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6
6
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6
6
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float64
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576
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2.88k
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0.2
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2.2
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3.8
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4.2
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4.4
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4.8
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5.2
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5.4
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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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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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[ -4.842883586883545, 12.585034370422363, 17.434507369995117, 1.1612902879714966, -50.353126525878906, 29.66276741027832 ]
11.4
57
0
57
0
[ -6.25931453704834, 10.125070571899414, 13.46238899230957, 3.468921661376953, -50.63751220703125, 30.45220184326172 ]
[ -5.064694881439209, 12.585034370422363, 17.25383949279785, 2.881720542907715, -50.353126525878906, 29.86923599243164 ]
11.6
58
0
58
0
[ -6.918447017669678, 4.881584167480469, 15.18584156036377, 6.889820098876953, -50.69198989868164, 30.029220581054688 ]
[ -5.8780035972595215, 12.585034370422363, 16.802167892456055, 3.0537633895874023, -50.353126525878906, 29.86923599243164 ]
11.8
59
0
59
0
[ -6.146533966064453, 12.153938293457031, 14.534672737121582, 2.4199066162109375, -50.696937561035156, 28.498329162597656 ]
[ -6.247689247131348, 12.585034370422363, 16.711833953857422, 3.0537633895874023, -50.353126525878906, 29.938058853149414 ]
12
60
0
60
0
[ -6.292832851409912, 11.016508102416992, 14.70117473602295, 1.0589427947998047, -50.88078308105469, 28.679122924804688 ]
[ -6.765249729156494, 8.248299598693848, 16.802167892456055, 6.5806450843811035, -50.353126525878906, 29.938058853149414 ]
12.2
61
0
61
0
[ -6.455533504486084, 10.69603157043457, 15.186954498291016, 3.014577865600586, -50.83763122558594, 28.49749755859375 ]
[ -6.617375373840332, 11.73469352722168, 16.892501831054688, 2.795698881149292, -50.667015075683594, 29.043357849121094 ]
12.4
62
0
62
0
[ -7.3491058349609375, 3.923480987548828, 16.365543365478516, 8.799745559692383, -50.621456146240234, 27.833919525146484 ]
[ -6.617375373840332, 11.819727897644043, 16.892501831054688, 2.881720542907715, -50.667015075683594, 28.905712127685547 ]
12.6
63
0
63
0
[ -6.471902370452881, 0.7817173004150391, 15.015040397644043, 16.42715835571289, -49.459102630615234, 19.683513641357422 ]
[ -6.913123607635498, 9.183673858642578, 17.344173431396484, 7.526881694793701, -50.667015075683594, 28.286304473876953 ]
12.8
64
0
64
0
[ -7.055909633636475, 5.230768203735352, 16.918758392333984, 9.913925170898438, -49.84476089477539, 24.36617660522461 ]
[ -6.913123607635498, 4.931972980499268, 17.16350555419922, 14.150537490844727, -49.82997512817383, 22.780454635620117 ]
13
65
0
65
0
[ -8.13340950012207, -2.956367015838623, 23.80691909790039, 10.375371932983398, -49.56746292114258, 23.979331970214844 ]
[ -6.913123607635498, 4.166666507720947, 17.16350555419922, 16.21505355834961, -49.725345611572266, 20.165176391601562 ]
13.2
66
0
66
0
[ -8.139352798461914, -4.071970462799072, 27.143672943115234, 10.297163963317871, -49.25922393798828, 24.50780487060547 ]
[ -7.800369739532471, 3.911564588546753, 23.667570114135742, 12.086021423339844, -49.725345611572266, 23.19339370727539 ]
13.4
67
0
67
0
[ -8.630542755126953, -8.384773254394531, 29.35298728942871, 14.177573204040527, -49.005882263183594, 25.28229522705078 ]
[ -8.096117973327637, -1.0204081535339355, 27.19060516357422, 11.397849082946777, -49.51608657836914, 23.95044708251953 ]
13.6
68
0
68
0
[ -9.995850563049316, -17.09293556213379, 30.919639587402344, 21.66642951965332, -49.51202392578125, 24.657997131347656 ]
