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6
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4.4
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4.6
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5.2
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6
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6.2
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6.4
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6.6
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6.8
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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
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11.8
59
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59
0
[ 65.58970642089844, 2.015676498413086, 23.439546585083008, 69.44187927246094, 49.29747772216797, 0.6655063629150391 ]
[ 65.69316101074219, 4.166666507720947, 24.390243530273438, 69.3763427734375, 49.3591423034668, 0.8947006464004517 ]
12
60
0
60
0
[ 65.77615356445312, 1.911475658416748, 23.580039978027344, 69.36465454101562, 49.217288970947266, 0.6844310760498047 ]
[ 65.69316101074219, 4.166666507720947, 24.209575653076172, 69.3763427734375, 49.3591423034668, 0.8947006464004517 ]
12.2
61
0
61
0
[ 65.98458099365234, 1.7157936096191406, 23.590492248535156, 69.31168365478516, 50.16536331176758, 0.42180824279785156 ]
[ 65.69316101074219, 4.166666507720947, 24.299909591674805, 69.3763427734375, 49.3591423034668, 0.8947006464004517 ]
12.4
62
0
62
0
[ 65.720947265625, 1.483551025390625, 23.92290496826172, 68.94348907470703, 49.89382553100586, 0.8544473648071289 ]
[ 65.69316101074219, 4.166666507720947, 24.299909591674805, 69.3763427734375, 49.77766036987305, 0.8947006464004517 ]
12.6
63
0
63
0
[ 65.46148681640625, 2.0480165481567383, 24.09231185913086, 68.721923828125, 49.36024475097656, 0.8775796890258789 ]
[ 65.69316101074219, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.77766036987305, 0.8947006464004517 ]
12.8
64
0
64
0
[ 64.71662139892578, 1.659027099609375, 23.67782211303711, 68.84861755371094, 49.628883361816406, 0.7437772750854492 ]
[ 65.69316101074219, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.56840133666992, 0.8947006464004517 ]
13
65
0
65
0
[ 64.74613952636719, 2.149542808532715, 23.420787811279297, 68.76099395751953, 49.467472076416016, 0.6298532485961914 ]
[ 64.95378875732422, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.56840133666992, 0.8947006464004517 ]
13.2
66
0
66
0
[ 64.90872192382812, 2.319364547729492, 23.816646575927734, 68.84445190429688, 49.66399002075195, 0.6951904296875 ]
[ 64.95378875732422, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.56840133666992, 0.8947006464004517 ]
13.4
67
0
67
0
[ 65.24368286132812, 2.0845541954040527, 24.011760711669922, 68.88592529296875, 49.176734924316406, 0.7755460739135742 ]
[ 64.95378875732422, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.56840133666992, 0.8947006464004517 ]
13.6
68
0
68
0
[ 68.36308288574219, 1.960676670074463, 23.479366302490234, 68.49009704589844, 49.47347640991211, 0.5223922729492188 ]
[ 64.95378875732422, 4.081632614135742, 24.299909591674805, 69.20429992675781, 49.46377182006836, 0.8947006464004517 ]
13.8
69
0
69
0
[ 67.6489486694336, 2.2149853706359863, 22.937284469604492, 68.44187927246094, 49.689002990722656, 0.6866779327392578 ]
[ 67.83734130859375, 4.081632614135742, 24.299909591674805, 69.03225708007812, 49.46377182006836, 0.8947006464004517 ]
14
70
0
70
0
[ 66.22293853759766, 2.127289295196533, 23.41360855102539, 68.57740783691406, 49.3676643371582, 0.5909585952758789 ]
[ 67.61552429199219, 4.081632614135742, 24.299909591674805, 69.03225708007812, 49.46377182006836, 0.8947006464004517 ]
14.2
71
0
71
0
[ 65.40410614013672, 2.2324585914611816, 23.214126586914062, 67.60659790039062, 49.69831848144531, 0.594451904296875 ]
[ 66.43253326416016, 4.081632614135742, 24.299909591674805, 69.03225708007812, 49.46377182006836, 0.8947006464004517 ]
14.4
72
0
72
0
[ 65.1466064453125, 1.6975021362304688, 22.644824981689453, 66.48113250732422, 49.55577087402344, 0.7359485626220703 ]
[ 65.5452880859375, 4.081632614135742, 24.209575653076172, 68.17204284667969, 49.46377182006836, 0.8947006464004517 ]
14.6
73
0
73
0
[ 64.46460723876953, 1.635080337524414, 23.11859130859375, 67.57239532470703, 49.20270538330078, 0.8423318862915039 ]
[ 65.32347869873047, 4.081632614135742, 24.209575653076172, 66.96774291992188, 49.46377182006836, 0.8947006464004517 ]
14.8
74
0
74
0
[ 64.79077911376953, 1.0329856872558594, 22.74225425720215, 67.31123352050781, 49.12588882446289, 0.8116397857666016 ]
