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int64
[ -5.988925933837891, -98.80879211425781, 96.30706787109375, 72.57384490966797, -3.9872512817382812, 0.8570365905761719 ]
[ -6.543437957763672, -100, 100, 72.55914306640625, -4.106722354888916, 1.6517549753189087 ]
0
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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0
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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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2.2
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2.4
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12
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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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3.8
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4
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4.2
21
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21
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4.4
22
0
22
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4.6
23
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23
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4.8
24
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5
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5.2
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5.4
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5.6
28
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28
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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
34
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7
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
41
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8.4
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8.6
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8.8
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9
45
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9.2
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9.4
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0
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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
0
51
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10.4
52
0
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10.6
53
0
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10.8
54
0
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11
55
0
55
0
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11.2
56
0
56
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11.4
57
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57
0
[ -26.089242935180664, 16.415996551513672, -21.982267379760742, 66.37628173828125, 3.2905149459838867, 73.14214324951172 ]
[ -26.65434455871582, 12.159863471984863, -15.98915958404541, 66.88172149658203, 3.58357310295105, 72.9525146484375 ]
11.6
58
0
58
0
[ -26.930084228515625, 20.606769561767578, -24.214479446411133, 65.73335266113281, 3.1922426223754883, 72.22084045410156 ]
[ -26.432533264160156, 17.176870346069336, -19.42186164855957, 66.70967864990234, 3.58357310295105, 72.9525146484375 ]
11.8
59
0
59
0
[ -28.356204986572266, 25.188091278076172, -27.931581497192383, 64.98434448242188, 3.6677141189575195, 72.3993148803711 ]
[ -26.876155853271484, 21.51360511779785, -21.860885620117188, 66.0215072631836, 3.3743133544921875, 72.5395736694336 ]
12
60
0
60
0
[ -29.03255844116211, 29.19887924194336, -27.810701370239258, 64.3657455444336, 3.8241777420043945, 72.19597625732422 ]
[ -28.05914878845215, 26.10544204711914, -25.383920669555664, 65.50537872314453, 3.5312581062316895, 72.5395736694336 ]
12.2
61
0
61
0
[ -28.128124237060547, 30.16971206665039, -28.241533279418945, 63.03000259399414, 3.6371259689331055, 56.29627990722656 ]
[ -28.87245750427246, 29.93197250366211, -26.016260147094727, 64.55914306640625, 3.8974626064300537, 72.6772232055664 ]
12.4
62
0
62
0
[ -25.66616439819336, 30.39676284790039, -28.609106063842773, 59.518192291259766, 3.05810546875, 13.133795738220215 ]
[ -28.650646209716797, 30.867347717285156, -26.467931747436523, 63.09677505493164, 3.792832851409912, 61.32140350341797 ]
12.6
63
0
63
0
[ -24.594982147216797, 27.379695892333984, -25.92600440979004, 57.38422393798828, 2.618117332458496, 1.1439571380615234 ]
[ -26.5064697265625, 30.782312393188477, -27.009937286376953, 60.25806427001953, 3.165053606033325, 45.83620071411133 ]
12.8
64
0
64
0
[ -24.134187698364258, 19.26620101928711, -26.15263557434082, 58.87856674194336, 4.389548301696777, 0.233673095703125 ]
