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Datasets:
giacomoran
/
so101_data_collection_cube_hand_224x11

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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observation.state
list
action
list
timestamp
float32
0
19.7
frame_index
int64
0
197
episode_index
int64
0
199
index
int64
0
21.5k
task_index
int64
0
0
[ -4.527472496032715, -102.63735961914062, 96.26373291015625, 70.46154022216797, 3.8241758346557617, 4.216867446899414 ]
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0.1
1
0
1
0
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0.2
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0
2
0
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0.3
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0
3
0
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0.4
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0
4
0
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0.5
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0
5
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0.6
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0
6
0
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0.7
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0
7
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0.8
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0
8
0
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0.9
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0
9
0
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1
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0
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1.1
11
0
11
0
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1.2
12
0
12
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1.3
13
0
13
0
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1.4
14
0
14
0
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1.5
15
0
15
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1.6
16
0
16
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1.7
17
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17
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1.8
18
0
18
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1.9
19
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19
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2
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2.1
21
0
21
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2.2
22
0
22
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2.3
23
0
23
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2.4
24
0
24
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2.5
25
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25
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2.6
26
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26
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2.7
27
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27
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2.8
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28
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2.9
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3
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30
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3.1
31
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31
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3.2
32
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32
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3.3
33
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33
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3.4
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3.5
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35
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
45
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45
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4.6
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4.7
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47
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4.8
48
0
48
0
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4.9
49
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49
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
[ -23.69230842590332, 37.93406677246094, -12.659340858459473, 73.27472686767578, -22.813186645507812, 21.68674659729004 ]
[ -23.69230842590332, 37.93406677246094, -12.659340858459473, 73.27472686767578, -22.813186645507812, 21.68674659729004 ]
5.7
57
0
57
0
[ -23.69230842590332, 37.67033004760742, -12.659340858459473, 73.89010620117188, -22.63736343383789, 21.21820640563965 ]
[ -23.69230842590332, 37.67033004760742, -12.659340858459473, 73.89010620117188, -22.63736343383789, 21.21820640563965 ]
5.8
58
0
58
0
[ -23.604394912719727, 37.230770111083984, -12.923076629638672, 74.5934066772461, -21.670330047607422, 21.21820640563965 ]
[ -23.604394912719727, 37.230770111083984, -12.923076629638672, 74.5934066772461, -21.670330047607422, 21.21820640563965 ]
5.9
59
0
59
0
[ -22.72527503967285, 33.4505500793457, -15.648351669311523, 84.35164642333984, -19.03296661376953, 21.21820640563965 ]
[ -22.72527503967285, 33.4505500793457, -15.648351669311523, 84.35164642333984, -19.03296661376953, 21.21820640563965 ]
