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6
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7
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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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8.6
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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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[ 68.05915069580078, 8.333333015441895, 16.892501831054688, 69.29032135009766, 46.48181915283203, 0.8258774876594543 ]
11.8
59
0
59
0
[ 67.9039535522461, 5.979687213897705, 17.092823028564453, 70.37849426269531, 46.869449615478516, 0.3184528350830078 ]
[ 67.98521423339844, 8.333333015441895, 16.802167892456055, 70.58064270019531, 46.48181915283203, 0.8258774876594543 ]
12
60
0
60
0
[ 67.87506103515625, 6.134897232055664, 17.4454345703125, 70.33428955078125, 46.707061767578125, 0.2977323532104492 ]
[ 67.98521423339844, 8.333333015441895, 17.073171615600586, 70.49462127685547, 46.48181915283203, 0.8258774876594543 ]
12.2
61
0
61
0
[ 68.03319549560547, 6.131305694580078, 17.64321517944336, 70.30368041992188, 46.89094161987305, 0.3607339859008789 ]
[ 67.98521423339844, 8.333333015441895, 17.79584503173828, 70.40859985351562, 46.48181915283203, 0.8258774876594543 ]
12.4
62
0
62
0
[ 67.9315414428711, 5.788349151611328, 17.81378173828125, 70.09502410888672, 46.87704086303711, 0.5027742385864258 ]
[ 67.98521423339844, 8.333333015441895, 17.79584503173828, 70.40859985351562, 46.48181915283203, 0.8258774876594543 ]
12.6
63
0
63
0
[ 67.3783950805664, 5.784979820251465, 17.488386154174805, 69.57786560058594, 46.971248626708984, 0.4244804382324219 ]
[ 67.98521423339844, 8.333333015441895, 17.79584503173828, 70.40859985351562, 46.48181915283203, 0.8258774876594543 ]
12.8
64
0
64
0
[ 67.4957275390625, 5.068905830383301, 17.242448806762695, 69.64143371582031, 47.004695892333984, 0.50830078125 ]
[ 67.39371490478516, 8.333333015441895, 17.79584503173828, 69.89247131347656, 46.48181915283203, 0.8258774876594543 ]
13
65
0
65
0
[ 67.73995208740234, 4.8022871017456055, 18.181169509887695, 69.87854766845703, 46.621238708496094, 0.3449563980102539 ]
[ 67.39371490478516, 8.078230857849121, 17.79584503173828, 69.72042846679688, 46.48181915283203, 0.8258774876594543 ]
13.2
66
0
66
0
[ 67.39035034179688, 1.2413263320922852, 18.962703704833984, 70.1850357055664, 46.44123840332031, 0.6126842498779297 ]
[ 67.39371490478516, 7.823129177093506, 18.33785057067871, 69.72042846679688, 46.48181915283203, 0.8258774876594543 ]
13.4
67
0
67
0
[ 67.30843353271484, 1.8263602256774902, 18.89887809753418, 69.57574462890625, 46.49688720703125, 0.5921049118041992 ]
[ 67.39371490478516, 4.421768665313721, 19.060523986816406, 69.80644989013672, 46.48181915283203, 0.8258774876594543 ]
13.6
68
0
68
0
[ 67.48821258544922, 1.8226895332336426, 18.782794952392578, 69.08512878417969, 46.516265869140625, 0.4667034149169922 ]
[ 67.39371490478516, 4.2517008781433105, 19.060523986816406, 69.72042846679688, 46.48181915283203, 0.8258774876594543 ]
13.8
69
0
69
0
[ 67.67549133300781, 3.1297860145568848, 18.594186782836914, 70.3387222290039, 46.28174591064453, 0.22579097747802734 ]
[ 67.39371490478516, 4.2517008781433105, 19.060523986816406, 69.3763427734375, 46.48181915283203, 0.8258774876594543 ]
14
70
0
70
0
[ 67.51131439208984, 2.903669834136963, 20.88207244873047, 69.58039093017578, 46.01295471191406, 0.3575401306152344 ]
[ 67.39371490478516, 4.2517008781433105, 19.060523986816406, 69.89247131347656, 46.48181915283203, 0.8258774876594543 ]
