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float32
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16.4
frame_index
int64
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491
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int64
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9
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3.71k
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2.833333
85
0
85
0
[ 0.2080104947090149, -0.11433771997690201, 0.21468530595302582, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 30.49013328552246, 61.23215103149414, 4.776719570159912 ]
[ 0.20139308273792267, -0.0777781754732132, 0.20413389801979065, 0.38704046607017517, 1.780548095703125, -0.3034650981426239, 5.952381134033203 ]
2.866667
86
0
86
0
[ 0.20886532962322235, -0.11286542564630508, 0.21450650691986084, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 39.46855926513672, 59.96474838256836, 5.20306921005249 ]
[ 0.20518863201141357, -0.07951007038354874, 0.20151987671852112, 0.38997769355773926, 1.7940609455108643, -0.30144354701042175, 8.134921073913574 ]
2.9
87
0
87
0
[ 0.20894218981266022, -0.11086178570985794, 0.2139073610305786, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 42.73792266845703, 58.89923858642578, 6.099985122680664 ]
[ 0.20822593569755554, -0.08089598268270493, 0.1993345320224762, 0.39226198196411133, 1.8045698404312134, -0.2998579740524292, 10.978836059570312 ]
2.933333
88
0
88
0
[ 0.2102721482515335, -0.10794960707426071, 0.21365833282470703, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 47.821998596191406, 57.32023620605469, 6.970695495605469 ]
[ 0.21091172099113464, -0.08212149143218994, 0.1971249133348465, 0.3945460617542267, 1.815077781677246, -0.29826080799102783, 14.219576835632324 ]
2.966667
89
0
89
0
[ 0.20987315475940704, -0.10552052408456802, 0.2130831480026245, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.35873031616211, 7.795835494995117 ]
[ 0.2128749042749405, -0.08301728218793869, 0.1954697221517563, 0.39617741107940674, 1.8225828409194946, -0.2971128225326538, 17.989418029785156 ]
3
90
0
90
0
[ 0.21225668489933014, -0.10236961394548416, 0.21193820238113403, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.79301071166992, 8.431334495544434 ]
[ 0.21455499529838562, -0.08378390222787857, 0.1940688192844391, 0.39748242497444153, 1.8285865783691406, -0.2961901128292084, 22.089946746826172 ]
3.033333
91
0
91
0
[ 0.21258118748664856, -0.10003899782896042, 0.21076884865760803, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 57.161678314208984, 8.816805839538574 ]
[ 0.2154838591814041, -0.08420774340629578, 0.19375579059123993, 0.39748242497444153, 1.8285865783691406, -0.2961901128292084, 25.925926208496094 ]
3.066667
92
0
92
0
[ 0.2158462405204773, -0.0958351269364357, 0.21088466048240662, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 57.35673141479492, 9.961262702941895 ]
[ 0.21574586629867554, -0.08432729542255402, 0.19344878196716309, 0.39780867099761963, 1.830087423324585, -0.29595884680747986, 29.563491821289062 ]
3.1
93
0
93
0
[ 0.2173660546541214, -0.09315548092126846, 0.21106146275997162, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 57.285884857177734, 10.35428237915039 ]
[ 0.21625588834285736, -0.08456001430749893, 0.1934877634048462, 0.39748242497444153, 1.8285865783691406, -0.2961901128292084, 32.671958923339844 ]
3.133333
94
0
94
0
[ 0.2194807231426239, -0.090795136988163, 0.21126803755760193, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 57.15494918823242, 10.775187492370605 ]
[ 0.21675366163253784, -0.08445502817630768, 0.19292274117469788, 0.3967136740684509, 1.8318194150924683, -0.2946716547012329, 35.25132369995117 ]
3.166667
95
0
95
0
[ 0.2240935117006302, -0.08594154566526413, 0.21151506900787354, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.956172943115234, 11.518463134765625 ]
[ 0.2173534780740738, -0.08373076468706131, 0.1924113929271698, 0.3930928409099579, 1.8355116844177246, -0.2910473048686981, 37.36772537231445 ]
3.2
96
0
96
0
[ 0.22623692452907562, -0.08357756584882736, 0.21172058582305908, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.37201690673828, 11.93519401550293 ]
[ 0.21820282936096191, -0.08245208859443665, 0.19189931452274323, 0.3866049349308014, 1.8396508693695068, -0.2853263020515442, 39.087303161621094 ]
3.233333
97
0
97
0
[ 0.2309318631887436, -0.08080234378576279, 0.21049535274505615, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.69398498535156, 11.998315811157227 ]
[ 0.2200087308883667, -0.08091823756694794, 0.19155822694301605, 0.3766188323497772, 1.8412055969238281, -0.27795618772506714, 40.60846710205078 ]
3.266667
98
0
98
0
[ 0.23333154618740082, -0.08040327578783035, 0.20920182764530182, -0.05184277147054672, 1.5011011362075806, 0.05555671826004982, 48.68183898925781, 56.91425704956055, 12.079554557800293 ]
[ 0.22214190661907196, -0.07982779294252396, 0.1910291463136673, 0.368056982755661, 1.842505693435669, -0.2716372311115265, 41.86507797241211 ]
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": 3709,
    "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": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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