6
60
0
60
0
[ -17.80219841003418, 28, -16.439559936523438, 92.26373291015625, -13.230769157409668, 21.352075576782227 ]
[ -17.80219841003418, 28, -16.439559936523438, 92.26373291015625, -13.230769157409668, 21.352075576782227 ]
6.1
61
0
61
0
[ -11.560439109802246, 23.604394912719727, -16.439559936523438, 95.78022003173828, -5.758241653442383, 21.485942840576172 ]
[ -11.560439109802246, 23.604394912719727, -16.439559936523438, 95.78022003173828, -5.758241653442383, 21.485942840576172 ]
6.2
62
0
62
0
[ -4.703296661376953, 21.318681716918945, -16.52747344970703, 96.04395294189453, 1.890109896659851, 21.485942840576172 ]
[ -4.703296661376953, 21.318681716918945, -16.52747344970703, 96.04395294189453, 1.890109896659851, 21.485942840576172 ]
6.3
63
0
63
0
[ 1.5384615659713745, 22.0219783782959, -16.439559936523438, 95.42857360839844, 6.725274562835693, 21.485942840576172 ]
[ 1.5384615659713745, 22.0219783782959, -16.439559936523438, 95.42857360839844, 6.725274562835693, 21.485942840576172 ]
6.4
64
0
64
0
[ 5.318681240081787, 26.241758346557617, -16.08791160583496, 89.27472686767578, 7.340659141540527, 21.55287742614746 ]
[ 5.318681240081787, 26.241758346557617, -16.08791160583496, 89.27472686767578, 7.340659141540527, 21.55287742614746 ]
6.5
65
0
65
0
[ 6.109889984130859, 31.78022003173828, -16.08791160583496, 84, 8.04395580291748, 21.485942840576172 ]
[ 6.109889984130859, 31.78022003173828, -16.08791160583496, 84, 8.04395580291748, 21.485942840576172 ]
6.6
66
0
66
0
[ 5.934065818786621, 35.38461685180664, -16.439559936523438, 81.010986328125, 8.219779968261719, 21.419010162353516 ]
[ 5.934065818786621, 35.38461685180664, -16.439559936523438, 81.010986328125, 8.219779968261719, 21.419010162353516 ]
6.7
67
0
67
0
[ 5.846153736114502, 38.10988998413086, -16.175825119018555, 78.81318664550781, 9.09890079498291, 21.419010162353516 ]
[ 5.846153736114502, 38.10988998413086, -16.175825119018555, 78.81318664550781, 9.09890079498291, 21.419010162353516 ]
6.8
68
0
68
0
[ 5.934065818786621, 38.989009857177734, -16.263736724853516, 77.23076629638672, 9.362637519836426, 21.419010162353516 ]
[ 5.934065818786621, 38.989009857177734, -16.263736724853516, 77.23076629638672, 9.362637519836426, 21.419010162353516 ]
6.9
69
0
69
0
[ 5.846153736114502, 38.989009857177734, -16.351648330688477, 76.43955993652344, 9.362637519836426, 21.419010162353516 ]
[ 5.846153736114502, 38.989009857177734, -16.351648330688477, 76.43955993652344, 9.362637519836426, 21.419010162353516 ]
7
70
0
70
0
[ 5.5824174880981445, 38.989009857177734, -16.175825119018555, 76.79120635986328, 8.747252464294434, 21.485942840576172 ]
[ 5.5824174880981445, 38.989009857177734, -16.175825119018555, 76.79120635986328, 8.747252464294434, 21.485942840576172 ]
7.1
71
0
71
0
[ 5.758241653442383, 39.07692337036133, -16.263736724853516, 76.61538696289062, 8.659340858459473, 21.55287742614746 ]
[ 5.758241653442383, 39.07692337036133, -16.263736724853516, 76.61538696289062, 8.659340858459473, 21.55287742614746 ]
7.2
72
0
72
0
[ 5.934065818786621, 39.07692337036133, -16.175825119018555, 76.96703338623047, 8.395604133605957, 21.68674659729004 ]
[ 5.934065818786621, 39.07692337036133, -16.175825119018555, 76.96703338623047, 8.395604133605957, 21.68674659729004 ]
7.3
73
0
73
0
[ 6.02197790145874, 39.07692337036133, -16.175825119018555, 76.61538696289062, 7.164834976196289, 22.489959716796875 ]
[ 6.02197790145874, 39.07692337036133, -16.175825119018555, 76.61538696289062, 7.164834976196289, 22.489959716796875 ]
7.4
74
0
74
0
[ 5.670329570770264, 38.989009857177734, -16.08791160583496, 78.19779968261719, 5.670329570770264, 29.31726837158203 ]
[ 5.670329570770264, 38.989009857177734, -16.08791160583496, 78.19779968261719, 5.670329570770264, 29.31726837158203 ]
7.5
75
0
75
0
[ 5.5824174880981445, 38.81318664550781, -16.96703338623047, 82.24176025390625, 5.494505405426025, 37.349395751953125 ]
[ 5.5824174880981445, 38.81318664550781, -16.96703338623047, 82.24176025390625, 5.494505405426025, 37.349395751953125 ]
7.6
76
0
76
0
[ 5.494505405426025, 35.912086486816406, -17.05494499206543, 82.5054931640625, 5.318681240081787, 39.62516784667969 ]
[ 5.494505405426025, 35.912086486816406, -17.05494499206543, 82.5054931640625, 5.318681240081787, 39.62516784667969 ]
7.7
77
0
77
0
[ 5.406593322753906, 26.85714340209961, -16.615385055541992, 84.96703338623047, 5.230769157409668, 39.558231353759766 ]
[ 5.406593322753906, 26.85714340209961, -16.615385055541992, 84.96703338623047, 5.230769157409668, 39.558231353759766 ]
7.8
78
0
78
0
[ 1.7142857313156128, 15.95604419708252, -16, 92.35164642333984, 2.5934066772460938, 39.558231353759766 ]
[ 1.7142857313156128, 15.95604419708252, -16, 92.35164642333984, 2.5934066772460938, 39.558231353759766 ]
7.9
79
0
79
0
[ -2.681318759918213, 5.670329570770264, -14.15384578704834, 97.71428680419922, -0.5714285969734192, 39.49129867553711 ]
[ -2.681318759918213, 5.670329570770264, -14.15384578704834, 97.71428680419922, -0.5714285969734192, 39.49129867553711 ]
8
80
0
80
0
[ -6.02197790145874, -4.703296661376953, -7.0329670906066895, 99.20879364013672, -4.527472496032715, 39.49129867553711 ]
[ -6.02197790145874, -4.703296661376953, -7.0329670906066895, 99.20879364013672, -4.527472496032715, 39.49129867553711 ]
8.1
