Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
11.4
| frame_index
int64 0
342
| episode_index
int64 0
49
| index
int64 0
12.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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113.90625,
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24.9609375,
-169.541015625,
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[
10.810546875,
110.0390625,
95.2734375,
26.89453125,
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| 56
| 0
| 56
| 0
|
[
3.076171875,
113.466796875,
95.80078125,
23.73046875,
-170.419921875,
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[
8.96484375,
110.390625,
95.2734375,
26.455078125,
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| 57
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| 57
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|
[
1.23046875,
112.763671875,
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22.236328125,
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[
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110.478515625,
95.2734375,
25.751953125,
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| 58
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| 58
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|
[
-0.087890625,
111.97265625,
95.625,
20.830078125,
-172.353515625,
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[
4.833984375,
110.478515625,
95.2734375,
24.78515625,
-168.75,
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| 59
| 0
| 59
| 0
|
[
-1.23046875,
111.09375,
95.185546875,
20.0390625,
-172.6171875,
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[
3.251953125,
110.390625,
95.2734375,
23.90625,
-169.8046875,
0.4389815628528595
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| 60
| 0
| 60
| 0
|
[
-1.845703125,
110.302734375,
94.39453125,
19.951171875,
-172.44140625,
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[
1.845703125,
110.126953125,
95.2734375,
22.763671875,
-170.595703125,
0.4389815628528595
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-2.197265625,
109.6875,
93.955078125,
19.3359375,
-172.265625,
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[
0.791015625,
110.0390625,
95.2734375,
21.884765625,
-171.03515625,
0.4389815628528595
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-2.373046875,
109.423828125,
93.8671875,
18.80859375,
-172.265625,
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[
0.087890625,
109.599609375,
95.2734375,
21.181640625,
-171.298828125,
0.4389815628528595
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| 63
| 0
| 63
| 0
|
[
-2.373046875,
109.3359375,
93.69140625,
18.720703125,
-172.44140625,
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[
-0.439453125,
108.896484375,
95.09765625,
20.56640625,
-171.474609375,
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| 64
| 0
| 64
| 0
|
[
-2.373046875,
109.423828125,
93.69140625,
18.6328125,
-172.705078125,
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[
-0.87890625,
108.6328125,
95.09765625,
19.951171875,
-171.5625,
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| 65
| 0
| 65
| 0
|
[
-2.373046875,
109.6875,
93.69140625,
18.6328125,
-172.705078125,
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[
-1.0546875,
108.544921875,
95.09765625,
19.599609375,
-171.5625,
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| 66
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| 66
| 0
|
[
-2.197265625,
110.0390625,
93.69140625,
18.6328125,
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[
-1.142578125,
108.544921875,
95.09765625,
19.423828125,
-171.5625,
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| 67
| 0
| 67
| 0
|
[
-2.021484375,
110.390625,
93.779296875,
18.720703125,
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[
-1.318359375,
108.6328125,
95.09765625,
19.16015625,
-171.5625,
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| 68
| 0
| 68
| 0
|
[
-1.669921875,
110.7421875,
93.779296875,
18.896484375,
-172.705078125,
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[
-1.40625,
108.6328125,
95.009765625,
19.16015625,
-171.5625,
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| 69
| 0
| 69
| 0
|
[
-1.494140625,
111.09375,
93.8671875,
18.984375,
-172.705078125,
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[
-1.494140625,
108.6328125,
95.009765625,
19.16015625,
-171.5625,
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| 70
| 0
| 70
| 0
|
[
-1.318359375,
111.357421875,
93.8671875,
19.16015625,
-172.705078125,
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[
-1.58203125,
108.6328125,
95.009765625,
19.16015625,
-171.5625,
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| 71
| 0
| 71
| 0
|
[
-1.318359375,
111.533203125,
94.130859375,
19.248046875,
-172.79296875,
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[
-1.58203125,
108.6328125,
95.009765625,
19.16015625,
-171.5625,
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| 72
| 0
| 72
| 0
|
[
-1.318359375,
111.796875,
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-172.96875,
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[
-1.494140625,
108.6328125,
95.009765625,
19.3359375,
-171.5625,
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| 73
| 0
| 73
| 0
|
[
-1.318359375,
111.97265625,
94.39453125,
19.423828125,
-173.056640625,
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[
-1.494140625,
108.6328125,
95.009765625,
19.3359375,
-171.5625,
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| 74
| 0
| 74
| 0
|
[
-1.318359375,
112.1484375,
94.5703125,
19.51171875,
-173.14453125,
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[
-1.494140625,
108.6328125,
95.009765625,
19.3359375,