[ -25.323474884033203, 29.846939086914062, -26.10659408569336, 57.67741775512695, 2.798849105834961, 26.152788162231445 ]
13
65
0
65
0
[ -22.487024307250977, 7.479114532470703, -23.850431442260742, 60.47035598754883, 5.388192176818848, 1.135711669921875 ]
[ -24.80591583251953, 24.149660110473633, -26.016260147094727, 58.967742919921875, 4.106722354888916, 13.351686477661133 ]
13.2
66
0
66
0
[ -21.550539016723633, -2.1730728149414062, -21.696523666381836, 61.51850128173828, 4.889777183532715, 1.1875648498535156 ]
[ -22.735673904418945, 14.795918464660645, -23.306232452392578, 60.17204284667969, 5.048391342163086, 10.942876815795898 ]
13.4
67
0
67
0
[ -18.856693267822266, -9.357545852661133, -20.495397567749023, 62.194217681884766, 4.299467086791992, 1.2733421325683594 ]
[ -21.774492263793945, 3.996598720550537, -21.138212203979492, 61.290321350097656, 5.100706100463867, 10.942876815795898 ]
13.6
68
0
68
0
[ -9.92598819732666, -18.956764221191406, -19.83207130432129, 62.806190490722656, 4.5158185958862305, 1.6309642791748047 ]
[ -19.334566116333008, -4.506802558898926, -19.9638671875, 61.978492736816406, 4.525241851806641, 10.874053955078125 ]
13.8
69
0
69
0
[ 9.401285171508789, -27.042835235595703, -19.06304359436035, 65.56705474853516, 4.54041862487793, 1.8758106231689453 ]
[ -12.31053638458252, -13.690476417541504, -19.15085792541504, 62.58064651489258, 4.525241851806641, 10.874053955078125 ]
14
70
0
70
0
[ 29.56804847717285, -31.768829345703125, -17.794218063354492, 69.708984375, 4.128418922424316, 1.7092037200927734 ]
[ 2.3290202617645264, -22.704082489013672, -18.518518447875977, 65.247314453125, 4.525241851806641, 10.874053955078125 ]
14.2
71
0
71
0
[ 46.8753662109375, -35.652462005615234, -13.383359909057617, 77.8411865234375, 4.239802360534668, 1.1674919128417969 ]
[ 21.626617431640625, -28.82653045654297, -17.434507369995117, 69.20429992675781, 4.315982341766357, 10.874053955078125 ]
14.4
72
0
72
0
[ 56.06898880004883, -36.958709716796875, -3.980489730834961, 80.64364624023438, 4.71823787689209, 1.1073989868164062 ]
[ 40.99814987182617, -33.588436126708984, -13.45980167388916, 76.6021499633789, 4.315982341766357, 10.874053955078125 ]
14.6
73
0
73
0
[ 60.55401611328125, -35.35885238647461, 7.604082107543945, 75.58038330078125, 5.853335380554199, 1.144521713256836 ]
[ 55.78558349609375, -35.96938705444336, -3.7037036418914795, 80.4731216430664, 4.629871845245361, 10.874053955078125 ]
0
0
1
74
0
[ 62.275203704833984, -33.668487548828125, 17.690242767333984, 67.6146240234375, 5.705622673034668, 1.1337451934814453 ]
[ 56.00739288330078, -35.88435363769531, -3.3423666954040527, 80.38710021972656, 4.786816596984863, 10.874053955078125 ]
0.2
1
1
75
0
[ 62.94857406616211, -29.970211029052734, 22.724592208862305, 61.8092041015625, 5.607003211975098, 0.9433917999267578 ]
[ 61.626617431640625, -32.99319839477539, 16.44083023071289, 69.63440704345703, 5.571540832519531, 10.874053955078125 ]
0.4
2
1
76
0
[ 62.149234771728516, -27.996505737304688, 25.685054779052734, 57.59310531616211, 5.437738418579102, 0.7311115264892578 ]
[ 62.95748519897461, -29.93197250366211, 22.583559036254883, 63.26881790161133, 5.519225597381592, 10.874053955078125 ]
0.6
3
1
77
0
[ 61.80457305908203, -27.140506744384766, 25.079774856567383, 57.09169006347656, 4.677547454833984, 19.418991088867188 ]
[ 62.1441764831543, -27.63605499267578, 26.10659408569336, 58.79570007324219, 5.519225597381592, 10.874053955078125 ]
0.8
4
1
78
0
[ 63.61711120605469, -26.569644927978516, 24.479265213012695, 58.12569046020508, 4.282480239868164, 48.27283477783203 ]
[ 62.07024002075195, -26.955781936645508, 26.10659408569336, 57.935482025146484, 4.8391313552856445, 16.72402000427246 ]
1
5
1
79
0
[ 62.6652717590332, -24.719371795654297, 19.227397918701172, 62.80018615722656, 4.213262557983398, 54.825096130371094 ]
[ 63.40110778808594, -26.44557762145996, 26.10659408569336, 58.10752868652344, 4.525241851806641, 31.727460861206055 ]
1.2
6
1
80
0
[ 62.22486877441406, -24.17772102355957, 11.208873748779297, 63.88036346435547, 4.101334571838379, 53.70811462402344 ]
[ 62.661739349365234, -24.5748291015625, 22.402891159057617, 62.15053939819336, 4.42061185836792, 50.9979362487793 ]
1.4
7
1
81
0
[ 61.59358596801758, -24.904254913330078, 6.65216064453125, 63.3465576171875, 4.250799179077148, 54.781272888183594 ]
[ 62.43992614746094, -23.89455795288086, 14.814814567565918, 63.6129035949707, 4.211352348327637, 53.269100189208984 ]
1.6
8
1
82
0
[ 54.8116455078125, -28.131011962890625, 0.635040283203125, 63.30533981323242, 4.565343856811523, 51.92524719238281 ]
