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6
6
observation.state
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6
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float64
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4.4
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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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57
0
[ 18.012657165527344, -2.5184054374694824, 49.60039520263672, -15.24039077758789, -53.93486022949219, 2.8577756881713867 ]
[ 20.59149742126465, 2.636054515838623, 49.5031623840332, -16.47311782836914, -54.852210998535156, 2.615278720855713 ]
11.6
58
0
58
0
[ 18.097660064697266, -8.800043106079102, 55.0936279296875, -10.77255630493164, -53.79904556274414, 1.8033866882324219 ]
[ 18.44731903076172, 0.3401360511779785, 50.045166015625, -15.52688217163086, -54.224430084228516, 2.615278720855713 ]
11.8
59
0
59
0
[ 16.469799041748047, -15.757147789001465, 54.404701232910156, 1.15264892578125, -52.18667984008789, 1.6746397018432617 ]
[ 18.669130325317383, -5.272109031677246, 54.74254608154297, -11.139784812927246, -54.01517105102539, 2.2023398876190186 ]
12
60
0
60
0
[ 13.157249450683594, -26.691774368286133, 54.07664489746094, 17.91016387939453, -51.630821228027344, 1.6371879577636719 ]
[ 16.74676513671875, -12.5, 55.103885650634766, -1.5913978815078735, -52.60266876220703, 2.2023398876190186 ]
12.2
61
0
61
0
[ 7.9502949714660645, -29.87227439880371, 37.13909912109375, 32.284908294677734, -50.72551727294922, 1.7181205749511719 ]
[ 14.085027694702148, -22.4489803314209, 55.103885650634766, 12.430107116699219, -51.97488784790039, 2.0646936893463135 ]
12.4
62
0
62
0
[ 4.5970683097839355, -34.828006744384766, 35.275604248046875, 39.679283142089844, -50.91227340698242, 1.1748418807983398 ]
[ 9.353050231933594, -27.295917510986328, 44.35411071777344, 28.43010711669922, -51.13785171508789, 2.0646936893463135 ]
12.6
63
0
63
0
[ 2.1539602279663086, -32.91620635986328, 26.194032669067383, 40.96189880371094, -50.9556999206543, 1.1780567169189453 ]
[ 5.360443592071533, -32.56802749633789, 38.30171585083008, 38.40860366821289, -50.98090362548828, 1.6517549753189087 ]
12.8
64
0
64
0
[ -0.26419925689697266, -28.139951705932617, 21.7551212310791, 36.691200256347656, -51.24028396606445, 1.2077360153198242 ]
[ 2.4768946170806885, -32.482994079589844, 30.623306274414062, 40.73118209838867, -50.98090362548828, 1.6517549753189087 ]
13
65
0
65
0
[ -2.2390737533569336, -24.340885162353516, 18.450197219848633, 31.611156463623047, -51.38399124145508, 1.4676780700683594 ]
[ 0.40665435791015625, -28.316326141357422, 25.474254608154297, 38.32258224487305, -50.98090362548828, 1.6517549753189087 ]
13.2
66
0
66
0
[ -4.242063045501709, -16.285226821899414, 14.616089820861816, 22.561172485351562, -51.634464263916016, 1.5577774047851562 ]
[ -1.9593346118927002, -24.489795684814453, 22.22222137451172, 33.41935348510742, -50.98090362548828, 1.6517549753189087 ]
13.4
67
0
67
0
[ -5.291925430297852, -6.477997779846191, 6.850757598876953, 24.678504943847656, -51.715755462646484, 1.5575494766235352 ]
[ -3.585952043533325, -16.836734771728516, 17.886178970336914, 24.90322494506836, -51.45174026489258, 1.6517549753189087 ]
13.6
68
0
68
0
[ -5.67041015625, -1.6662969589233398, 2.7173213958740234, 26.475940704345703, -51.9000244140625, 1.6699199676513672 ]
[ -5.138632297515869, -7.653061389923096, 10.659440040588379, 24.817203521728516, -51.45174026489258, 1.6517549753189087 ]
13.8
69
0
69
0
[ -6.837588310241699, 0.8573884963989258, 1.3443222045898438, 25.318376541137695, -51.78001403808594, 1.9889230728149414 ]
[ -5.286506652832031, -1.615646243095398, 6.233062267303467, 26.19354820251465, -51.6609992980957, 1.6517549753189087 ]
14
70
0
70
0
[ -6.188239097595215, 3.49591064453125, -0.190277099609375, 24.43951988220215, -51.84999465942383, 1.5931854248046875 ]
