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11
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[ -5.8040666580200195, 15.561224937438965, 26.467931747436523, -24.817203521728516, -54.224430084228516, 3.991741180419922 ]
11.4
57
0
57
0
[ -5.717447280883789, 11.460488319396973, 26.615453720092773, -24.978759765625, -53.951168060302734, 0.7177033424377441 ]
[ -5.8040666580200195, 15.476190567016602, 26.738933563232422, -24.817203521728516, -54.224430084228516, 3.991741180419922 ]
11.6
58
0
58
0
[ -5.717447280883789, 10.302027702331543, 26.705829620361328, -24.638912200927734, -53.951168060302734, 0.7177033424377441 ]
[ -5.8040666580200195, 15.136054039001465, 27.100271224975586, -24.817203521728516, -54.224430084228516, 3.991741180419922 ]
11.8
59
0
59
0
[ -5.5699005126953125, 5.337194919586182, 31.134206771850586, -20.13593864440918, -53.951168060302734, 0.7177033424377441 ]
[ -5.8040666580200195, 14.625850677490234, 27.100271224975586, -24.817203521728516, -54.224430084228516, 3.991741180419922 ]
12
60
0
60
0
[ -5.496127128601074, 2.606537103652954, 34.20695877075195, -19.966014862060547, -53.951168060302734, 0.7177033424377441 ]
[ -5.8040666580200195, 9.438775062561035, 31.255645751953125, -20.43010711669922, -54.172115325927734, 3.991741180419922 ]
12.2
61
0
61
0
[ -5.496127128601074, 1.1998344659805298, 37.098960876464844, -20.305862426757812, -53.951168060302734, 0.7177033424377441 ]
[ -5.8780035972595215, 6.547618865966797, 34.68834686279297, -20.25806427001953, -54.06748580932617, 3.991741180419922 ]
12.4
62
0
62
0
[ -5.496127128601074, -0.8688457012176514, 40.081336975097656, -20.560747146606445, -54.00367736816406, 0.7177033424377441 ]
[ -5.8780035972595215, 4.761904716491699, 37.48870849609375, -20.25806427001953, -54.172115325927734, 3.991741180419922 ]
12.6
63
0
63
0
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[ -6.025877952575684, 2.551020383834839, 40.4697380065918, -20.25806427001953, -54.224430084228516, 3.854094982147217 ]
12.8
64
0
64
0
[ -5.496127128601074, -3.682250738143921, 43.42521286010742, -20.560747146606445, -54.056182861328125, 0.7177033424377441 ]
[ -5.951941013336182, 0.42517006397247314, 43.08943176269531, -20.25806427001953, -54.224430084228516, 3.854094982147217 ]
13
65
0
65
0
[ -5.496127128601074, -3.682250738143921, 43.24446487426758, -20.305862426757812, -54.31871795654297, 1.2759170532226562 ]
[ -5.951941013336182, -0.5102040767669678, 43.992774963378906, -20.25806427001953, -54.224430084228516, 3.854094982147217 ]
13.2
66
0
66
0
[ -5.496127128601074, -3.682250738143921, 42.702213287353516, -20.05097770690918, -54.42373275756836, 4.864433765411377 ]
[ -5.951941013336182, -0.5102040767669678, 43.992774963378906, -20.25806427001953, -54.224430084228516, 3.854094982147217 ]
13.4
67
0
67
0
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[ -5.951941013336182, -0.5102040767669678, 43.992774963378906, -20.25806427001953, -54.224430084228516, 4.955265045166016 ]
13.6
68
0
68
0
[ -6.086315155029297, -3.682250738143921, 42.702213287353516, -20.560747146606445, -54.42373275756836, 42.9027099609375 ]
[ -5.951941013336182, -0.5102040767669678, 43.992774963378906, -20.25806427001953, -54.224430084228516, 17.549896240234375 ]
13.8
69
0
69
0
[ -6.30763578414917, -4.095986843109131, 43.154090881347656, -20.220901489257812, -54.42373275756836, 43.54066848754883 ]
[ -5.951941013336182, -0.5102040767669678, 43.992774963378906, -20.25806427001953, -54.224430084228516, 38.47212600708008 ]
14
70
0
70
0
[ -6.4551825523376465, -10.302027702331543, 46.859466552734375, -14.103652954101562, -53.951168060302734, 43.4609260559082 ]
[ -5.951941013336182, -1.1904761791229248, 43.90243911743164, -20.25806427001953, -54.224430084228516, 42.876808166503906 ]
14.2
71
0
71
0
[ -7.5617852210998535, -19.238725662231445, 51.46859359741211, 2.124044179916382, -53.89866256713867, 43.4609260559082 ]
[ -6.173752307891846, -7.142857074737549, 46.97380447387695, -14.580645561218262, -54.224430084228516, 43.01445388793945 ]
14.4
72
0
72
0
[ -9.848764419555664, -32.64377212524414, 54.179847717285156, 24.3840274810791, -49.908111572265625, 43.4609260559082 ]
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14.6
73
0
73
0
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[ -9.500924110412598, -28.316326141357422, 54.5618782043457, 17.33333396911621, -50.719329833984375, 43.01445388793945 ]
14.8
74
0
74
0
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[ -9.722735404968262, -37.329933166503906, 54.5618782043457, 36.086021423339844, -45.64478302001953, 43.01445388793945 ]
15
75
0
75
0
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[ -12.975970268249512, -39.880950927734375, 54.65221405029297, 44.17204284667969, -44.755428314208984, 43.01445388793945 ]
15.2
76
0
76
0
[ -24.455921173095703, -40.67025375366211, 51.107093811035156, 44.94477462768555, -55.736412048339844, 43.38117980957031 ]
[ -18.15157127380371, -40.13605499267578, 54.65221405029297, 45.63440704345703, -49.306827545166016, 43.01445388793945 ]
15.4
77
0
77
0
[ -27.037992477416992, -37.02937698364258, 49.38996887207031, 40.526763916015625, -59.46442794799805, 43.38117980957031 ]
