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float32
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14.9
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int64
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446
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85
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[ 0.09903760254383087, -0.1135643869638443, 0.19178254902362823, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 32.26280212402344, 17.82319450378418 ]
[ 0.12848049402236938, -0.12137941271066666, 0.17804977297782898, 0.9138924479484558, 1.8610646724700928, -0.570820689201355, 46.09788513183594 ]
2.866667
86
0
86
0
[ 0.10049732774496078, -0.11089575290679932, 0.19136635959148407, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 33.120689392089844, 17.617233276367188 ]
[ 0.12921088933944702, -0.11785276234149933, 0.17982280254364014, 0.8892572522163391, 1.853839635848999, -0.5649629235267639, 46.89153289794922 ]
2.9
87
0
87
0
[ 0.10457225888967514, -0.10853850841522217, 0.18966881930828094, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 34.642311096191406, 17.22249412536621 ]
[ 0.1295967698097229, -0.11369768530130386, 0.181651771068573, 0.8627123236656189, 1.8454768657684326, -0.5583726167678833, 47.55290985107422 ]
2.933333
88
0
88
0
[ 0.10692494362592697, -0.1080683022737503, 0.1882593035697937, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 36.11382293701172, 17.113563537597656 ]
[ 0.13000819087028503, -0.1090882197022438, 0.18314845860004425, 0.8341245055198669, 1.8391990661621094, -0.5489950180053711, 48.14814758300781 ]
2.966667
89
0
89
0
[ 0.1094251424074173, -0.10881276428699493, 0.18808235228061676, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 36.94814682006836, 17.24156379699707 ]
[ 0.13085797429084778, -0.10486031323671341, 0.18406741321086884, 0.8062012791633606, 1.8372546434402466, -0.5368437170982361, 48.61111068725586 ]
3
90
0
90
0
[ 0.11354504525661469, -0.10754841566085815, 0.18684527277946472, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 37.950252532958984, 17.192562103271484 ]
[ 0.13187165558338165, -0.10098399221897125, 0.18480297923088074, 0.7790783643722534, 1.8363794088363647, -0.5239748954772949, 49.007938385009766 ]
3.033333
91
0
91
0
[ 0.11620248854160309, -0.10706701874732971, 0.1864580512046814, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 38.53351974487305, 17.58277702331543 ]
[ 0.13324514031410217, -0.09790128469467163, 0.18620537221431732, 0.7518365383148193, 1.8304729461669922, -0.513227641582489, 49.338623046875 ]
3.066667
92
0
92
0
[ 0.11878760904073715, -0.10569390654563904, 0.18376097083091736, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 39.769779205322266, 17.697359085083008 ]
[ 0.1346874088048935, -0.09496117383241653, 0.18781691789627075, 0.724289059638977, 1.8228116035461426, -0.5026116967201233, 49.60317611694336 ]
3.1
93
0
93
0
[ 0.11968070268630981, -0.10523980855941772, 0.18210579454898834, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 40.483154296875, 17.612470626831055 ]
[ 0.13641604781150818, -0.09206447750329971, 0.1889350414276123, 0.6972492933273315, 1.8195314407348633, -0.4894159436225891, 49.86772537231445 ]
3.133333
94
0
94
0
[ 0.12010786682367325, -0.10636404156684875, 0.17980220913887024, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 41.19132995605469, 16.98540687561035 ]
[ 0.13808533549308777, -0.08943121135234833, 0.18972860276699066, 0.6729278564453125, 1.8184164762496948, -0.47620755434036255, 49.933860778808594 ]
3.166667
95
0
95
0
[ 0.1218937486410141, -0.10935784876346588, 0.1747296005487442, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 42.9502067565918, 16.318294525146484 ]
[ 0.13950134813785553, -0.0871473029255867, 0.19036036729812622, 0.6521352529525757, 1.8177236318588257, -0.4645031988620758, 50.13227462768555 ]
3.2
96
0
96
0
[ 0.12288112938404083, -0.11098715662956238, 0.1721217930316925, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 43.553443908691406, 16.196393966674805 ]
[ 0.1407753974199295, -0.08503061532974243, 0.1906338930130005, 0.6338834762573242, 1.8193730115890503, -0.45297038555145264, 50.264549255371094 ]
3.233333
97
0
97
0
[ 0.1258833110332489, -0.1138848066329956, 0.167667955160141, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 44.93247985839844, 15.736993789672852 ]
[ 0.14184066653251648, -0.08328185230493546, 0.19074895977973938, 0.6190323233604431, 1.8216081857681274, -0.44307559728622437, 50.264549255371094 ]
3.266667
98
0
98
0
[ 0.12743759155273438, -0.1143810898065567, 0.16596649587154388, -0.022947445511817932, 1.495482325553894, 0.02474580705165863, 51.256614685058594, 45.09257507324219, 16.147300720214844 ]
[ 0.14272919297218323, -0.08217073976993561, 0.19074897468090057, 0.6089842319488525, 1.8241370916366577, -0.4358835816383362, 50.264549255371094 ]
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": 3780,
    "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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