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action
sequence | observation.state
sequence | timestamp
float32 0
19.9
| frame_index
int64 0
598
| episode_index
int64 0
20
| index
int64 0
12.6k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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189.755859375,
173.3203125,
63.193359375,
1.58203125,
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| 56
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| 56
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|
[
0.791015625,
190.107421875,
171.650390625,
62.841796875,
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[
0.439453125,
189.755859375,
173.3203125,
63.193359375,
1.40625,
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| 57
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| 57
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[
0.791015625,
190.107421875,
171.2109375,
62.841796875,
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[
0.439453125,
189.755859375,
173.3203125,
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1.40625,
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| 58
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| 58
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[
1.0546875,
190.107421875,
170.771484375,
62.75390625,
0.703125,
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[
0.439453125,
189.755859375,
173.3203125,
63.193359375,
1.23046875,
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| 59
| 0
| 59
| 0
|
[
1.0546875,
190.107421875,
170.244140625,
62.578125,
0.703125,
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[
0.439453125,
189.755859375,
173.3203125,
63.193359375,
1.0546875,
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| 60
| 0
| 60
| 0
|
[
1.0546875,
190.107421875,
169.62890625,
62.578125,
0.52734375,
0
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[
0.52734375,
189.755859375,
173.232421875,
63.193359375,
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| 61
| 0
| 61
| 0
|
[
1.0546875,
190.107421875,
168.75,
62.75390625,
0.3515625,
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[
0.615234375,
189.755859375,
173.14453125,
63.193359375,
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| 62
| 0
| 62
| 0
|
[
1.0546875,
190.107421875,
167.6953125,
63.28125,
0,
0
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[
0.615234375,
189.755859375,
172.705078125,
63.193359375,
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| 63
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| 63
| 0
|
[
1.0546875,
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166.728515625,
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[
0.615234375,
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171.826171875,
63.193359375,
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| 64
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| 64
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|
[
1.142578125,
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0
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[
0.615234375,
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[
1.318359375,
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[
0.615234375,
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| 66
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[
1.494140625,
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[
0.791015625,
189.84375,
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63.720703125,
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| 67
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|
[
1.58203125,
190.107421875,
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63.896484375,
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0
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[
0.966796875,
189.84375,
168.046875,
63.720703125,
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| 68
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| 68
| 0
|
[
1.58203125,
189.84375,
161.71875,
64.16015625,
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0
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[
1.0546875,
190.01953125,
167.51953125,
63.720703125,
-2.021484375,
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| 69
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[
1.58203125,
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160.3125,
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[
1.0546875,
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[
1.669921875,
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64.86328125,
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[
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[
1.93359375,
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[
1.23046875,
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| 72
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| 72
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[
2.197265625,
182.8125,
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65.126953125,
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[
1.23046875,
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| 73
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[
2.4609375,
180,
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[
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| 74
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| 74
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[
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177.275390625,
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[
1.669921875,
186.15234375,
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| 75
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| 75
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[
2.63671875,
174.375,
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[
1.669921875,
185.888671875,
159.78515625,
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| 76
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| 76
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[
2.724609375,
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145.1953125,
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[
2.021484375,
180.87890625,
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| 77
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| 77
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[
2.63671875,
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142.03125,
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[
2.4609375,
176.484375,
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66.09375,
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| 78
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[
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[
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174.375,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 21,
"total_frames": 12563,
"total_tasks": 1,
"total_videos": 42,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:21"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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1
],
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},
"index": {
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1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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