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int64
[ -6.38915491104126, -98.66661071777344, 94.96417999267578, 70.72960662841797, 0.9167490005493164, 0.5561676025390625 ]
[ -6.173752307891846, -98.63945770263672, 97.65130615234375, 68.7741928100586, 1.7525503635406494, 0.2752924859523773 ]
0
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0
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0.2
1
0
1
0
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0.4
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0
2
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0.6
3
0
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0.8
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1
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1.2
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1.4
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1.6
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1.8
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2
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0
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2.2
11
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11
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2.4
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2.6
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2.8
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3
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3.2
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3.4
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3.6
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18
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3.8
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4
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4.2
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4.4
22
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22
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4.6
23
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23
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4.8
24
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24
0
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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
35
0
35
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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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0
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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
50
0
50
0
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10.2
51
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10.4
52
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10.6
53
0
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10.8
54
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11
55
0
55
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11.2
56
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56
0
[ -0.04202932119369507, -77.86630249023438, 66.13108825683594, 59.51942443847656, -3.3638429641723633, 0.7570247650146484 ]
[ -1.4417744874954224, -98.1292495727539, 94.76061248779297, 68.08602142333984, -3.112738609313965, 0.8947006464004517 ]
11.4
57
0
57
0
[ -2.6998207569122314, -58.951576232910156, 43.60341262817383, 60.244140625, -2.8268513679504395, 1.8296642303466797 ]
[ -0.3327171802520752, -84.60884094238281, 78.04878234863281, 61.3763427734375, -3.2173686027526855, 0.8947006464004517 ]
11.6
58
0
58
0
[ -4.098874568939209, -43.37602996826172, 25.952091217041016, 59.720298767089844, -2.3665566444396973, 2.4365978240966797 ]
[ -2.3290202617645264, -65.05101776123047, 52.303524017333984, 60.86021423339844, -3.0081088542938232, 1.3076393604278564 ]
11.8
59
0
59
0
[ -7.123312950134277, -26.79314422607422, 10.833393096923828, 62.553001403808594, -1.8734569549560547, 19.411230087280273 ]
[ -3.8077633380889893, -46.93877410888672, 32.97199630737305, 60.43010711669922, -2.5895893573760986, 1.8582243919372559 ]
12
60
0
60
0
[ -8.857828140258789, -17.85869598388672, 4.600156784057617, 72.20811462402344, -3.1988983154296875, 60.034881591796875 ]
[ -6.913123607635498, -30.867347717285156, 16.260162353515625, 62.064517974853516, -2.0664398670196533, 13.351686477661133 ]
12.2
61
0
61
0
[ -10.488184928894043, -10.410865783691406, -1.7521343231201172, 73.99413299560547, -4.8817572593688965, 73.6251220703125 ]
[ -8.465804100036621, -18.87755012512207, 7.678410053253174, 70.40859985351562, -2.9034788608551025, 29.800413131713867 ]
12.4
62
0
62
0
[ -11.227593421936035, -6.475120544433594, -4.002962112426758, 72.31656646728516, -6.232938289642334, 73.38455200195312 ]
[ -10.46210765838623, -10.79931926727295, 1.3550136089324951, 73.50537872314453, -4.57755708694458, 51.548519134521484 ]
12.6
63
0
63
0
[ -12.338088989257812, 2.944499969482422, -10.478582382202148, 68.42110443115234, -6.594925880432129, 72.73480987548828 ]