-171.650390625,
0.4389815628528595
] | 2.5
| 75
| 0
| 75
| 0
|
[
-1.318359375,
112.236328125,
94.74609375,
19.51171875,
-173.3203125,
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[
-1.494140625,
108.6328125,
95.009765625,
19.3359375,
-172.177734375,
0.4389815628528595
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-1.318359375,
112.412109375,
94.74609375,
19.599609375,
-173.408203125,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.44140625,
0.4389815628528595
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-1.318359375,
112.5,
94.74609375,
19.599609375,
-173.49609375,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.529296875,
0.4389815628528595
] | 2.6
| 78
| 0
| 78
| 0
|
[
-1.318359375,
112.587890625,
94.833984375,
19.599609375,
-173.671875,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.6171875,
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| 79
| 0
| 79
| 0
|
[
-1.23046875,
112.67578125,
94.921875,
19.6875,
-173.759765625,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.6171875,
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| 80
| 0
| 80
| 0
|
[
-1.23046875,
112.8515625,
94.921875,
19.6875,
-173.935546875,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.6171875,
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| 81
| 0
| 81
| 0
|
[
2.900390625,
120.9375,
104.765625,
34.013671875,
-170.419921875,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.6171875,
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| 0
| 1
| 82
| 0
|
[
2.8125,
120.849609375,
104.765625,
34.013671875,
-170.419921875,
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[
-1.494140625,
108.80859375,
95.009765625,
19.3359375,
-172.6171875,
0.4389815628528595
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| 1
| 1
| 83
| 0
|
[
2.8125,
120.76171875,
104.765625,
34.013671875,
-170.419921875,
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[
-0.791015625,
109.6875,
95.80078125,
19.951171875,
-172.001953125,
0.4389815628528595
] | 0.066667
| 2
| 1
| 84
| 0
|
[
2.8125,
120.5859375,
104.765625,
34.013671875,
-170.419921875,
-0.09319664537906647
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[
0.17578125,
111.97265625,
98.4375,
22.5,
-171.03515625,
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| 3
| 1
| 85
| 0
|
[
2.8125,
120.5859375,
104.765625,
34.013671875,
-170.419921875,
-0.09319664537906647
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[
0.615234375,
114.43359375,
101.162109375,
26.19140625,
-170.771484375,
0.4389815628528595
] | 0.133333
| 4
| 1
| 86
| 0
|
[
2.8125,
120.498046875,
104.765625,
34.013671875,
-170.33203125,
-0.09319664537906647
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[
1.40625,
115.751953125,
102.65625,
29.53125,
-170.419921875,
0.4389815628528595
] | 0.166667
| 5
| 1
| 87
| 0
|
[
2.8125,
120.41015625,
104.765625,
34.013671875,
-170.244140625,
-0.09319664537906647
] |
[
1.669921875,
116.3671875,
103.447265625,
31.552734375,
-170.419921875,
0.4389815628528595
] | 0.2
| 6
| 1
| 88
| 0
|
[
2.8125,
120.41015625,
104.765625,
34.013671875,
-170.15625,
-0.09319664537906647
] |
[
1.669921875,
116.455078125,
103.798828125,
32.6953125,
-170.33203125,
0.4389815628528595
] | 0.233333
| 7
| 1
| 89
| 0
|
[
2.8125,
120.41015625,
104.765625,
34.013671875,
-170.15625,
-0.09319664537906647
] |
[
1.669921875,
116.455078125,
103.88671875,
33.310546875,
-170.33203125,
0.4389815628528595
] | 0.266667
| 8
| 1
| 90
| 0
|
[
2.724609375,
120.41015625,
104.765625,
34.013671875,
-170.15625,
-0.09319664537906647
] |
[
1.58203125,
116.71875,
103.974609375,
33.57421875,
-170.33203125,
0.4389815628528595
] | 0.3
| 9
| 1
| 91
| 0
|
[
2.63671875,
120.41015625,
104.765625,
34.013671875,
-170.15625,
-0.09319664537906647
] |
[
1.40625,
116.982421875,
103.974609375,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.333333
| 10
| 1
| 92
| 0
|
[
2.63671875,
120.498046875,
104.765625,
34.013671875,
-170.068359375,
-0.09319664537906647
] |
[
1.318359375,
117.0703125,
103.974609375,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.366667
| 11
| 1
| 93
| 0
|
[
2.548828125,
120.673828125,
104.765625,
34.013671875,
-170.068359375,
-0.09319664537906647
] |
[
1.318359375,
117.0703125,
104.0625,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.4
| 12
| 1
| 94
| 0
|
[
2.4609375,
120.849609375,
104.765625,
34.013671875,
-170.068359375,
-0.09319664537906647
] |
[
1.40625,
117.0703125,
104.150390625,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.433333
| 13
| 1
| 95
| 0
|
[
2.373046875,
121.11328125,
104.765625,
34.013671875,
-170.068359375,
-0.09319664537906647
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[
1.494140625,
117.0703125,
104.150390625,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.466667
| 14
| 1
| 96
| 0
|
[
2.197265625,
121.376953125,
104.765625,
34.189453125,
-169.8046875,
-0.09319664537906647
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[
1.494140625,
117.0703125,
104.150390625,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.5
| 15
| 1
| 97
| 0
|
[
2.021484375,
121.81640625,
104.677734375,
34.716796875,
-169.453125,
-0.09319664537906647
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[
1.494140625,
117.421875,
104.150390625,
33.662109375,
-170.33203125,
0.4389815628528595
] | 0.533333
| 16
| 1
| 98
| 0
|
[
1.7578125,
122.255859375,
104.58984375,
36.03515625,
-168.662109375,
-0.09319664537906647
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[
1.494140625,
117.685546875,
104.150390625,
33.662109375,
-169.8046875,
0.4389815628528595
] | 0.566667
| 17
| 1
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 12089,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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