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sequence
observation.state
sequence
timestamp
float32
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19.8
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int64
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593
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[ 0.17578125, 105.908203125, 104.58984375, 73.916015625, -23.994140625, 5.670815944671631 ]
2.166667
65
0
65
0
[ -2.297429323196411, 110.29479217529297, 92.87225341796875, 81.66324615478516, -24.172950744628906, 5.116090297698975 ]
[ -0.17578125, 106.5234375, 103.359375, 75.146484375, -23.818359375, 5.670815944671631 ]
2.2
66
0
66
0
[ -2.2273967266082764, 110.98291015625, 92.43639373779297, 82.61675262451172, -23.985429763793945, 5.47513484954834 ]
[ -0.52734375, 106.962890625, 101.6015625, 77.080078125, -23.818359375, 5.670815944671631 ]
2.233333
67
0
67
0
[ -2.525216817855835, 110.93275451660156, 91.16275787353516, 83.36564636230469, -24.288543701171875, 5.414982318878174 ]
[ -1.0546875, 107.314453125, 99.31640625, 79.013671875, -23.73046875, 5.532503604888916 ]
2.266667
68
0
68
0
[ -3.2052457332611084, 110.82054901123047, 89.28394317626953, 84.6042709350586, -23.964813232421875, 5.458301067352295 ]
[ -1.40625, 107.9296875, 97.20703125, 80.5078125, -23.73046875, 5.532503604888916 ]
2.3
69
0
69
0
[ -4.015625953674316, 110.7093505859375, 85.88047790527344, 86.52554321289062, -24.550189971923828, 5.009737968444824 ]
[ -2.021484375, 108.369140625, 95.80078125, 81.650390625, -23.73046875, 5.463347434997559 ]
2.333333
70
0
70
0
[ -4.335686683654785, 110.85734558105469, 85.27130126953125, 86.86770629882812, -24.637989044189453, 5.14747953414917 ]
[ -2.548828125, 108.45703125, 94.130859375, 82.79296875, -23.73046875, 5.463347434997559 ]
2.366667
71
0
71
0
[ -5.315090179443359, 110.27198028564453, 82.76708984375, 88.07810974121094, -24.645078659057617, 5.079522132873535 ]
[ -2.8125, 108.45703125, 92.373046875, 84.375, -23.818359375, 5.3250346183776855 ]
2.4
72
0
72
0
[ -5.884854316711426, 110.14956665039062, 81.83247375488281, 88.29192352294922, -25.069683074951172, 4.866264343261719 ]
[ -3.251953125, 108.45703125, 90.3515625, 85.517578125, -23.994140625, 5.3250346183776855 ]
2.433333
73
0
73
0
[ -5.821771621704102, 110.23741149902344, 81.8819808959961, 88.49760437011719, -24.98630714416504, 4.990238666534424 ]
[ -3.955078125, 108.544921875, 88.681640625, 86.484375, -24.169921875, 5.3250346183776855 ]
2.466667
74
0
74
0
[ -6.95306396484375, 109.4487075805664, 79.85897827148438, 88.90862274169922, -25.130203247070312, 4.746887683868408 ]
[ -4.74609375, 108.45703125, 86.8359375, 87.275390625, -24.345703125, 5.186722278594971 ]
2.5
75
0
75
0
[ -7.121929168701172, 109.27957153320312, 79.10419464111328, 89.31883239746094, -25.016393661499023, 4.842297554016113 ]
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2.533333
76
0
76
0
[ -7.529120445251465, 109.25298309326172, 78.24433898925781, 89.8096923828125, -25.049240112304688, 4.714531898498535 ]
[ -6.064453125, 108.544921875, 84.7265625, 88.330078125, -24.43359375, 5.186722278594971 ]
2.566667
77
0
77
0
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[ -6.416015625, 108.45703125, 83.3203125, 88.76953125, -24.521484375, 5.186722278594971 ]
2.6
78
0
78
0
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[ -6.50390625, 108.45703125, 82.353515625, 89.296875, -24.697265625, 5.186722278594971 ]
2.633333
79
0
79
0
[ -9.147846221923828, 107.02838897705078, 74.07565307617188, 91.00410461425781, -24.98799705505371, 4.816784858703613 ]
[ -7.03125, 108.193359375, 80.771484375, 89.912109375, -24.697265625, 5.186722278594971 ]
2.666667
80
0
80
0
[ -9.796343803405762, 106.38967895507812, 72.31394958496094, 91.66520690917969, -25.250442504882812, 4.585175514221191 ]
[ -7.55859375, 107.666015625, 79.541015625, 90, -24.609375, 5.186722278594971 ]