81
0
81
0
[ -9.450549125671387, -16.571428298950195, 4.131868362426758, 98.76923370361328, -7.516483306884766, 39.49129867553711 ]
[ -9.450549125671387, -16.571428298950195, 4.131868362426758, 98.76923370361328, -7.516483306884766, 39.49129867553711 ]
8.2
82
0
82
0
[ -12.087912559509277, -28.615385055541992, 18.549449920654297, 91.56044006347656, -9.978021621704102, 39.49129867553711 ]
[ -12.087912559509277, -28.615385055541992, 18.549449920654297, 91.56044006347656, -9.978021621704102, 39.49129867553711 ]
8.3
83
0
83
0
[ -12, -40.659339904785156, 34.63736343383789, 81.89010620117188, -9.626373291015625, 39.49129867553711 ]
[ -12, -40.659339904785156, 34.63736343383789, 81.89010620117188, -9.626373291015625, 39.49129867553711 ]
8.4
84
0
84
0
[ -11.560439109802246, -51.912086486816406, 50.10988998413086, 73.62637329101562, -9.538461685180664, 39.42436599731445 ]
[ -11.560439109802246, -51.912086486816406, 50.10988998413086, 73.62637329101562, -9.538461685180664, 39.42436599731445 ]
8.5
85
0
85
0
[ -9.01098918914795, -63.516483306884766, 64.79120635986328, 64.57142639160156, -9.450549125671387, 39.42436599731445 ]
[ -9.01098918914795, -63.516483306884766, 64.79120635986328, 64.57142639160156, -9.450549125671387, 39.42436599731445 ]
8.6
86
0
86
0
[ -7.4285712242126465, -74.32967376708984, 76.83516693115234, 56.0439567565918, -6.373626232147217, 39.42436599731445 ]
[ -7.4285712242126465, -74.32967376708984, 76.83516693115234, 56.0439567565918, -6.373626232147217, 39.42436599731445 ]
8.7
87
0
87
0
[ -6.901098728179932, -83.20879364013672, 85.0988998413086, 49.36263656616211, -3.7362637519836426, 39.089691162109375 ]
[ -6.901098728179932, -83.20879364013672, 85.0988998413086, 49.36263656616211, -3.7362637519836426, 39.089691162109375 ]
8.8
88
0
88
0
[ -6.901098728179932, -90.76923370361328, 90.989013671875, 46.81318664550781, -2.769230842590332, 34.069610595703125 ]
[ -6.901098728179932, -90.76923370361328, 90.989013671875, 46.81318664550781, -2.769230842590332, 34.069610595703125 ]
8.9
89
0
89
0
[ -6.901098728179932, -96.04395294189453, 95.9120864868164, 46.81318664550781, -1.7142857313156128, 27.77777862548828 ]
[ -6.901098728179932, -96.04395294189453, 95.9120864868164, 46.81318664550781, -1.7142857313156128, 27.77777862548828 ]
9
90
0
90
0
[ -6.989010810852051, -97.97801971435547, 96.52747344970703, 47.60439682006836, -3.6483516693115234, 23.42704200744629 ]
[ -6.989010810852051, -97.97801971435547, 96.52747344970703, 47.60439682006836, -3.6483516693115234, 23.42704200744629 ]
9.1
91
0
91
0
[ -7.516483306884766, -97.97801971435547, 96.52747344970703, 50.41758346557617, -3.6483516693115234, 18.005353927612305 ]
[ -7.516483306884766, -97.97801971435547, 96.52747344970703, 50.41758346557617, -3.6483516693115234, 18.005353927612305 ]
9.2
92
0
92
0
[ -7.340659141540527, -97.97801971435547, 96.52747344970703, 52.79121017456055, -3.5604395866394043, 12.048192977905273 ]
[ -7.340659141540527, -97.97801971435547, 96.52747344970703, 52.79121017456055, -3.5604395866394043, 12.048192977905273 ]
9.3
93
0
93
0
[ -7.340659141540527, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 7.563587665557861 ]
[ -7.340659141540527, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 7.563587665557861 ]
9.4
94
0
94
0
[ -7.516483306884766, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 4.551539421081543 ]
[ -7.516483306884766, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 4.551539421081543 ]
9.5
95
0
95
0
[ -7.516483306884766, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 4.016064167022705 ]
[ -7.516483306884766, -98.06593322753906, 96.52747344970703, 53.4945068359375, -3.7362637519836426, 4.016064167022705 ]
9.6
96
0
96
0
[ -7.07692289352417, -98.06593322753906, 96.52747344970703, 55.16483688354492, -3.1208791732788086, 4.016064167022705 ]
[ -7.07692289352417, -98.06593322753906, 96.52747344970703, 55.16483688354492, -3.1208791732788086, 4.016064167022705 ]
9.7
97
0
97
0
[ -6.989010810852051, -98.06593322753906, 96.52747344970703, 58.06593322753906, -3.0329670906066895, 4.016064167022705 ]
[ -6.989010810852051, -98.06593322753906, 96.52747344970703, 58.06593322753906, -3.0329670906066895, 4.016064167022705 ]
9.8
98
0
98
0
[ -7.07692289352417, -98.06593322753906, 96.52747344970703, 62.989009857177734, -3.5604395866394043, 4.082998752593994 ]
[ -7.07692289352417, -98.06593322753906, 96.52747344970703, 62.989009857177734, -3.5604395866394043, 4.082998752593994 ]
9.9
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",
    "total_episodes": 200,
    "total_frames": 21507,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:200"
    },
    "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": {
        "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"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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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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            "names": null
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        "index": {
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            "names": null
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
1.42 MB
Size of the auto-converted Parquet files:
1.42 MB
Number of rows:
21,507