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6
6
observation.state
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6
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float32
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29.8
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4.2
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4.4
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4.6
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5.8
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6
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6.6
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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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8.8
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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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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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[ -5.220588207244873, -0.7569385766983032, -8.288288116455078, 90.0042724609375, -11.168830871582031, 30.950775146484375 ]
11.4
57
0
57
0
[ -6.22926664352417, -0.44989773631095886, -9.779179573059082, 91.16021728515625, -11.320755004882812, 32.30890655517578 ]
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11.6
58
0
58
0
[ -6.0818281173706055, -0.44989773631095886, -9.598917961120605, 92.43518829345703, -11.320755004882812, 50.03940200805664 ]
[ -5.882352828979492, -0.16820858418941498, -8.288288116455078, 90.7731704711914, -11.168830871582031, 31.894807815551758 ]
11.8
59
0
59
0
[ -6.008109092712402, -0.44989773631095886, -9.418657302856445, 93.11517333984375, -11.320755004882812, 51.14263153076172 ]
[ -5.882352828979492, -0.16820858418941498, -8.288288116455078, 92.1401138305664, -11.168830871582031, 44.571815490722656 ]
12
60
0
60
0
[ -6.155547142028809, -0.28629857301712036, -8.697611808776855, 93.11517333984375, -11.320755004882812, 51.61544418334961 ]
[ -5.882352828979492, -0.16820858418941498, -8.288288116455078, 92.73814392089844, -11.168830871582031, 50.43830108642578 ]
12.2
61
0
61
0
[ -6.155547142028809, 3.0674846172332764, -8.517350196838379, 93.2001724243164, -11.320755004882812, 51.61544418334961 ]
[ -5.882352828979492, -0.16820858418941498, -8.198198318481445, 92.73814392089844, -11.168830871582031, 51.314903259277344 ]
12.4
62
0
62
0
[ -6.22926664352417, 9.366053581237793, -8.697611808776855, 94.30514526367188, -11.320755004882812, 51.69424819946289 ]
[ -5.882352828979492, 3.4482758045196533, -8.108108520507812, 92.6527099609375, -11.168830871582031, 51.314903259277344 ]
12.6
63
0
63
0
[ -6.376704692840576, 10.838445663452148, -9.14826488494873, 94.30514526367188, -11.320755004882812, 51.69424819946289 ]
[ -5.882352828979492, 9.587888717651367, -8.108108520507812, 93.59248352050781, -11.168830871582031, 51.314903259277344 ]
12.8
64
0
64
0
[ -7.924806594848633, 11.002044677734375, -9.508788108825684, 94.30514526367188, -11.320755004882812, 51.61544418334961 ]
[ -5.955882549285889, 11.354079246520996, -8.288288116455078, 94.0196533203125, -11.168830871582031, 51.314903259277344 ]
13
65
0
65
0
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[ -7.352941036224365, 11.354079246520996, -8.288288116455078, 94.19051361083984, -11.168830871582031, 51.314903259277344 ]
13.2
66
0
66
0
[ -8.293401718139648, 11.002044677734375, -9.779179573059082, 93.37016296386719, -11.0062894821167, 48.6209602355957 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.84878540039062, -11.168830871582031, 51.11260986328125 ]
13.4
67
0
67
0
[ -8.367121696472168, 11.002044677734375, -9.598917961120605, 93.37016296386719, -10.849056243896484, 47.517730712890625 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.59248352050781, -11.116883277893066, 49.089683532714844 ]
13.6
68
0
68
0
[ -8.367121696472168, 11.083844184875488, -9.328526496887207, 93.28517150878906, -10.796646118164062, 46.41450119018555 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.59248352050781, -11.01298713684082, 47.87592697143555 ]
13.8
69
0
69
0
[ -8.293401718139648, 11.083844184875488, -9.328526496887207, 93.28517150878906, -10.796646118164062, 34.672969818115234 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.59248352050781, -11.01298713684082, 46.7296028137207 ]
14
70
0
70
0
[ -8.293401718139648, 11.083844184875488, -9.328526496887207, 93.2001724243164, -10.796646118164062, 25.374309539794922 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.59248352050781, -11.01298713684082, 37.22184753417969 ]
14.2
71
0
71
0
[ -8.219682693481445, 11.083844184875488, -9.14826488494873, 93.2001724243164, -10.796646118164062, 20.01576042175293 ]
[ -7.794117450714111, 11.354079246520996, -8.288288116455078, 93.25074768066406, -11.01298713684082, 27.714092254638672 ]
14.4
72
0
72
0
[ -8.219682693481445, 11.083844184875488, -9.238395690917969, 93.2001724243164, -10.849056243896484, 18.045705795288086 ]
[ -7.794117450714111, 11.354079246520996, -8.378377914428711, 92.82357788085938, -11.064934730529785, 21.915037155151367 ]
14.6
73
0
73
0
[ -8.145963668823242, 11.083844184875488, -8.787742614746094, 93.2001724243164, -10.953878402709961, 17.88810157775879 ]
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14.8