[ -8.022181510925293, -1.0204081535339355, 27.82294464111328, 11.311827659606934, -49.51608657836914, 23.95044708251953 ]
13.8
69
0
69
0
[ -6.622858047485352, -6.887856483459473, 26.331787109375, 17.774791717529297, -48.94580841064453, 26.446727752685547 ]
[ -8.465804100036621, -5.187074661254883, 29.810298919677734, 13.892473220825195, -49.306827545166016, 24.776325225830078 ]
14
70
0
70
0
[ -7.152876853942871, -10.179931640625, 25.545896530151367, 27.30037498474121, -48.9851188659668, 26.65487289428711 ]
[ -9.796672821044922, -14.455781936645508, 31.797651290893555, 21.462366104125977, -49.41145706176758, 24.776325225830078 ]
14.2
71
0
71
0
[ -7.687224388122559, -13.398344039916992, 25.50490379333496, 33.887062072753906, -49.503700256347656, 26.82062530517578 ]
[ -7.7264323234558105, -10.204081535339355, 28.726287841796875, 23.010753631591797, -49.20219802856445, 26.152788162231445 ]
14.4
72
0
72
0
[ -6.638537406921387, -18.449796676635742, 31.99580955505371, 30.97431755065918, -48.71590805053711, 26.730518341064453 ]
[ -7.874306678771973, -10.79931926727295, 28.635953903198242, 32.129032135009766, -49.41145706176758, 26.152788162231445 ]
14.6
73
0
73
0
[ -7.071944236755371, -25.717815399169922, 35.832603454589844, 39.1871337890625, -48.506656646728516, 27.455503463745117 ]
[ -6.987061023712158, -14.795918464660645, 31.97831916809082, 32.30107498168945, -48.99293899536133, 26.152788162231445 ]
14.8
74
0
74
0
[ -6.5498552322387695, -23.7497615814209, 36.747901916503906, 31.622819900512695, -49.204898834228516, 27.269611358642578 ]
[ -6.913123607635498, -21.428571701049805, 35.953025817871094, 37.20429992675781, -48.78367614746094, 26.841018676757812 ]
15
75
0
75
0
[ -6.6745500564575195, -23.016353607177734, 37.98179626464844, 32.844032287597656, -49.5787467956543, 27.85749053955078 ]
[ -6.913123607635498, -23.214284896850586, 36.224029541015625, 39.0107536315918, -48.78367614746094, 26.909841537475586 ]
15.2
76
0
76
0
[ -5.60821008682251, -21.003273010253906, 36.67138671875, 32.30990219116211, -49.03199768066406, 27.422664642333984 ]
[ -6.987061023712158, -22.534013748168945, 38.66305160522461, 34.537635803222656, -49.41145706176758, 27.185134887695312 ]
15.4
77
0
77
0
[ -5.2585930824279785, -22.13253402709961, 39.41326904296875, 28.697601318359375, -48.882781982421875, 27.473281860351562 ]
[ -6.099815368652344, -21.003400802612305, 38.66305160522461, 33.505374908447266, -49.20219802856445, 27.32278060913086 ]
15.6
78
0
78
0
[ -5.2700653076171875, -24.079177856445312, 39.719032287597656, 27.999191284179688, -49.441253662109375, 27.909393310546875 ]
[ -5.8780035972595215, -20.83333396911621, 40.108402252197266, 30.4946231842041, -49.09756851196289, 27.32278060913086 ]
15.8
79
0
79
0
[ -7.0243425369262695, -18.860870361328125, 40.16185760498047, 22.30109214782715, -49.792091369628906, 28.775028228759766 ]
[ -5.730129241943359, -21.51360511779785, 40.108402252197266, 29.29032325744629, -49.306827545166016, 27.460426330566406 ]
16
80
0
80
0
[ -6.798651218414307, -19.230897903442383, 43.62824630737305, 20.891494750976562, -49.682098388671875, 28.863067626953125 ]
[ -5.730129241943359, -21.51360511779785, 40.108402252197266, 29.032258987426758, -49.306827545166016, 27.460426330566406 ]
16.200001
81
0
81
0
[ -6.170074462890625, -18.64192771911621, 45.29924774169922, 14.42806339263916, -49.665748596191406, 29.150436401367188 ]
[ -6.691312313079834, -18.96258544921875, 43.992774963378906, 22.66666603088379, -49.51608657836914, 28.286304473876953 ]
16.4
82
0
82
0
[ -5.888926982879639, -18.81092071533203, 44.40146255493164, 13.016804695129395, -49.90765380859375, 29.158313751220703 ]
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16.6
83
0
83
0
[ -5.187271595001221, -11.940718650817871, 41.92991638183594, 7.121547698974609, -50.26815414428711, 29.424171447753906 ]
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16.799999
84
0
84
0
[ -7.782827377319336, -14.232100486755371, 44.94017028808594, 6.456865310668945, -49.95623016357422, 30.227638244628906 ]
[ -5.8780035972595215, -13.095237731933594, 44.5347785949707, 9.333333015441895, -50.03923797607422, 28.836889266967773 ]