[ -23.179298400878906, -40.051021575927734, 54.019874572753906, 45.63440704345703, -54.747581481933594, 43.01445388793945 ]
15.6
78
0
78
0
[ -29.029878616333008, -27.26520538330078, 43.967464447021484, 36.87340545654297, -59.044368743896484, 43.30143356323242 ]
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15.8
79
0
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16
80
0
80
0
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16.200001
81
0
81
0
[ -33.4562873840332, -10.798510551452637, 45.68458938598633, 3.398470640182495, -60.46206283569336, 43.30143356323242 ]
[ -31.903881072998047, -15.051020622253418, 46.34146499633789, 17.677419662475586, -59.19435119628906, 43.01445388793945 ]
16.4
82
0
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0
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16.6
83
0
83
0
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16.799999
84
0
84
0
[ -29.69384002685547, -7.902358531951904, 50.65522003173828, 0.08496176451444626, -61.984771728515625, 43.30143356323242 ]
[ -32.56931686401367, -9.183673858642578, 48.05781555175781, 1.3333333730697632, -61.810096740722656, 43.01445388793945 ]
17
85
0
85
0
[ -28.808557510375977, -5.2544474601745605, 50.20334243774414, 0.08496176451444626, -61.93226623535156, 35.725677490234375 ]
[ -31.75600814819336, -9.098639488220215, 50.85817337036133, 1.1612902879714966, -61.810096740722656, 43.01445388793945 ]
17.200001
86
0
86
0
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17.4
87
0
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0
[ -28.956104278564453, -4.923459053039551, 50.20334243774414, 0.08496176451444626, -61.56471633911133, 31.020732879638672 ]
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17.6
88
0
88
0
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17.799999
89
0
89
0
[ -29.10365104675293, -4.923459053039551, 50.7455940246582, 0.08496176451444626, -61.51220703125, 19.138755798339844 ]
[ -29.46395492553711, -4.676870822906494, 51.03884506225586, 1.0752688646316528, -61.757781982421875, 31.383344650268555 ]
18
90
0
90
0
[ -28.956104278564453, -4.923459053039551, 50.7455940246582, 0.08496176451444626, -61.51220703125, 13.39712905883789 ]
[ -29.46395492553711, -4.676870822906494, 51.03884506225586, 1.0752688646316528, -61.757781982421875, 25.258087158203125 ]
18.200001
91
0
91
0
[ -28.808557510375977, -5.006206035614014, 50.38409423828125, 0.16992352902889252, -61.51220703125, 7.177033424377441 ]
[ -29.46395492553711, -4.676870822906494, 51.12917709350586, 1.0752688646316528, -61.757781982421875, 19.95870590209961 ]
18.4
92
0
92
0
[ -27.775728225708008, -5.66818380355835, 50.11296844482422, 0.8496176600456238, -61.51220703125, 1.7543859481811523 ]
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18.6
93
0
93
0
[ -26.226484298706055, -11.625982284545898, 49.84184265136719, 4.078165054321289, -61.45970153808594, 1.7543859481811523 ]
[ -29.46395492553711, -4.676870822906494, 51.12917709350586, 1.0752688646316528, -61.757781982421875, 11.355815887451172 ]
18.799999
94
0
94
0
[ -23.201770782470703, -20.31443977355957, 45.23271560668945, 22.25998306274414, -61.45970153808594, 1.7543859481811523 ]
[ -28.650646209716797, -4.676870822906494, 51.12917709350586, 1.1612902879714966, -61.757781982421875, 9.428768157958984 ]
19
95
0
95
0
[ -19.218000411987305, -27.016963958740234, 38.544960021972656, 37.3831787109375, -59.989498138427734, 1.5948963165283203 ]
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19.200001
96
0
96
0
[ -12.799704551696777, -27.927183151245117, 30.41120719909668, 39.59218215942383, -57.154109954833984, 1.6746411323547363 ]
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19.4
97
0
97
0
[ -9.111028671264648, -27.513446807861328, 27.790328979492188, 38.99745178222656, -56.57653045654297, 1.5948963165283203 ]
[ -20.14787483215332, -24.744897842407227, 41.64408493041992, 34.279571533203125, -60.44990921020508, 9.428768157958984 ]
19.6
98
0
98
0
[ -7.045370578765869, -13.44642162322998, 12.607320785522461, 36.4485969543457, -53.74113845825195, 1.6746411323547363 ]
[ -14.232901573181152, -26.44557762145996, 34.056007385253906, 39.09677505493164, -57.729530334472656, 9.428768157958984 ]
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": 50,
    "total_frames": 10072,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 5,
    "splits": {
        "train": "0:50"
    },
    "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
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        },
        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.wrist": {
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            "names": [
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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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                "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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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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