[ -6.617375373840332, 1.360544204711914, 4.426377773284912, 26.107526779174805, -51.6609992980957, 1.6517549753189087 ]
14.2
71
0
71
0
[ -6.258574485778809, 4.625199317932129, 0.6943302154541016, 21.925477981567383, -51.68291473388672, 1.793644905090332 ]
[ -6.765249729156494, 4.2517008781433105, 3.3423666954040527, 25.591398239135742, -51.6609992980957, 1.6517549753189087 ]
14.4
72
0
72
0
[ -6.466269016265869, 5.80980110168457, 0.9600391387939453, 19.917375564575195, -51.73915481567383, 2.1993932723999023 ]
[ -6.691312313079834, 5.357142925262451, 3.161698341369629, 23.354839324951172, -51.6609992980957, 1.6517549753189087 ]
14.6
73
0
73
0
[ -6.0027313232421875, 5.53255558013916, 1.8845100402832031, 20.064298629760742, -51.70655822753906, 24.67102813720703 ]
[ -6.691312313079834, 6.63265323638916, 3.161698341369629, 21.376344680786133, -51.6609992980957, 1.7205780744552612 ]
14.8
74
0
74
0
[ -6.8564300537109375, 3.702694892883301, 7.442773818969727, 20.467069625854492, -52.426918029785156, 17.984947204589844 ]
[ -6.617375373840332, 6.63265323638916, 3.161698341369629, 21.204301834106445, -51.6609992980957, 11.906400680541992 ]
15
75
0
75
0
[ -7.223816871643066, 4.0353899002075195, 9.069717407226562, 15.795042991638184, -52.7049560546875, 17.139156341552734 ]
[ -6.617375373840332, 6.63265323638916, 3.161698341369629, 21.204301834106445, -51.6609992980957, 23.39986228942871 ]
15.2
76
0
76
0
[ -7.203736305236816, 5.248737335205078, 8.660398483276367, 13.130961418151855, -53.476539611816406, 17.483415603637695 ]
[ -6.987061023712158, 6.292517185211182, 9.394761085510254, 17.419355392456055, -52.49803924560547, 17.61871910095215 ]
15.4
77
0
77
0
[ -7.3186821937561035, 5.913524627685547, 10.421820640563965, 11.354850769042969, -53.29498291015625, 17.674161911010742 ]
[ -7.06099796295166, 6.292517185211182, 9.57542896270752, 14.666666984558105, -53.28276062011719, 17.61871910095215 ]
15.6
78
0
78
0
[ -7.15120267868042, 6.354787826538086, 11.016268730163574, 10.193575859069824, -53.292030334472656, 17.910226821899414 ]
[ -7.06099796295166, 6.63265323638916, 11.201445579528809, 12.860215187072754, -53.28276062011719, 17.61871910095215 ]
15.8
79
0
79
0
[ -6.949624061584473, 7.418132781982422, 7.8609161376953125, 11.650506019592285, -53.18954086303711, 18.014480590820312 ]
[ -7.13493537902832, 6.887754917144775, 11.653116226196289, 11.655914306640625, -53.28276062011719, 17.61871910095215 ]
16
80
0
80
0
[ -6.638279914855957, 7.29237174987793, 8.462532043457031, 11.801034927368164, -53.245391845703125, 18.45747184753418 ]
[ -7.13493537902832, 8.163265228271484, 10.749773979187012, 11.569892883300781, -53.28276062011719, 17.61871910095215 ]
16.200001
81
0
81
0
[ -6.756832122802734, 5.955558776855469, 10.022679328918457, 12.441864013671875, -53.31125259399414, 19.86394500732422 ]
[ -7.13493537902832, 8.163265228271484, 10.749773979187012, 11.569892883300781, -53.28276062011719, 17.894012451171875 ]
16.4
82
0
82
0
[ -6.613572120666504, 6.608531951904297, 8.6690673828125, 12.174834251403809, -53.41073226928711, 20.28125 ]
[ -7.13493537902832, 8.078230857849121, 11.020776748657227, 12, -53.28276062011719, 19.20165252685547 ]
16.6
83
0
83
0
[ -6.288859844207764, 7.667753219604492, 7.229848861694336, 12.059479713439941, -53.5506706237793, 20.31842613220215 ]
[ -7.13493537902832, 8.078230857849121, 10.930442810058594, 12, -53.33507537841797, 19.683414459228516 ]
16.799999
84
0
84
0
[ -6.131950855255127, 11.04281234741211, 4.922922134399414, 11.041679382324219, -53.53474044799805, 20.671829223632812 ]
[ -6.913123607635498, 8.503401756286621, 10.298103332519531, 12, -53.33507537841797, 19.95870590209961 ]
17
85
0
85
0
[ -5.782464504241943, 9.518585205078125, 6.624628067016602, 10.510595321655273, -53.664024353027344, 21.163185119628906 ]
