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float32
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29.7
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int64
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890
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[ -0.5506095886230469, 143.8759765625, 125.00672149658203, 66.08921813964844, -14.491473197937012, 9.340412139892578 ]
[ -0.703125, 151.435546875, 130.517578125, 66.884765625, -14.501953125, 7.652685642242432 ]
2.133333
64
0
64
0
[ -0.36511802673339844, 142.449951171875, 124.00529479980469, 66.52649688720703, -14.174604415893555, 9.641202926635742 ]
[ -0.703125, 149.501953125, 129.7265625, 66.796875, -14.501953125, 8.094186782836914 ]
2.166667
65
0
65
0
[ -0.10275077819824219, 139.46107482910156, 123.08578491210938, 66.50666809082031, -14.269431114196777, 10.477001190185547 ]
[ -0.615234375, 147.48046875, 128.84765625, 66.796875, -14.501953125, 8.535688400268555 ]
2.2
66
0
66
0
[ 0.07098579406738281, 139.0857391357422, 122.99430084228516, 66.8258285522461, -14.229759216308594, 10.824983596801758 ]
[ -0.615234375, 145.283203125, 127.529296875, 66.796875, -14.501953125, 8.903605461120605 ]
2.233333
67
0
67
0
[ -0.03822517395019531, 138.00778198242188, 122.06184387207031, 66.71378326416016, -14.141931533813477, 11.217987060546875 ]
[ -0.615234375, 143.173828125, 126.5625, 66.796875, -14.501953125, 9.492273330688477 ]
2.266667
68
0
68
0
[ 0.23534011840820312, 134.93263244628906, 120.40036010742188, 67.37583923339844, -13.926377296447754, 12.189018249511719 ]
[ -0.703125, 141.328125, 125.947265625, 66.796875, -14.501953125, 10.00735855102539 ]
2.3
69
0
69
0
[ 0.27462196350097656, 133.5150604248047, 119.69718933105469, 67.65673065185547, -13.783401489257812, 12.5391206741333 ]
[ -0.52734375, 139.833984375, 125.33203125, 66.796875, -14.677734375, 10.375276565551758 ]
2.333333
70
0
70
0
[ 0.4508247375488281, 132.10311889648438, 119.2481918334961, 67.83592224121094, -13.784040451049805, 12.617355346679688 ]
[ 0, 138.1640625, 124.27734375, 67.1484375, -14.501953125, 11.037528038024902 ]
2.366667
71
0
71
0
[ 0.5643558502197266, 131.01829528808594, 118.52606964111328, 68.07620239257812, -13.714712142944336, 13.24856185913086 ]
[ 0.263671875, 136.142578125, 123.046875, 67.32421875, -14.0625, 11.626195907592773 ]
2.4
72
0
72
0
[ 0.8081464767456055, 128.2093505859375, 116.86387634277344, 68.71994018554688, -13.568781852722168, 13.794617652893066 ]
[ 0.263671875, 134.296875, 122.34375, 67.587890625, -14.0625, 11.92052936553955 ]
2.433333
73
0
73
0
[ 1.2046270370483398, 125.19611358642578, 115.74466705322266, 69.36573791503906, -13.325372695922852, 14.323270797729492 ]
[ 0.17578125, 132.802734375, 121.81640625, 67.8515625, -14.0625, 12.435614585876465 ]
2.466667
74
0
74
0
[ 1.1073408126831055, 125.42996215820312, 115.583984375, 69.20240783691406, -13.34740924835205, 14.747894287109375 ]
[ 0.3515625, 131.1328125, 120.849609375, 68.37890625, -14.150390625, 12.950698852539062 ]
2.5
75
0
75
0
[ 1.32708740234375, 123.20817565917969, 114.15385437011719, 70.14967346191406, -13.144571304321289, 15.429964065551758 ]
[ 0.52734375, 128.84765625, 119.267578125, 68.73046875, -13.88671875, 13.46578311920166 ]
2.533333
76
0
76
0
[ 1.823476791381836, 120.13420104980469, 112.75342559814453, 70.83625030517578, -12.923157691955566, 15.853797912597656 ]
[ 0.3515625, 127.08984375, 118.65234375, 68.73046875, -13.88671875, 13.9072847366333 ]
2.566667
77
0
77
0
[ 1.7566108703613281, 119.08673858642578, 111.80940246582031, 71.40107727050781, -12.817164421081543, 16.22196388244629 ]
[ 0.615234375, 125.419921875, 117.861328125, 69.43359375, -14.0625, 14.495952606201172 ]
2.6
78
0
78
0
[ 1.8352527618408203, 118.12351989746094, 111.31317901611328, 71.61016845703125, -12.70207405090332, 16.42037582397461 ]
[ 1.318359375, 123.3984375, 116.54296875, 70.048828125, -13.623046875, 15.011037826538086 ]
2.633333
79
0
79
0
[ 2.4916982650756836, 114.69210815429688, 109.84195709228516, 72.38987731933594, -12.41843032836914, 17.258020401000977 ]
[ 1.58203125, 121.376953125, 115.3125, 70.576171875, -13.095703125, 15.378954887390137 ]
2.666667
80
0
80
0
[ 2.435169219970703, 113.47434997558594, 108.83706665039062, 72.9688720703125, -12.27680778503418, 17.584762573242188 ]
