Datasets:
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action sequence | observation.state sequence | timestamp float32 0 21.9 | frame_index int64 0 657 | episode_index int64 0 99 | index int64 0 53.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
7.3828125,
115.83984375,
115.751953125,
74.794921875,
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35.40790557861328
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0 | 0 | 0 | 0 | 0 |
[
7.822265625,
115.576171875,
115.48828125,
74.794921875,
-2.373046875,
35.40790557861328
] | [
6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.033333 | 1 | 0 | 1 | 0 |
[
7.822265625,
115.400390625,
115.48828125,
74.794921875,
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35.40790557861328
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.066667 | 2 | 0 | 2 | 0 |
[
7.822265625,
115.48828125,
115.6640625,
74.794921875,
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35.40790557861328
] | [
6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.1 | 3 | 0 | 3 | 0 |
[
7.822265625,
115.3125,
115.6640625,
74.794921875,
-2.373046875,
35.40790557861328
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.133333 | 4 | 0 | 4 | 0 |
[
7.91015625,
115.224609375,
115.751953125,
74.70703125,
-2.373046875,
35.40790557861328
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.166667 | 5 | 0 | 5 | 0 |
[
7.91015625,
115.13671875,
115.83984375,
74.70703125,
-2.373046875,
35.40790557861328
] | [
6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.2 | 6 | 0 | 6 | 0 |
[
7.91015625,
115.13671875,
115.83984375,
74.70703125,
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
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] | 0.233333 | 7 | 0 | 7 | 0 |
[
7.91015625,
115.048828125,
115.927734375,
74.70703125,
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35.40790557861328
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.266667 | 8 | 0 | 8 | 0 |
[
7.91015625,
115.048828125,
115.927734375,
74.619140625,
-2.373046875,
35.492008209228516
] | [
6.767578125,
114.78515625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.3 | 9 | 0 | 9 | 0 |
[
7.91015625,
115.048828125,
115.927734375,
74.619140625,
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
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34.45894241333008
] | 0.333333 | 10 | 0 | 10 | 0 |
[
7.91015625,
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74.53125,
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6.767578125,
114.78515625,
116.89453125,
73.740234375,
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] | 0.366667 | 11 | 0 | 11 | 0 |
[
7.91015625,
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115.927734375,
74.35546875,
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] | [
6.767578125,
114.78515625,
116.89453125,
73.740234375,
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34.45894241333008
] | 0.4 | 12 | 0 | 12 | 0 |
[
7.91015625,
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74.35546875,
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] | [
6.767578125,
114.43359375,
116.89453125,
73.740234375,
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] | 0.433333 | 13 | 0 | 13 | 0 |
[
7.91015625,
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74.35546875,
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] | [
6.767578125,
113.994140625,
116.89453125,
73.740234375,
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34.45894241333008
] | 0.466667 | 14 | 0 | 14 | 0 |
[
7.91015625,
112.236328125,
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74.1796875,
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6.767578125,
113.818359375,
116.89453125,
73.740234375,
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] | 0.5 | 15 | 0 | 15 | 0 |
[
7.91015625,
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6.767578125,
113.291015625,
116.89453125,
73.740234375,
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] | 0.533333 | 16 | 0 | 16 | 0 |
[
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] | [
6.767578125,
112.67578125,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.566667 | 17 | 0 | 17 | 0 |
[
7.91015625,
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115.83984375,
74.091796875,
-1.7578125,
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] | [
6.767578125,
111.796875,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.6 | 18 | 0 | 18 | 0 |
[
7.91015625,
108.28125,
115.83984375,
73.916015625,
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] | [
6.767578125,
110.7421875,
116.89453125,
73.740234375,
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] | 0.633333 | 19 | 0 | 19 | 0 |
[
7.91015625,
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73.740234375,
-1.7578125,
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] | [
6.767578125,
109.775390625,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.666667 | 20 | 0 | 20 | 0 |
[
7.91015625,
107.138671875,
115.6640625,
73.740234375,
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] | [
6.767578125,
108.80859375,
116.89453125,
73.740234375,
-1.494140625,
34.45894241333008
] | 0.7 | 21 | 0 | 21 | 0 |
[
7.91015625,
106.875,
115.576171875,
73.740234375,
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] | [
6.767578125,
107.841796875,
116.89453125,
73.740234375,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
7.91015625,
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115.3125,
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] | [
6.767578125,
107.138671875,
116.89453125,
73.564453125,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
7.91015625,
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] | [
6.767578125,
106.435546875,
116.89453125,
73.564453125,
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] | 0.8 | 24 | 0 | 24 | 0 |
[
7.91015625,
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6.767578125,
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73.4765625,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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73.564453125,
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] | [
6.767578125,
105.732421875,
116.89453125,
73.4765625,
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34.45894241333008
] | 0.866667 | 26 | 0 | 26 | 0 |
[
7.998046875,
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114.609375,
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] | [
6.767578125,
105.29296875,
116.89453125,
73.4765625,
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] | 0.9 | 27 | 0 | 27 | 0 |
[
7.998046875,
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6.767578125,
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116.89453125,
73.4765625,
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] | 0.933333 | 28 | 0 | 28 | 0 |
[
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6.767578125,
104.58984375,
116.89453125,
73.4765625,
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] | 0.966667 | 29 | 0 | 29 | 0 |
[
7.998046875,
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70.927734375,
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] | [
6.767578125,
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73.125,
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[
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] | [
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103.88671875,
116.89453125,
72.421875,
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34.45894241333008
] | 1.033333 | 31 | 0 | 31 | 0 |
[
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71.71875,
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] | 1.066667 | 32 | 0 | 32 | 0 |
[
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116.89453125,
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] | 1.1 | 33 | 0 | 33 | 0 |
[
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] | 1.133333 | 34 | 0 | 34 | 0 |
[
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6.767578125,
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] | 1.166667 | 35 | 0 | 35 | 0 |
[
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6.767578125,
102.65625,
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] | 1.2 | 36 | 0 | 36 | 0 |
[
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6.767578125,
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] | 1.233333 | 37 | 0 | 37 | 0 |
[
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6.767578125,
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] | 1.266667 | 38 | 0 | 38 | 0 |
[
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67.5,
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] | 1.3 | 39 | 0 | 39 | 0 |
[
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] | 1.333333 | 40 | 0 | 40 | 0 |
[
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7.03125,
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116.89453125,
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] | 1.366667 | 41 | 0 | 41 | 0 |
[
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7.294921875,
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[
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
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] | 1.466667 | 44 | 0 | 44 | 0 |
[
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7.998046875,
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116.89453125,
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[
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7.998046875,
101.689453125,
116.89453125,
67.412109375,
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[
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66.796875,
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7.734375,
101.689453125,
116.89453125,
67.412109375,
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[
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7.646484375,
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116.89453125,
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[
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7.55859375,
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116.89453125,
67.060546875,
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] | 1.633333 | 49 | 0 | 49 | 0 |
[
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101.689453125,
116.89453125,
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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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116.89453125,
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[
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100.283203125,
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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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[
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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": 10,
"total_frames": 4946,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": {
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480,
640,
3
],
"names": [
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],
"info": {
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"video.height": 480,
"video.width": 640,
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"video.codec": "h264",
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"has_audio": false
}
},
"timestamp": {
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},
"frame_index": {
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],
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},
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],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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