[ 61.84843063354492, -23.89455795288086, 9.394761085510254, 63.6129035949707, 4.211352348327637, 54.370269775390625 ]
1.8
9
1
83
0
[ 32.67742919921875, -34.1644172668457, 2.336427688598633, 61.99815368652344, 4.587834358215332, 41.86083984375 ]
[ 56.22920608520508, -26.10544204711914, 3.7037036418914795, 63.6129035949707, 4.525241851806641, 52.44322204589844 ]
2
10
1
84
0
[ 13.513816833496094, -39.67442321777344, 9.882686614990234, 61.102394104003906, 5.295805931091309, 31.77029037475586 ]
[ 41.58964920043945, -31.547618865966797, 3.252032518386841, 62.92473220825195, 4.263667106628418, 44.04679870605469 ]
2.2
11
1
85
0
[ -0.6304425001144409, -42.96832275390625, 17.68368911743164, 62.64885711669922, 6.2374162673950195, 30.06246566772461 ]
[ 20.73937225341797, -37.58503341674805, 9.485095024108887, 61.80644989013672, 4.682186603546143, 33.92980194091797 ]
2.4
12
1
86
0
[ -7.319660663604736, -48.66286849975586, 26.944725036621094, 60.90864944458008, 5.090436935424805, 12.320754051208496 ]
[ 3.142328977584839, -41.32653045654297, 17.16350555419922, 62.494625091552734, 6.042375087738037, 30.557466506958008 ]
2.6
13
1
87
0
[ -7.3533172607421875, -59.4505615234375, 36.464149475097656, 59.83918380737305, 3.471072196960449, 0.8488655090332031 ]
[ -5.656192302703857, -47.02381134033203, 26.287261962890625, 61.63440704345703, 5.36228084564209, 18.30695152282715 ]
2.8
14
1
88
0
[ -3.392970323562622, -76.48039245605469, 53.78722381591797, 58.2604866027832, 1.4885540008544922, 0.16711807250976562 ]
[ -6.987061023712158, -56.632652282714844, 35.68202209472656, 60.602149963378906, 3.7405178546905518, 3.854094982147217 ]
3
15
1
89
0
[ -2.0120813846588135, -89.48448181152344, 69.99909210205078, 59.47512435913086, 0.4660177230834961, 1.0052719116210938 ]
[ -3.8817005157470703, -71.85374450683594, 50.76784133911133, 59.05376434326172, 1.7525503635406494, 0.5505849719047546 ]
3.2
16
1
90
0
[ -1.3847169876098633, -97.40071105957031, 78.87176513671875, 63.49827575683594, -0.4208822250366211, 0.8565139770507812 ]
[ -2.4768946170806885, -86.73469543457031, 66.75700378417969, 59.397850036621094, 0.7062516212463379, 0.6882312297821045 ]
3.4
17
1
91
0
[ -1.4377498626708984, -99.71890258789062, 86.37931060791016, 68.59028625488281, -0.7861356735229492, 0.7328395843505859 ]
[ -1.5157116651535034, -95.83333587646484, 78.13911437988281, 63.0107536315918, -0.13078734278678894, 0.6882312297821045 ]
3.6
18
1
92
0
[ -1.3911066055297852, -100.29505920410156, 90.36505126953125, 71.46105194091797, -0.723088264465332, 0.7051219940185547 ]
[ -1.5157116651535034, -98.46939086914062, 85.8175277709961, 67.82795715332031, -0.5493068099021912, 0.7570543885231018 ]
3.8
19
1
93
0
[ -1.7469183206558228, -99.60188293457031, 91.7279281616211, 71.18605041503906, -0.7081918716430664, 0.5684738159179688 ]
[ -1.5157116651535034, -99.4047622680664, 90.153564453125, 71.01074981689453, -0.5493068099021912, 0.7570543885231018 ]
4
20
1
94
0
[ -2.0584287643432617, -98.86346435546875, 92.52184295654297, 71.45995330810547, -0.42833995819091797, 0.5400199890136719 ]
[ -1.5157116651535034, -100, 91.96025085449219, 71.18279266357422, -0.5493068099021912, 0.7570543885231018 ]
4.2
21
1
95
0
[ -2.124972343444824, -98.56671142578125, 92.27865600585938, 71.84131622314453, -0.3046751022338867, 0.8074970245361328 ]
[ -1.737523078918457, -99.3197250366211, 92.77326202392578, 71.18279266357422, -0.5493068099021912, 0.7570543885231018 ]
4.4
22
1
96
0
[ -2.616763114929199, -97.5499267578125, 92.09732055664062, 72.34169006347656, -0.20674610137939453, 0.6265029907226562 ]
[ -1.737523078918457, -99.3197250366211, 92.77326202392578, 71.5268783569336, -0.4446769654750824, 0.7570543885231018 ]
4.6
23
1
97
0
[ -2.4739034175872803, -97.97720336914062, 92.98109436035156, 72.54593658447266, -0.048796653747558594, 0.9059333801269531 ]
[ -2.3290202617645264, -98.38435363769531, 92.77326202392578, 71.87096405029297, -0.4446769654750824, 0.7570543885231018 ]
4.8
24
1
98
0
[ -2.4963529109954834, -97.74730682373047, 92.9963607788086, 72.240478515625, 0.184600830078125, 0.6259098052978516 ]
[ -2.3290202617645264, -98.38435363769531, 93.22492980957031, 72.21505737304688, -0.34004709124565125, 0.7570543885231018 ]
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
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                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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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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