[ -11.053604125976562, -6.207482814788818, -1.7163505554199219, 72.90322875976562, -5.833115577697754, 70.1995849609375 ]
12.8
64
0
64
0
[ -12.770322799682617, 10.459701538085938, -16.90031623840332, 64.87052917480469, -6.184435844421387, 71.4175033569336 ]
[ -12.384472846984863, 2.3809523582458496, -7.588076114654541, 69.29032135009766, -6.356264591217041, 72.1954574584961 ]
13
65
0
65
0
[ -11.3015775680542, 16.62767791748047, -19.734956741333008, 63.42464065551758, -5.219850540161133, 72.0689697265625 ]
[ -12.680221557617188, 10.374149322509766, -14.092141151428223, 66.0215072631836, -6.356264591217041, 71.71369934082031 ]
13.2
66
0
66
0
[ -11.16555118560791, 21.94369888305664, -21.030336380004883, 62.43572235107422, -4.2263031005859375, 71.50787353515625 ]
[ -11.792976379394531, 16.921768188476562, -17.52484130859375, 63.95698928833008, -5.571540832519531, 71.78251647949219 ]
13.4
67
0
67
0
[ -10.93421745300293, 24.211944580078125, -21.26706886291504, 62.80854797363281, -3.9394407272338867, 70.70486450195312 ]
[ -11.57116413116455, 22.619047164916992, -19.060523986816406, 62.92473220825195, -4.525241851806641, 71.6448745727539 ]
13.6
68
0
68
0
[ -11.738411903381348, 27.300487518310547, -20.673513412475586, 62.54154586791992, -3.3954710960388184, 68.11519622802734 ]
[ -11.275415420532227, 25.255102157592773, -19.331525802612305, 62.92473220825195, -4.1590375900268555, 71.23193359375 ]
13.8
69
0
69
0
[ -11.888689041137695, 27.047168731689453, -20.818994522094727, 60.244266510009766, -2.9439339637756348, 34.605934143066406 ]
[ -11.866912841796875, 28.4013614654541, -19.331525802612305, 62.92473220825195, -3.5312581062316895, 68.75430297851562 ]
14
70
0
70
0
[ -12.258636474609375, 26.33444595336914, -20.60670280456543, 58.07186508178711, -3.8340325355529785, 2.495615005493164 ]
[ -11.866912841796875, 28.571428298950195, -19.42186164855957, 60.774192810058594, -3.165053606033325, 56.77907943725586 ]
14.2
71
0
71
0
[ -12.796415328979492, 20.188945770263672, -18.383481979370117, 56.62644577026367, -3.3375120162963867, 0.8469009399414062 ]
[ -12.1626615524292, 28.48639488220215, -19.42186164855957, 58.6236572265625, -3.58357310295105, 35.09979248046875 ]
14.4
72
0
72
0
[ -11.874165534973145, 11.473621368408203, -16.520261764526367, 56.97444534301758, -1.699502944946289, 1.2758922576904297 ]
[ -12.606285095214844, 24.829931259155273, -17.886178970336914, 57.33333206176758, -3.5312581062316895, 13.21403980255127 ]
14.6
73
0
73
0
[ -6.267024993896484, 9.821876525878906, -22.079015731811523, 65.68800354003906, -4.639345169067383, 36.71257019042969 ]
[ -12.31053638458252, 14.795918464660645, -15.98915958404541, 57.33333206176758, -1.700235366821289, 1.5141087770462036 ]
0
0
1
74
0
[ 0.7065911293029785, 8.763168334960938, -19.768571853637695, 65.81596374511719, -10.937151908874512, 58.39862060546875 ]
[ -12.014787673950195, 14.625850677490234, -16.07949447631836, 57.59139633178711, -1.8048652410507202, 1.5829318761825562 ]
0.2
1
1
75
0
[ 3.934516429901123, 9.955791473388672, -16.428831100463867, 63.123661041259766, -16.43023109436035, 70.33943939208984 ]
[ -0.7024029493331909, 11.904762268066406, -18.428184509277344, 64.98925018310547, -9.86136531829834, 19.270475387573242 ]
0.4
2
1
76
0
[ 9.065861701965332, 11.495769500732422, -14.262456893920898, 53.554996490478516, -24.23216438293457, 70.7424087524414 ]
[ 2.7726433277130127, 11.904762268066406, -16.169828414916992, 63.78494644165039, -15.302118301391602, 40.81211471557617 ]
0.6
3
1
77
0
[ 13.373480796813965, 15.155406951904297, -11.775415420532227, 40.79758071899414, -33.852134704589844, 69.18880462646484 ]
[ 8.170055389404297, 12.585034370422363, -13.91147232055664, 55.69892501831055, -22.573894500732422, 62.560218811035156 ]
0.8
4
1
78
0
[ 15.127846717834473, 17.294979095458984, -9.768972396850586, 31.654993057250977, -38.162166595458984, 68.3056411743164 ]
[ 12.384472846984863, 16.32653045654297, -11.291779518127441, 43.913978576660156, -31.572063446044922, 68.47901153564453 ]
1
5
1
79
0
[ 14.430727005004883, 20.361000061035156, -9.801103591918945, 23.577373504638672, -44.07905197143555, 66.95914459228516 ]
[ 14.8243989944458, 18.53741455078125, -9.304426193237305, 33.935482025146484, -37.222076416015625, 68.41018676757812 ]
1.2
6
1
80
0
[ 15.973224639892578, 20.61056900024414, -6.818429946899414, 17.86376953125, -47.449546813964844, 66.11260986328125 ]
[ 14.380776405334473, 21.51360511779785, -9.214092254638672, 25.591398239135742, -42.97671890258789, 67.37783813476562 ]
1.4
7
1
81
0
[ 15.188987731933594, 20.725719451904297, -4.063936233520508, 16.50279998779297, -44.02587890625, 66.01786804199219 ]
[ 15.56377124786377, 21.768707275390625, -6.594399452209473, 19.31182861328125, -46.848026275634766, 66.41431427001953 ]
1.6
8
1
82
0
[ 15.712608337402344, 21.248836517333984, -4.123491287231445, 15.380851745605469, -42.70297622680664, 65.7566146850586 ]
