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[ 70.69171142578125, -11.335799217224121, 26.569515228271484, 76.13998413085938, 2.1470727920532227, -0.33388710021972656 ]
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0.2
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2.2
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3.2
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3.8
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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
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5.2
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5.4
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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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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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0
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10.2
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10.4
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10.6
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0
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10.8
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11
55
0
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11.2
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11.4
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11.6
58
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58
0
[ 70.46595764160156, -1.5217361450195312, 28.762535095214844, 64.75349426269531, 5.158565521240234, 0.4016141891479492 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 4.368297100067139, 0.619408130645752 ]
11.8
59
0
59
0
[ 70.6455078125, -2.8197927474975586, 28.693172454833984, 64.91463470458984, 4.997580051422119, -0.5523080825805664 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 4.786816596984863, 0.619408130645752 ]
12
60
0
60
0
[ 70.45283508300781, -2.6017446517944336, 28.12531280517578, 64.92401885986328, 5.116988658905029, -0.34599876403808594 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 4.786816596984863, 0.619408130645752 ]
12.2
61
0
61
0
[ 70.69482421875, -1.6543216705322266, 27.80104637145996, 65.20124816894531, 5.171457290649414, -0.11950492858886719 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 4.786816596984863, 0.619408130645752 ]
12.4
62
0
62
0
[ 71.21061706542969, -1.7736530303955078, 28.056800842285156, 65.04965209960938, 5.7415242195129395, -0.26601219177246094 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 4.891446590423584, 0.619408130645752 ]
12.6
63
0
63
0
[ 70.8077163696289, -1.9441947937011719, 28.122081756591797, 64.9432373046875, 5.210677146911621, -0.1515178680419922 ]
[ 70.72088623046875, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.36228084564209, 0.619408130645752 ]
12.8
64
0
64
0
[ 70.76575469970703, -2.2756118774414062, 28.324459075927734, 65.16582489013672, 5.233126163482666, -0.044981956481933594 ]
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13
65
0
65
0
[ 70.85094451904297, -2.5117807388305664, 28.33145523071289, 65.08380889892578, 5.022992134094238, 0.18394756317138672 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.36228084564209, 0.619408130645752 ]
13.2
66
0
66
0
[ 66.3562240600586, -2.7065391540527344, 28.45639419555664, 64.78350830078125, 4.965979099273682, 0.34006786346435547 ]
[ 70.6469497680664, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.36228084564209, 0.619408130645752 ]
13.4
67
0
67
0
[ 67.20255279541016, -2.5850753784179688, 28.76834487915039, 64.88900756835938, 5.0445237159729, 0.4223814010620117 ]
[ 66.87615203857422, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.36228084564209, 0.619408130645752 ]
13.6
68
0
68
0
[ 66.24576568603516, -3.043684959411621, 29.165401458740234, 64.94928741455078, 5.126269340515137, 0.15914535522460938 ]
[ 67.09796905517578, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.205336093902588, 0.619408130645752 ]
13.8
69
0
69
0
[ 66.52906036376953, -2.8074092864990234, 28.148345947265625, 65.23828125, 4.997725963592529, -0.28470420837402344 ]
[ 66.35859680175781, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.205336093902588, 0.619408130645752 ]
14
70
0
70
0
[ 66.36297607421875, -2.574596405029297, 27.814228057861328, 65.09203338623047, 5.095532417297363, 0.06897926330566406 ]
[ 66.43253326416016, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.205336093902588, 0.619408130645752 ]
14.2
71
0
71
0
[ 66.30825805664062, -2.387910842895508, 27.86501121520996, 64.9127426147461, 5.074962615966797, 0.09082889556884766 ]
[ 66.43253326416016, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.205336093902588, 0.619408130645752 ]
14.4
72
0
72
0