17
85
0
85
0
[ -9.108546257019043, -20.852251052856445, 48.25340270996094, 12.341920852661133, -49.456024169921875, 29.870708465576172 ]
[ -5.508317947387695, -11.56462574005127, 44.35411071777344, 8.301074981689453, -50.03923797607422, 28.836889266967773 ]
17.200001
86
0
86
0
[ -9.308335304260254, -26.679513931274414, 48.63454055786133, 24.022554397583008, -49.27851867675781, 30.266521453857422 ]
[ -8.687615394592285, -17.09183692932129, 48.419151306152344, 11.397849082946777, -49.725345611572266, 29.387474060058594 ]
17.4
87
0
87
0
[ -10.769575119018555, -31.143192291259766, 48.439857482910156, 32.318565368652344, -49.13778305053711, 31.075557708740234 ]
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17.6
88
0
88
0
[ -9.107063293457031, -28.522829055786133, 47.75840759277344, 30.290557861328125, -48.159976959228516, 31.240386962890625 ]
[ -10.46210765838623, -28.316326141357422, 49.051490783691406, 29.720430374145508, -49.51608657836914, 30.488643646240234 ]
17.799999
89
0
89
0
[ -5.953157424926758, -31.557416915893555, 38.4251823425293, 51.35018539428711, -45.91474151611328, 30.978355407714844 ]
[ -9.279112815856934, -28.231292724609375, 49.14182662963867, 31.268817901611328, -48.57441711425781, 30.76393699645996 ]
18
90
0
90
0
[ -3.8543505668640137, -34.337867736816406, 39.59949493408203, 51.15528869628906, -47.26701354980469, 31.522823333740234 ]
[ -9.648798942565918, -28.231292724609375, 49.14182662963867, 31.268817901611328, -48.46978759765625, 30.76393699645996 ]
18.200001
91
0
91
0
[ -4.06125020980835, -31.784109115600586, 39.868743896484375, 51.2607421875, -47.15376281738281, 31.92782211303711 ]
[ -4.621072292327881, -32.482994079589844, 42.81842803955078, 46.494625091552734, -47.214229583740234, 31.039228439331055 ]
18.4
92
0
92
0
[ -2.9423999786376953, -28.85332489013672, 38.41933822631836, 49.618133544921875, -42.38135528564453, 32.72368621826172 ]
[ -4.695009231567383, -31.547618865966797, 42.45709228515625, 51.05376434326172, -47.214229583740234, 31.245698928833008 ]
18.6
93
0
93
0
[ -2.375511407852173, -22.538070678710938, 36.034664154052734, 41.983734130859375, -43.151031494140625, 32.754852294921875 ]
[ -3.21626615524292, -29.081632614135742, 41.37308120727539, 50.6236572265625, -43.813758850097656, 32.07157516479492 ]
18.799999
94
0
94
0
[ -1.7734589576721191, -22.415027618408203, 38.892120361328125, 40.68049240112305, -43.44446563720703, 32.90617370605469 ]
[ -2.9944546222686768, -23.55442237854004, 38.93405532836914, 44.602149963378906, -43.185977935791016, 32.20922088623047 ]
19
95
0
95
0
[ 0.9114131927490234, -20.44983673095703, 38.56047821044922, 38.34162139892578, -44.086402893066406, 32.55307388305664 ]
[ -2.7726433277130127, -22.4489803314209, 38.93405532836914, 43.05376434326172, -43.185977935791016, 32.34687042236328 ]
19.200001
96
0
96
0
[ 2.0124406814575195, -18.105541229248047, 38.94377136230469, 36.340789794921875, -43.238624572753906, 32.368282318115234 ]
[ -0.1109057292342186, -20.323129653930664, 39.65673065185547, 39.78494644165039, -43.813758850097656, 32.34687042236328 ]
19.4
97
0
97
0
[ 1.2825202941894531, -14.130752563476562, 36.68342590332031, 31.734619140625, -42.81836700439453, 32.436370849609375 ]
[ 1.1460258960723877, -18.19727897644043, 39.65673065185547, 37.63440704345703, -43.55218505859375, 32.34687042236328 ]
19.6
98
0
98
0
[ 1.0410380363464355, -6.77263069152832, 34.506446838378906, 17.276084899902344, -42.74585723876953, 32.784610748291016 ]
[ 1.3678373098373413, -14.285714149475098, 39.20505905151367, 33.41935348510742, -43.133663177490234, 32.34687042236328 ]
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": 2879,
    "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": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "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": {
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            "shape": [
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            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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