74
0
74
0
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15
75
0
75
0
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[ -7.794117450714111, 11.354079246520996, -8.378377914428711, 92.82357788085938, -11.064934730529785, 19.622386932373047 ]
15.2
76
0
76
0
[ -7.556210994720459, 13.292433738708496, -9.779179573059082, 93.11517333984375, -11.163521766662598, 9.692671775817871 ]
[ -7.794117450714111, 11.354079246520996, -8.378377914428711, 92.82357788085938, -11.064934730529785, 13.958192825317383 ]
15.4
77
0
77
0
[ -7.482491493225098, 15.501022338867188, -9.779179573059082, 93.11517333984375, -11.215932846069336, 9.062253952026367 ]
[ -7.720588207244873, 13.204373359680176, -9.099099159240723, 92.82357788085938, -11.01298713684082, 12.94672966003418 ]
15.6
78
0
78
0
[ -7.482491493225098, 14.846625328063965, -9.959441184997559, 93.11517333984375, -10.901467323303223, 9.613868713378906 ]
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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
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[ -7.794117450714111, 15.475189208984375, -25.495494842529297, 96.32635498046875, -11.272727012634277, 12.407282829284668 ]
16.4
82
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82
0
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16.6
83
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83
0
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16.799999
84
0
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0
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[ -7.941176414489746, 10.092514991760254, -28.55855941772461, 97.60785675048828, -11.064934730529785, 12.339851379394531 ]
17
85
0
85
0
[ -8.440840721130371, -8.46625804901123, -17.440288543701172, 97.36506652832031, -10.849056243896484, 9.613868713378906 ]
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17.200001
86
0
86
0
[ -8.293401718139648, -14.437627792358398, -15.006759643554688, 97.36506652832031, -10.849056243896484, 9.613868713378906 ]
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17.4
87
0
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17.6
88
0
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0
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17.799999
89
0
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[ -4.165130615234375, -26.871166229248047, -10.139702796936035, 97.36506652832031, -10.796646118164062, 9.613868713378906 ]
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18
90
0
90
0
[ 2.9856247901916504, -29.24335289001465, -9.508788108825684, 97.36506652832031, -10.796646118164062, 9.613868713378906 ]
[ -4.852941036224365, -25.231287002563477, -9.909910202026367, 97.69329071044922, -11.01298713684082, 12.339851379394531 ]
18.200001
91
0
91
0
[ 10.873571395874023, -31.206544876098633, -8.697611808776855, 97.36506652832031, -10.744235038757324, 9.692671775817871 ]
[ 1.25, -27.838520050048828, -9.369369506835938, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
18.4
92
0
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[ 8.970588684082031, -30.025230407714844, -8.648648262023926, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
18.6
93
0
93
0
[ 21.415407180786133, -42.413089752197266, -8.517350196838379, 97.36506652832031, -10.744235038757324, 9.692671775817871 ]
[ 15.514705657958984, -35.15559387207031, -8.288288116455078, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
18.799999
94
0
94
0
[ 25.248802185058594, -45.5214729309082, -4.731861114501953, 97.36506652832031, -10.744235038757324, 9.692671775817871 ]
[ 20.294116973876953, -40.87468338012695, -8.378377914428711, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
19
95
0
95
0
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19.200001
96
0
96
0
[ 34.24253463745117, -51.983638763427734, 9.418657302856445, 97.36506652832031, -10.691823959350586, 9.692671775817871 ]
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19.4
97
0
97
0
[ 40.21378707885742, -53.29243469238281, 10.59035587310791, 97.36506652832031, -10.691823959350586, 9.692671775817871 ]
[ 33.161766052246094, -51.30361557006836, 9.279279708862305, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
19.6
98
0
98
0
[ 45.9638786315918, -53.37423324584961, 11.131139755249023, 97.36506652832031, -10.691823959350586, 9.692671775817871 ]
[ 38.89706039428711, -52.8174934387207, 10.450450897216797, 97.69329071044922, -10.701298713684082, 12.339851379394531 ]
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": 30,
    "total_frames": 4500,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:30"
    },
    "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",
            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 5
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 5
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "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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        "timestamp": {
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            "fps": 5
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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,
            "fps": 5
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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