14.2
71
0
71
0
[ 67.38607025146484, 2.2594738006591797, 20.833127975463867, 66.90994262695312, 46.224090576171875, 0.3972816467285156 ]
[ 67.39371490478516, 4.2517008781433105, 20.86720848083496, 70.06451416015625, 46.272560119628906, 0.8258774876594543 ]
14.4
72
0
72
0
[ 67.0727767944336, 4.354633331298828, 18.168983459472656, 68.27398681640625, 46.42265701293945, 0.29264163970947266 ]
[ 67.39371490478516, 4.2517008781433105, 20.86720848083496, 67.31182861328125, 46.272560119628906, 0.8258774876594543 ]
14.6
73
0
73
0
[ 67.00409698486328, 3.3603663444519043, 19.2979736328125, 68.09790802001953, 45.85512924194336, 0.40465641021728516 ]
[ 67.17190551757812, 5.187074661254883, 20.144535064697266, 67.48387145996094, 46.272560119628906, 0.8258774876594543 ]
14.8
74
0
74
0
[ 66.77928924560547, 3.2260379791259766, 19.940265655517578, 67.98451232910156, 46.07636642456055, 0.3124561309814453 ]
[ 67.17190551757812, 5.187074661254883, 20.144535064697266, 67.48387145996094, 46.06330108642578, 0.8258774876594543 ]
15
75
0
75
0
[ 66.16905975341797, 3.1970577239990234, 19.73583984375, 65.938232421875, 46.03950500488281, 0.27323341369628906 ]
[ 67.09796905517578, 5.187074661254883, 20.144535064697266, 67.56989288330078, 46.06330108642578, 0.8258774876594543 ]
15.2
76
0
76
0
[ 66.0432357788086, 2.6942853927612305, 21.104267120361328, 59.81074905395508, 44.575984954833984, 0.09257125854492188 ]
[ 66.21072387695312, 5.187074661254883, 20.144535064697266, 66.27957153320312, 46.06330108642578, 0.8258774876594543 ]
15.4
77
0
77
0
[ 65.93666076660156, 1.8951892852783203, 21.896404266357422, 62.67624282836914, 45.44585037231445, 0.33031177520751953 ]
[ 66.21072387695312, 5.102040767669678, 21.318880081176758, 60.43010711669922, 44.91237258911133, 0.8258774876594543 ]
15.6
78
0
78
0
[ 66.20951080322266, 2.3087687492370605, 21.778779983520508, 61.29380798339844, 45.61642074584961, 0.24424362182617188 ]
[ 66.21072387695312, 4.931972980499268, 22.131887435913086, 62.40860366821289, 45.173946380615234, 0.8258774876594543 ]
15.8
79
0
79
0
[ 66.1858901977539, 2.1870527267456055, 22.408937454223633, 61.515380859375, 45.78315734863281, 0.39031314849853516 ]
[ 66.21072387695312, 4.931972980499268, 22.131887435913086, 61.80644989013672, 45.226261138916016, 0.8258774876594543 ]
16
80
0
80
0
[ 65.7331771850586, 1.939563274383545, 22.223190307617188, 63.68238067626953, 46.16751480102539, 0.2925138473510742 ]
[ 66.21072387695312, 4.931972980499268, 22.583559036254883, 61.978492736816406, 45.2785758972168, 0.8258774876594543 ]
16.200001
81
0
81
0
[ 66.53541564941406, 2.0822033882141113, 22.08704376220703, 64.98627471923828, 46.0736083984375, 0.33793163299560547 ]
[ 65.84103393554688, 4.931972980499268, 22.673892974853516, 63.26881790161133, 45.69709777832031, 0.8258774876594543 ]
16.4
82
0
82
0
[ 66.37413787841797, 2.1752052307128906, 22.34156608581543, 64.46194458007812, 45.50840759277344, 0.2305765151977539 ]
[ 66.13678741455078, 4.931972980499268, 22.673892974853516, 64.21505737304688, 45.69709777832031, 0.8258774876594543 ]
16.6
83
0
83
0
[ 66.52554321289062, 1.6569232940673828, 22.54840087890625, 64.53020477294922, 45.81986618041992, 0.36054134368896484 ]
[ 66.13678741455078, 4.931972980499268, 22.673892974853516, 64.21505737304688, 45.64478302001953, 0.8258774876594543 ]
16.799999
84
0
84
0
[ 66.65554809570312, 1.6423530578613281, 22.155550003051758, 63.64338684082031, 45.854522705078125, 0.3528413772583008 ]
[ 66.13678741455078, 4.591836929321289, 22.673892974853516, 64.21505737304688, 45.64478302001953, 0.8258774876594543 ]
17