[ 66.14765167236328, -2.5355968475341797, 27.987037658691406, 64.93733978271484, 5.101596832275391, 0.27215099334716797 ]
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14.6
73
0
73
0
[ 66.09400177001953, -2.1498680114746094, 28.451473236083984, 64.60395812988281, 5.183892250061035, -0.0125579833984375 ]
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14.8
74
0
74
0
[ 65.9172592163086, -1.992619514465332, 28.689361572265625, 64.40861511230469, 5.045643329620361, 0.114959716796875 ]
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15
75
0
75
0
[ 65.70402526855469, -1.904714584350586, 28.893749237060547, 63.94191360473633, 4.6598005294799805, 0.561823844909668 ]
[ 66.0628433227539, -0.5952380895614624, 28.726287841796875, 64.81720733642578, 5.205336093902588, 0.619408130645752 ]
15.2
76
0
76
0
[ 65.68527221679688, -1.8413877487182617, 28.712844848632812, 63.80220413208008, 4.144073963165283, 2.466059684753418 ]
[ 66.0628433227539, -0.5952380895614624, 28.726287841796875, 64.38710021972656, 4.996076583862305, 0.619408130645752 ]
15.4
77
0
77
0
[ 64.95260620117188, -1.9525070190429688, 28.674301147460938, 64.3714828491211, 4.245234489440918, 0.567957878112793 ]
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15.6
78
0
78
0
[ 65.33931732177734, -1.7421855926513672, 28.764469146728516, 64.44910430908203, 4.742151737213135, 0.7500295639038086 ]
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15.8
79
0
79
0
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16
80
0
80
0
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16.200001
81
0
81
0
[ 64.83032989501953, -1.6166696548461914, 26.99283218383789, 64.48821258544922, 4.304846286773682, 0.6085262298583984 ]
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16.4
82
0
82
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16.6
83
0
83
0
[ 64.12530517578125, -1.7720298767089844, 27.091278076171875, 64.93365478515625, 4.267079830169678, 0.6208839416503906 ]
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16.799999
84
0
84
0
[ 63.64598846435547, -1.2382354736328125, 26.661075592041016, 65.024658203125, 4.3760271072387695, 0.9396553039550781 ]
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17
85
0
85
0
[ 64.47135925292969, -1.416377067565918, 26.813655853271484, 65.02993774414062, 4.347503185272217, 1.2382049560546875 ]
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17.200001
86
0
86
0
[ 64.36143493652344, -0.4024162292480469, 26.73004722595215, 64.84272003173828, 4.2645416259765625, 1.1122846603393555 ]
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17.4
87
0
87
0
[ 64.529052734375, 0.8680315017700195, 26.874691009521484, 65.08795928955078, 4.094218730926514, 1.091623306274414 ]
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17.6
88
0
88
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17.799999
89
0
89
0
[ 64.38409423828125, 1.415898323059082, 27.251373291015625, 64.84999084472656, 4.322865009307861, 0.28055477142333984 ]
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18
90
0
90
0
[ 64.31018829345703, 1.2783699035644531, 27.513050079345703, 64.33907318115234, 4.472232341766357, 0.4129009246826172 ]
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18.200001
91
0
91
0
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18.4
92
0
92
0
[ 64.27495574951172, 0.3763866424560547, 27.799327850341797, 64.70304870605469, 4.006119728088379, 0.41852855682373047 ]
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18.6
93
0
93
0
[ 64.12413024902344, 0.20991992950439453, 27.69789695739746, 64.78813934326172, 3.633460760116577, 0.22317886352539062 ]
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18.799999
94
0
94
0
[ 63.928184509277344, 0.43671131134033203, 27.516624450683594, 64.81173706054688, 3.685448169708252, 0.2839231491088867 ]
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19
95
0
95
0
[ 63.76746368408203, 0.2955141067504883, 27.58266830444336, 64.83836364746094, 3.5467519760131836, 0.09250164031982422 ]
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19.200001
96
0
96
0
[ 63.96577072143555, 0.3781900405883789, 27.565195083618164, 64.86528778076172, 3.3024306297302246, 0.2812976837158203 ]
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19.4
97
0
97
0
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19.6
98
0
98
0
[ 64.17626953125, 0.8274650573730469, 27.471736907958984, 64.7797622680664, 2.4014062881469727, 1.931741714477539 ]
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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": 1497,
    "total_tasks": 2,
    "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": {
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            "shape": [
                1
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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