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float32
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14
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int64
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419
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[ 0.09473998099565506, 0.17514528334140778, 0.1984596997499466, -1.160980463027954, 1.559878945350647, 0.8762641549110413, 58.66402053833008 ]
2.9
87
0
87
0
[ 0.047474656254053116, 0.19276252388954163, 0.18605005741119385, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 67.87686157226562, -0.6028491258621216 ]
[ 0.09519987553358078, 0.1766800582408905, 0.19538335502147675, -1.1729764938354492, 1.5759963989257812, 0.8670920729637146, 59.060848236083984 ]
2.933333
88
0
88
0
[ 0.049464285373687744, 0.19271080195903778, 0.18640555441379547, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 66.47140502929688, -0.33557915687561035 ]
[ 0.09557519853115082, 0.17793259024620056, 0.19275575876235962, -1.1831114292144775, 1.5896135568618774, 0.8592392802238464, 59.39153289794922 ]
2.966667
89
0
89
0
[ 0.05348096415400505, 0.1926356554031372, 0.18724682927131653, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 64.91543579101562, -0.6269371509552002 ]
[ 0.09580738842487335, 0.17870746552944183, 0.19107230007648468, -1.1895534992218018, 1.598268985748291, 0.8541979789733887, 59.72222137451172 ]
3
90
0
90
0
[ 0.055409956723451614, 0.19307774305343628, 0.18665826320648193, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 64.38963317871094, -0.24250687658786774 ]
[ 0.09624502062797546, 0.17916244268417358, 0.18986457586288452, -1.1927789449691772, 1.6051722764968872, 0.8495985269546509, 59.92063522338867 ]
3.033333
91
0
91
0
[ 0.0569787360727787, 0.1933230757713318, 0.18635894358158112, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 63.75910949707031, -0.47116774320602417 ]
[ 0.097232386469841, 0.17942926287651062, 0.18865253031253815, -1.193236231803894, 1.613531470298767, 0.8430436253547668, 60.185184478759766 ]
3.066667
92
0
92
0
[ 0.059789903461933136, 0.1939394772052765, 0.18464374542236328, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.46826171875, 62.95893478393555, -0.9545149803161621 ]
[ 0.09852869808673859, 0.17969410121440887, 0.18719248473644257, -1.19318687915802, 1.623864769935608, 0.8348014950752258, 60.185184478759766 ]
3.1
93
0
93
0
[ 0.0609528049826622, 0.19396814703941345, 0.18294166028499603, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 62.45246505737305, -0.7116630673408508 ]
[ 0.09951797127723694, 0.17992903292179108, 0.185971200466156, -1.1935683488845825, 1.6322433948516846, 0.8282670378684998, 60.185184478759766 ]
3.133333
94
0
94
0
[ 0.062280744314193726, 0.19388574361801147, 0.18040801584720612, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 62.35765838623047, -0.9790986776351929 ]
[ 0.10071927309036255, 0.17985530197620392, 0.18523646891117096, -1.1907153129577637, 1.63887357711792, 0.8222335577011108, 60.185184478759766 ]
3.166667
95
0
95
0
[ 0.0660911574959755, 0.19411250948905945, 0.1746605485677719, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 62.99687576293945, -0.40366730093955994 ]
[ 0.10179588943719864, 0.1803242266178131, 0.1837121695280075, -1.1919304132461548, 1.648511290550232, 0.8149954676628113, 60.185184478759766 ]
3.2
96
0
96
0
[ 0.0678255558013916, 0.1941000521183014, 0.17267684638500214, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 62.661434173583984, -0.5758426785469055 ]
[ 0.1025422215461731, 0.1807098388671875, 0.1822310984134674, -1.1945114135742188, 1.6574310064315796, 0.8087164163589478, 60.185184478759766 ]
3.233333
97
0
97
0
[ 0.07120877504348755, 0.19460360705852509, 0.17130330204963684, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 61.67035675048828, -0.9423989057540894 ]
[ 0.10381076484918594, 0.1807876080274582, 0.18099261820316315, -1.1933469772338867, 1.6665735244750977, 0.80126953125, 60.185184478759766 ]
3.266667
98
0
98
0
[ 0.07310780882835388, 0.19522590935230255, 0.17108678817749023, -0.033137157559394836, 1.4892061948776245, 0.035952646285295486, 61.54574203491211, 60.6153450012207, -1.0738452672958374 ]
[ 0.10495857894420624, 0.18140245974063873, 0.1785043478012085, -1.1979981660842896, 1.681230068206787, 0.7911261916160583, 60.185184478759766 ]
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": "v3.0",
    "robot_type": "so100_follower",
    "total_episodes": 10,
    "total_frames": 3253,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos",
                "wrist_flex.pos",
                "wrist_roll.pos"
            ],
            "shape": [
                9
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "ee.gripper_pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "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
            }
        },
        "observation.images.top": {
            "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": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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