[ -6.765249729156494, 8.503401756286621, 10.298103332519531, 12, -53.33507537841797, 19.95870590209961 ]
17.200001
86
0
86
0
[ -5.764415264129639, 9.579092025756836, 7.138755798339844, 10.054680824279785, -53.84596252441406, 21.147998809814453 ]
[ -6.691312313079834, 11.309523582458496, 7.768744468688965, 11.741935729980469, -53.33507537841797, 20.233999252319336 ]
17.4
87
0
87
0
[ -5.66409969329834, 11.671539306640625, 5.008932113647461, 10.552197456359863, -53.8165283203125, 15.754193305969238 ]
[ -6.39556360244751, 11.39455795288086, 7.949412822723389, 11.483870506286621, -53.54433822631836, 20.784584045410156 ]
17.6
88
0
88
0
[ -5.666024208068848, 11.998395919799805, 4.312063217163086, 10.172754287719727, -53.857486724853516, 14.238018035888672 ]
[ -6.321626663208008, 11.39455795288086, 7.949412822723389, 11.22580623626709, -53.753597259521484, 20.784584045410156 ]
17.799999
89
0
89
0
[ -5.397158145904541, 10.236770629882812, 6.160528182983398, 9.442241668701172, -53.852317810058594, 6.652531147003174 ]
[ -6.173752307891846, 12.32993221282959, 7.49774169921875, 11.139784812927246, -53.753597259521484, 16.03578758239746 ]
18
90
0
90
0
[ -5.645725250244141, 11.934968948364258, 4.9150390625, 9.05075454711914, -53.815765380859375, 12.097872734069824 ]
[ -6.173752307891846, 12.585034370422363, 7.046070575714111, 10.967741966247559, -53.753597259521484, 14.590502738952637 ]
18.200001
91
0
91
0
[ -5.476243019104004, 12.33868408203125, 4.002269744873047, 8.907819747924805, -53.8995475769043, 2.087885856628418 ]
[ -5.8780035972595215, 12.585034370422363, 7.317073345184326, 10.53763484954834, -53.753597259521484, 7.708189964294434 ]
18.4
92
0
92
0
[ -6.101093769073486, 12.482793807983398, 6.78657341003418, 8.640210151672363, -53.98758316040039, 8.880935668945312 ]
[ -5.8780035972595215, 13.010204315185547, 7.136404514312744, 9.935483932495117, -53.753597259521484, 11.286992073059082 ]
18.6
93
0
93
0
[ -5.935517311096191, 12.19992446899414, 5.972906112670898, 9.351454734802246, -54.04644775390625, 13.174654006958008 ]
[ -5.434381008148193, 13.095237731933594, 6.8654022216796875, 9.849462509155273, -53.753597259521484, 3.7164487838745117 ]
18.799999
94
0
94
0
[ -5.518002033233643, 11.746793746948242, 6.898614883422852, 8.565860748291016, -54.117916107177734, 14.145634651184082 ]
[ -5.8780035972595215, 13.095237731933594, 7.588076114654541, 9.505376815795898, -53.753597259521484, 7.983482360839844 ]
19
95
0
95
0
[ -5.506836891174316, 9.330028533935547, 9.799429893493652, 8.45098876953125, -54.030113220214844, 8.246748924255371 ]
[ -5.8780035972595215, 13.095237731933594, 7.588076114654541, 9.505376815795898, -53.753597259521484, 12.388162612915039 ]
19.200001
96
0
96
0
[ -5.097046852111816, 10.14988899230957, 8.738471984863281, 7.476415634155273, -53.94295120239258, 3.1547441482543945 ]
[ -5.8780035972595215, 13.095237731933594, 7.588076114654541, 9.333333015441895, -53.753597259521484, 13.55815601348877 ]
19.4
97
0
97
0
[ -5.0062055587768555, 10.154937744140625, 10.211359024047852, 7.569919586181641, -53.65256118774414, 1.5113639831542969 ]
[ -5.8780035972595215, 11.904762268066406, 9.846431732177734, 9.075268745422363, -53.753597259521484, 8.947006225585938 ]
19.6
98
0
98
0
[ -5.030136585235596, 9.73442268371582, 10.544912338256836, 6.86198616027832, -53.70780563354492, 1.4414691925048828 ]
[ -5.286506652832031, 11.904762268066406, 9.846431732177734, 8.129032135009766, -53.753597259521484, 3.854094982147217 ]
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": 291,
    "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
            }
        },
        "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": [
                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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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