85
0
85
0
[ 66.43484497070312, 1.4143590927124023, 22.888391494750977, 65.10751342773438, 45.6182861328125, 0.20099163055419922 ]
[ 66.13678741455078, 4.591836929321289, 22.673892974853516, 63.95698928833008, 45.64478302001953, 0.8258774876594543 ]
17.200001
86
0
86
0
[ 66.52326202392578, 1.6365785598754883, 22.613391876220703, 64.44989776611328, 44.68685531616211, 0.16903018951416016 ]
[ 66.13678741455078, 4.591836929321289, 22.944896697998047, 64.55914306640625, 45.64478302001953, 0.8258774876594543 ]
17.4
87
0
87
0
[ 66.00080108642578, 1.0221195220947266, 23.28790283203125, 65.04847717285156, 39.70911407470703, 0.28455352783203125 ]
[ 66.13678741455078, 4.591836929321289, 22.944896697998047, 64.4731216430664, 44.96468734741211, 0.8258774876594543 ]
17.6
88
0
88
0
[ 66.1258773803711, 1.0633220672607422, 23.47058868408203, 64.88768005371094, 44.711158752441406, 0.15947628021240234 ]
[ 66.0628433227539, 4.421768665313721, 23.39656639099121, 64.4731216430664, 40.51791763305664, 0.8258774876594543 ]
17.799999
89
0
89
0
[ 65.8926010131836, 2.902712345123291, 22.56096649169922, 64.53233337402344, 45.12835693359375, 0.5978384017944336 ]
[ 66.0628433227539, 4.421768665313721, 23.486902236938477, 64.4731216430664, 43.91838836669922, 0.8258774876594543 ]
18
90
0
90
0
[ 65.79891204833984, 3.201672077178955, 22.486713409423828, 64.46047973632812, 44.79118728637695, 0.3657999038696289 ]
[ 66.0628433227539, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.59848403930664, 0.8258774876594543 ]
18.200001
91
0
91
0
[ 65.6961441040039, 3.6101551055908203, 22.06813621520996, 64.4941635131836, 45.870811462402344, 0.3630514144897461 ]
[ 66.0628433227539, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.65079879760742, 0.8258774876594543 ]
18.4
92
0
92
0
[ 65.69308471679688, 3.714101791381836, 22.291522979736328, 64.27676391601562, 44.72097396850586, 0.4527416229248047 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 45.48783493041992, 0.8258774876594543 ]
18.6
93
0
93
0
[ 65.57955932617188, 3.7050390243530273, 22.167314529418945, 64.37407684326172, 44.77460479736328, 0.44911956787109375 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.96468734741211, 0.8258774876594543 ]
18.799999
94
0
94
0
[ 65.71363067626953, 3.835646629333496, 21.934486389160156, 64.85668182373047, 44.901710510253906, 0.7144222259521484 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.96468734741211, 0.8258774876594543 ]
19
95
0
95
0
[ 65.74761962890625, 3.743837356567383, 22.000627517700195, 64.85326385498047, 44.900238037109375, 0.6187162399291992 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.96468734741211, 0.8258774876594543 ]
19.200001
96
0
96
0
[ 65.752685546875, 3.54978084564209, 21.923294067382812, 64.90892791748047, 44.62312698364258, 0.4123659133911133 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.96468734741211, 0.8258774876594543 ]
19.4
97
0
97
0
[ 65.5601806640625, 3.9861397743225098, 21.708847045898438, 64.84072875976562, 44.822669982910156, 0.6078462600708008 ]
[ 65.84103393554688, 4.421768665313721, 23.486902236938477, 64.4731216430664, 44.86005783081055, 0.8258774876594543 ]
19.6
98
0
98
0
[ 65.3504867553711, 4.004500865936279, 22.02203369140625, 65.04915618896484, 44.50489044189453, 0.43232250213623047 ]
[ 65.84103393554688, 4.591836929321289, 23.486902236938477, 64.4731216430664, 44.86005783081055, 0.8258774876594543 ]
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
        },
        "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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