[ 64.51016998291016, 4.081632614135742, 24.209575653076172, 67.13978576660156, 49.46377182006836, 0.8947006464004517 ]
15
75
0
75
0
[ 65.32618713378906, 1.301290512084961, 22.687698364257812, 66.9951400756836, 48.58754348754883, 0.8597040176391602 ]
[ 64.51016998291016, 4.081632614135742, 24.209575653076172, 67.13978576660156, 49.46377182006836, 0.8947006464004517 ]
15.2
76
0
76
0
[ 64.84387969970703, 1.3340778350830078, 22.742355346679688, 67.01702117919922, 47.82373046875, 0.9687690734863281 ]
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15.4
77
0
77
0
[ 64.6773910522461, 1.6776132583618164, 22.76019287109375, 66.85726928710938, 47.701881408691406, 0.9155540466308594 ]
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15.6
78
0
78
0
[ 64.81239318847656, 1.6376714706420898, 22.54424476623535, 66.91901397705078, 47.409420013427734, 0.8103017807006836 ]
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15.8
79
0
79
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16
80
0
80
0
[ 64.763671875, 2.7423291206359863, 23.135364532470703, 67.29399871826172, 48.207096099853516, 0.5139083862304688 ]
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16.200001
81
0
81
0
[ 64.87849426269531, 2.9153127670288086, 23.129222869873047, 67.1776123046875, 48.32278823852539, 0.6306915283203125 ]
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16.4
82
0
82
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16.6
83
0
83
0
[ 64.85257720947266, 2.947620391845703, 22.96463966369629, 67.0904541015625, 48.53578567504883, 0.6844539642333984 ]
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16.799999
84
0
84
0
[ 64.75333404541016, 2.9853134155273438, 22.791221618652344, 67.163818359375, 48.16836166381836, 0.5098943710327148 ]
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17
85
0
85
0
[ 64.76801300048828, 2.8236989974975586, 22.78563117980957, 67.03223419189453, 48.0854606628418, 2.1734228134155273 ]
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17.200001
86
0
86
0
[ 64.76626586914062, 3.071389675140381, 22.445117950439453, 66.9350814819336, 48.19955062866211, 1.178818702697754 ]
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17.4
87
0
87
0
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17.6
88
0
88
0
[ 63.99187469482422, 2.975308418273926, 22.113788604736328, 67.14256286621094, 48.59207534790039, 1.1472625732421875 ]
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17.799999
89
0
89
0
[ 64.50927734375, 3.163407325744629, 21.91358184814453, 67.03892517089844, 48.72247314453125, 0.9459857940673828 ]
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18
90
0
90
0
[ 64.57991027832031, 3.662487030029297, 21.82175064086914, 67.06242370605469, 48.77772521972656, 0.9588994979858398 ]
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18.200001
91
0
91
0
[ 64.1167984008789, 3.4454665184020996, 21.858903884887695, 67.1974868774414, 49.28759765625, 0.7934322357177734 ]
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18.4
92
0
92
0
[ 64.0506820678711, 3.447902202606201, 21.9384765625, 67.22379302978516, 49.35346984863281, 0.9249486923217773 ]
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18.6
93
0
93
0
[ 63.822444915771484, 3.403806209564209, 21.61231231689453, 67.35672760009766, 49.06072235107422, 0.7800540924072266 ]
[ 64.06654357910156, 4.2517008781433105, 24.209575653076172, 67.13978576660156, 48.94062423706055, 1.238816261291504 ]
18.799999
94
0
94
0
[ 63.91144561767578, 4.065394401550293, 20.55223846435547, 67.40074920654297, 49.15337371826172, 0.7680091857910156 ]
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19
95
0
95
0
[ 63.42143249511719, 4.232364654541016, 20.49690055847168, 67.6805419921875, 49.169044494628906, 0.9172563552856445 ]
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19.200001
96
0
96
0
[ 64.1361083984375, 4.02851676940918, 21.025794982910156, 66.99747467041016, 48.94773864746094, 0.8550825119018555 ]
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19.4
97
0
97
0
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19.6
98
0
98
0
[ 64.09765625, 3.7402586936950684, 21.377222061157227, 67.12088012695312, 48.7926139831543, 0.8743829727172852 ]
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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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
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        "episode_index": {
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            "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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