6
93
0
93
0
[ 64.11625671386719, 6.343479633331299, 18.24866485595703, 69.89530181884766, 50.02545928955078, 0.7308263778686523 ]
[ 64.06654357910156, 9.693877220153809, 17.976512908935547, 68.94623565673828, 50.82395935058594, 0.8947006464004517 ]
18.799999
94
0
94
0
[ 64.1033706665039, 6.4262542724609375, 17.653526306152344, 67.59901428222656, 50.6534423828125, 0.6454305648803711 ]
[ 64.06654357910156, 9.608843803405762, 18.33785057067871, 69.20429992675781, 50.300811767578125, 0.8947006464004517 ]
19
95
0
95
0
[ 63.96078872680664, 6.154669284820557, 17.934282302856445, 67.0465316772461, 50.834617614746094, 0.6666069030761719 ]
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19.200001
96
0
96
0
[ 64.03451538085938, 5.734724998474121, 14.865056991577148, 66.07501983642578, 50.96451187133789, 0.8451271057128906 ]
[ 64.06654357910156, 9.608843803405762, 18.33785057067871, 67.31182861328125, 50.61470031738281, 0.8947006464004517 ]
19.4
97
0
97
0
[ 64.26307678222656, 5.641598701477051, 16.82488250732422, 65.8158950805664, 50.98188400268555, 0.6794118881225586 ]
[ 64.06654357910156, 9.438775062561035, 17.16350555419922, 66.45161437988281, 50.61470031738281, 0.8947006464004517 ]
19.6
98
0
98
0
[ 64.36676788330078, 5.503978729248047, 16.874553680419922, 66.06221771240234, 51.13168716430664, 0.9310808181762695 ]
[ 64.06654357910156, 9.438775062561035, 17.52484130859375, 66.19355010986328, 50.61470031738281, 0.8947006464004517 ]
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": 897,
    "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
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            "names": null
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        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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