[ 1.58203125, 119.70703125, 114.609375, 71.015625, -13.359375, 15.746871948242188 ]
2.7
81
0
81
0
[ 2.687715530395508, 112.50514221191406, 108.46551513671875, 73.1783676147461, -12.183257102966309, 18.01363754272461 ]
[ 1.58203125, 118.125, 113.73046875, 71.71875, -13.0078125, 16.335540771484375 ]
2.733333
82
0
82
0
[ 2.812891960144043, 110.27184295654297, 106.93696594238281, 74.05464935302734, -11.87335205078125, 18.597272872924805 ]
[ 1.7578125, 116.103515625, 112.412109375, 72.24609375, -12.83203125, 16.777042388916016 ]
2.766667
83
0
83
0
[ 3.1450748443603516, 107.94371795654297, 105.74378967285156, 74.60356903076172, -11.656195640563965, 19.318462371826172 ]
[ 1.93359375, 114.345703125, 111.4453125, 72.59765625, -12.744140625, 17.218544006347656 ]
2.8
84
0
84
0
[ 3.3675451278686523, 107.07135009765625, 105.92758178710938, 74.46034240722656, -11.508289337158203, 19.566335678100586 ]
[ 2.197265625, 112.5, 110.7421875, 73.30078125, -12.48046875, 17.733627319335938 ]
2.833333
85
0
85
0
[ 3.595418930053711, 103.57341003417969, 103.60416412353516, 75.65261840820312, -11.209108352661133, 20.28944969177246 ]
[ 2.900390625, 110.390625, 109.51171875, 73.740234375, -12.216796875, 18.322296142578125 ]
2.866667
86
0
86
0
[ 3.8153915405273438, 102.58418273925781, 103.47380065917969, 75.56515502929688, -11.013056755065918, 20.52765464782715 ]
[ 3.076171875, 108.80859375, 108.896484375, 74.00390625, -11.689453125, 18.837379455566406 ]
2.9
87
0
87
0
[ 4.413537979125977, 97.41366577148438, 101.83226013183594, 76.22492980957031, -10.656044006347656, 21.780471801757812 ]
[ 3.1640625, 107.05078125, 107.9296875, 74.70703125, -11.689453125, 19.35246467590332 ]
2.933333
88
0
88
0
[ 4.352579116821289, 97.62809753417969, 101.81959533691406, 76.2626953125, -10.56170654296875, 21.581451416015625 ]
[ 3.1640625, 104.853515625, 106.787109375, 74.970703125, -11.77734375, 19.79396629333496 ]
2.966667
89
0
89
0
[ 4.710757255554199, 94.5601806640625, 101.39639282226562, 76.10418701171875, -10.32164192199707, 22.336820602416992 ]
[ 3.251953125, 102.48046875, 105.732421875, 75.5859375, -11.42578125, 20.45621681213379 ]
3
90
0
90
0
[ 4.827109336853027, 93.90911865234375, 101.09707641601562, 76.13046264648438, -10.200563430786133, 22.521163940429688 ]
[ 3.603515625, 99.931640625, 104.853515625, 75.673828125, -11.162109375, 20.82413673400879 ]
3.033333
91
0
91
0
[ 5.000706672668457, 92.43814086914062, 101.09162902832031, 75.80824279785156, -10.137126922607422, 22.74894142150879 ]
[ 4.130859375, 97.3828125, 104.326171875, 75.76171875, -10.8984375, 21.412803649902344 ]
3.066667
92
0
92
0
[ 5.054637908935547, 90.51512908935547, 100.08685302734375, 76.49851989746094, -9.962793350219727, 23.056386947631836 ]
[ 4.658203125, 95.537109375, 103.974609375, 75.76171875, -10.72265625, 21.78072166442871 ]
3.1
93
0
93
0
[ 5.209897041320801, 89.9474105834961, 100.52925872802734, 76.06610870361328, -9.921092987060547, 23.27956771850586 ]
[ 4.833984375, 93.955078125, 103.623046875, 75.76171875, -10.458984375, 22.075056076049805 ]
3.133333
94
0
94
0
[ 5.355683326721191, 88.40992736816406, 100.41268920898438, 75.67217254638672, -9.799333572387695, 23.510398864746094 ]
[ 4.833984375, 92.197265625, 103.0078125, 75.9375, -10.1953125, 22.369388580322266 ]
3.166667
95
0
95
0
[ 5.453365325927734, 87.80297088623047, 100.40882873535156, 75.57457733154297, -9.724552154541016, 23.63016128540039 ]
[ 4.306640625, 90.87890625, 102.83203125, 75.9375, -10.37109375, 22.66372299194336 ]
3.2
96
0
96
0
[ 5.528618812561035, 86.51069641113281, 100.45591735839844, 75.00626373291016, -9.645622253417969, 23.91940689086914 ]
[ 4.39453125, 89.560546875, 102.744140625, 75.9375, -10.458984375, 22.958057403564453 ]
3.233333
97
0
97
0
[ 5.456599235534668, 86.44587707519531, 100.95382690429688, 74.78999328613281, -9.668342590332031, 23.884815216064453 ]
[ 4.833984375, 88.505859375, 102.65625, 75.849609375, -10.283203125, 23.178808212280273 ]
3.266667
98
0
98
0
[ 5.476058006286621, 85.92620849609375, 101.03788757324219, 74.54108428955078, -9.625149726867676, 23.944623947143555 ]
[ 5.361328125, 87.451171875, 102.65625, 75.498046875, -10.1953125, 23.399559020996094 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 1,
    "total_frames": 891,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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