[ 15.120147705078125, 21.93877601623535, -3.7940380573272705, 17.247312545776367, -44.755428314208984, 66.41431427001953 ]
1.8
9
1
83
0
[ 16.121095657348633, 20.126632690429688, -2.4043331146240234, 15.85721206665039, -41.23373794555664, 64.89974212646484 ]
[ 15.56377124786377, 21.93877601623535, -3.7037036418914795, 16.21505355834961, -43.02903366088867, 66.00137329101562 ]
2
10
1
84
0
[ 17.676054000854492, 23.425365447998047, -4.716344833374023, 15.48727798461914, -40.73002243041992, 63.79005432128906 ]
[ 15.785582542419434, 22.0238094329834, -2.1680216789245605, 16.129032135009766, -41.56421661376953, 65.24432373046875 ]
2.2
11
1
85
0
[ 18.630142211914062, 27.095531463623047, -8.884481430053711, 16.80517578125, -39.742496490478516, 63.70368957519531 ]
[ 16.968576431274414, 24.489795684814453, -2.800361394882202, 16.129032135009766, -40.77949142456055, 64.14315032958984 ]
2.4
12
1
86
0
[ 19.270639419555664, 31.325199127197266, -11.225000381469727, 14.218086242675781, -40.6057014465332, 63.89021301269531 ]
[ 18.00369644165039, 27.63605499267578, -6.413730621337891, 16.559139251708984, -39.94245529174805, 64.00550842285156 ]
2.6
13
1
87
0
[ 19.76691246032715, 33.12887954711914, -12.384393692016602, 10.72915267944336, -41.6479377746582, 62.99451446533203 ]
[ 18.669130325317383, 31.632652282714844, -9.214092254638672, 14.838709831237793, -40.41328811645508, 64.00550842285156 ]
2.8
14
1
88
0
[ 20.252534866333008, 36.79628372192383, -16.762968063354492, 8.925224304199219, -43.11994934082031, 61.63121032714844 ]
[ 18.964879989624023, 33.92856979370117, -10.298103332519531, 11.655914306640625, -41.45958709716797, 63.3860969543457 ]
3
15
1
89
0
[ 20.57198143005371, 39.681583404541016, -19.944822311401367, 6.437835693359375, -43.44990158081055, 56.02489471435547 ]
[ 19.556377410888672, 37.58503341674805, -14.092141151428223, 9.677419662475586, -42.97671890258789, 62.00963592529297 ]
3.2
16
1
90
0
[ 20.128189086914062, 41.05282211303711, -21.118844985961914, 4.5098724365234375, -44.16141128540039, 59.21849060058594 ]
[ 20, 40.64625930786133, -17.25383949279785, 7.354838848114014, -43.44755554199219, 57.05437088012695 ]
3.4
17
1
91
0
[ 19.55013656616211, 43.654544830322266, -24.186861038208008, 1.9812431335449219, -46.033660888671875, 55.873863220214844 ]
[ 20, 42.00680160522461, -18.518518447875977, 5.462365627288818, -44.02301788330078, 58.63730239868164 ]
3.6
18
1
92
0
[ 19.225528717041016, 43.5798225402832, -25.38804054260254, 0.42359161376953125, -45.83936309814453, 11.825084686279297 ]
[ 19.630313873291016, 44.72789001464844, -21.318880081176758, 2.9677419662475586, -45.749412536621094, 56.36613845825195 ]
3.8
19
1
93
0
[ 18.533700942993164, 44.52021408081055, -24.946653366088867, -1.5026512145996094, -45.78304672241211, -0.28670692443847656 ]
[ 19.40850257873535, 44.812923431396484, -23.03523063659668, 1.1612902879714966, -45.854042053222656, 44.25326919555664 ]
4
20
1
94
0
[ 17.87822914123535, 42.44306564331055, -23.895959854125977, -3.7067184448242188, -44.374019622802734, -0.10485458374023438 ]
[ 18.74306869506836, 45.663265228271484, -23.03523063659668, -0.5591397881507874, -45.854042053222656, 22.50516128540039 ]
4.2
21
1
95
0
[ 16.849611282348633, 39.32681655883789, -23.596403121948242, -5.2064361572265625, -41.114471435546875, -0.16589736938476562 ]
[ 18.077634811401367, 45.57823181152344, -23.03523063659668, -2.795698881149292, -44.7031135559082, 3.37233304977417 ]
4.4
22
1
96
0
[ 15.949172973632812, 32.3494758605957, -17.616010665893555, -5.986614227294922, -37.04829788208008, -0.21288490295410156 ]
[ 16.968576431274414, 44.38775634765625, -23.03523063659668, -4.430107593536377, -41.721160888671875, 0.4817618727684021 ]
4.6
23
1
97
0
[ 15.478974342346191, 21.383262634277344, -11.910776138305664, -5.78106689453125, -32.8369255065918, 0.23702621459960938 ]
[ 16.303142547607422, 38.01020431518555, -17.886178970336914, -5.204300880432129, -37.90217208862305, 0.4817618727684021 ]
4.8
24
1
98
0
[ 13.591373443603516, 8.238895416259766, -3.676736831665039, -1.9817314147949219, -28.00841522216797, 0.2838726043701172 ]
[ 15.637707710266113, 28.656461715698242, -12.014453887939453, -5.376344203948975, -33.769290924072266, 0.4817618727684021 ]
5
25
1
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": 2,
    "total_frames": 149,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 5,
    "splits": {
        "train": "0:2"
    },
    "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
            }
        },
        "observation.images.wrist": {
            "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": [
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            "names": null
        },
        "frame_index": {
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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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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