2.7
81
0
81
0
[ -10.546882629394531, 105.58284759521484, 71.08503723144531, 91.71961212158203, -25.38030242919922, 4.460836887359619 ]
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -9.580078125, 105.556640625, 75.5859375, 91.40625, -24.78515625, 4.840940475463867 ]
2.8
84
0
84
0
[ -11.988595008850098, 103.99996185302734, 68.75027465820312, 92.09516906738281, -25.382017135620117, 4.6505584716796875 ]
[ -9.931640625, 104.765625, 74.35546875, 91.58203125, -24.78515625, 4.840940475463867 ]
2.833333
85
0
85
0
[ -12.882949829101562, 103.0316162109375, 67.62569427490234, 92.00576782226562, -25.43800926208496, 4.621584892272949 ]
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2.866667
86
0
86
0
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[ -10.810546875, 103.798828125, 72.685546875, 91.93359375, -24.78515625, 4.840940475463867 ]
2.9
87
0
87
0
[ -12.772613525390625, 103.2200698852539, 68.06153106689453, 91.92032623291016, -25.241384506225586, 4.912247180938721 ]
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2.933333
88
0
88
0
[ -13.113855361938477, 102.40856170654297, 67.47940063476562, 91.65309143066406, -25.178892135620117, 4.954229354858398 ]
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2.966667
89
0
89
0
[ -13.407712936401367, 101.82708740234375, 67.65711212158203, 91.30724334716797, -24.753393173217773, 5.158154010772705 ]
[ -12.65625, 102.65625, 70.927734375, 91.93359375, -24.78515625, 4.840940475463867 ]
3
90
0
90
0
[ -13.431912422180176, 101.69590759277344, 67.62694549560547, 91.30057525634766, -24.679851531982422, 5.329602241516113 ]
[ -12.83203125, 102.3046875, 70.6640625, 91.93359375, -24.78515625, 4.840940475463867 ]
3.033333
91
0
91
0
[ -13.864192008972168, 101.23235321044922, 67.1678466796875, 91.21204376220703, -24.821548461914062, 4.9949727058410645 ]
[ -12.83203125, 101.77734375, 70.48828125, 91.845703125, -24.78515625, 4.840940475463867 ]
3.066667
92
0
92
0
[ -12.812932968139648, 101.26163482666016, 68.02923583984375, 90.76627349853516, -24.725433349609375, 5.2591352462768555 ]
[ -12.744140625, 101.513671875, 70.48828125, 91.845703125, -24.78515625, 4.840940475463867 ]
3.1
93
0
93
0
[ -13.616232872009277, 100.86113739013672, 67.85435485839844, 90.42265319824219, -24.589038848876953, 5.435770511627197 ]
[ -12.744140625, 100.986328125, 70.48828125, 91.845703125, -24.78515625, 4.840940475463867 ]
3.133333
94
0
94
0
[ -13.278822898864746, 100.53691864013672, 68.20088195800781, 90.0739974975586, -24.48750877380371, 5.512063980102539 ]
[ -12.83203125, 100.810546875, 70.48828125, 91.669921875, -24.78515625, 4.840940475463867 ]
3.166667
95
0
95
0
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[ -13.0078125, 100.634765625, 70.400390625, 91.318359375, -24.78515625, 4.840940475463867 ]
3.2
96
0
96
0
[ -13.630352973937988, 99.91201782226562, 67.64369201660156, 89.65211486816406, -24.913427352905273, 5.237178325653076 ]
[ -13.095703125, 100.283203125, 70.400390625, 91.0546875, -24.78515625, 4.97925329208374 ]
3.233333
97
0
97
0
[ -14.078171730041504, 99.83365631103516, 67.79159545898438, 89.38070678710938, -24.863666534423828, 5.307625770568848 ]
[ -13.271484375, 99.66796875, 70.400390625, 90.703125, -24.78515625, 4.97925329208374 ]
3.266667
98
0
98
0
[ -13.898507118225098, 99.58828735351562, 68.5636978149414, 88.73745727539062, -24.63949966430664, 5.547442436218262 ]
[ -13.271484375, 99.4921875, 70.400390625, 90.52734375, -24.78515625, 4.97925329208374 ]
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": "so100",
    "total_episodes": 10,
    "total_frames": 5752,
    "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.eye": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.wrist": {
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            "names": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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