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sequence
observation.state
sequence
timestamp
float32
0
24.5
frame_index
int64
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736
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int64
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73
0
[ 7.294921875, -10.458984375, 0.966796875, 32.6953125, -8.0859375, -0.10010010004043579 ]
[ 3.1640625, -8.96484375, 9.140625, 36.5625, -5.361328125, 0.1892147660255432 ]
2.466667
74
0
74
0
[ 7.91015625, -10.458984375, 1.0546875, 32.6953125, -8.26171875, -0.10010010004043579 ]
[ 4.04296875, -8.96484375, 9.140625, 35.5078125, -6.240234375, 0.1892147660255432 ]
2.5
75
0
75
0
[ 8.4375, -10.458984375, 1.142578125, 32.607421875, -8.349609375, -0.20020020008087158 ]
[ 5.537109375, -8.96484375, 9.140625, 34.62890625, -7.20703125, 0.1892147660255432 ]
2.533333
76
0
76
0
[ 8.96484375, -10.546875, 1.40625, 32.607421875, -8.349609375, -0.20020020008087158 ]
[ 6.50390625, -8.96484375, 9.140625, 34.189453125, -7.55859375, 0.1892147660255432 ]
2.566667
77
0
77
0
[ 9.31640625, -10.546875, 1.58203125, 32.34375, -8.349609375, -0.20020020008087158 ]
[ 6.767578125, -8.96484375, 9.140625, 34.013671875, -7.734375, 0.1892147660255432 ]
2.6
78
0
78
0
[ 9.66796875, -10.546875, 1.845703125, 32.255859375, -8.4375, -0.20020020008087158 ]
[ 7.3828125, -8.96484375, 9.140625, 33.75, -7.91015625, 0.1892147660255432 ]
2.633333
79
0
79
0
[ 10.01953125, -10.546875, 1.93359375, 32.255859375, -8.349609375, -0.20020020008087158 ]
[ 8.701171875, -8.96484375, 9.140625, 33.486328125, -7.998046875, 0.1892147660255432 ]
2.666667
80
0
80
0
[ 10.283203125, -10.546875, 2.021484375, 32.255859375, -8.349609375, -0.20020020008087158 ]
[ 9.228515625, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.7
81
0
81
0
[ 10.546875, -10.546875, 2.28515625, 32.255859375, -8.349609375, -0.20020020008087158 ]
[ 9.140625, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.733333
82
0
82
0
[ 10.72265625, -10.546875, 2.63671875, 32.255859375, -8.349609375, -0.20020020008087158 ]
[ 9.228515625, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.766667
83
0
83
0
[ 10.8984375, -10.546875, 3.1640625, 32.607421875, -8.4375, -0.20020020008087158 ]
[ 9.66796875, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.8
84
0
84
0
[ 10.986328125, -10.546875, 3.779296875, 33.22265625, -8.4375, -0.20020020008087158 ]
[ 10.107421875, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.833333
85
0
85
0
[ 11.07421875, -10.546875, 4.5703125, 33.75, -8.525390625, -0.20020020008087158 ]
[ 10.1953125, -8.96484375, 9.140625, 33.3984375, -8.0859375, 0.1892147660255432 ]
2.866667
86
0
86
0
[ 11.25, -10.37109375, 5.2734375, 34.453125, -8.61328125, -0.20020020008087158 ]
[ 10.458984375, -8.96484375, 9.140625, 33.57421875, -8.0859375, 0.1892147660255432 ]
2.9
87
0
87
0
[ 11.337890625, -10.01953125, 5.9765625, 35.068359375, -8.525390625, -0.20020020008087158 ]
[ 10.546875, -8.96484375, 9.140625, 33.837890625, -8.0859375, 0.1892147660255432 ]
2.933333
88
0
88
0
[ 11.337890625, -9.228515625, 6.6796875, 35.33203125, -8.4375, -0.20020020008087158 ]
[ 10.634765625, -8.96484375, 9.140625, 34.27734375, -8.0859375, 0.1892147660255432 ]
2.966667
89
0
89
0
[ 11.42578125, -8.26171875, 7.3828125, 35.5078125, -8.349609375, -0.20020020008087158 ]
[ 10.810546875, -8.96484375, 9.140625, 34.8046875, -8.0859375, 0.1892147660255432 ]
3
90
0
90
0
[ 11.513671875, -6.943359375, 8.173828125, 35.5078125, -8.26171875, -0.20020020008087158 ]
[ 10.986328125, -8.7890625, 9.140625, 35.068359375, -8.0859375, 0.1892147660255432 ]
3.033333
91
0
91
0
[ 11.513671875, -5.80078125, 8.876953125, 35.244140625, -8.26171875, -0.20020020008087158 ]
[ 11.07421875, -8.701171875, 9.140625, 35.15625, -8.0859375, 0.1892147660255432 ]
3.066667
92
0
92
0
[ 11.513671875, -4.5703125, 9.755859375, 35.068359375, -8.26171875, -0.20020020008087158 ]
[ 11.07421875, -8.701171875, 9.140625, 35.15625, -8.0859375, 0.1892147660255432 ]
3.1
93
0
93
0
[ 11.513671875, -2.724609375, 10.72265625, 34.716796875, -8.173828125, -0.20020020008087158 ]
[ 11.07421875, -7.998046875, 9.4921875, 35.15625, -8.0859375, 0.1892147660255432 ]
3.133333
94
0
94
0
[ 11.513671875, -0.52734375, 11.77734375, 34.189453125, -7.91015625, -0.20020020008087158 ]
[ 11.07421875, -5.537109375, 10.01953125, 35.15625, -8.0859375, 0.1892147660255432 ]
3.166667
95
0
95
0
[ 11.42578125, 1.669921875, 12.919921875, 33.57421875, -7.734375, -0.20020020008087158 ]
[ 11.25, -2.4609375, 10.1953125, 35.15625, -8.0859375, 0.1892147660255432 ]
3.2
96
0
96
0
[ 11.337890625, 3.8671875, 13.974609375, 32.958984375, -7.646484375, -0.20020020008087158 ]
[ 11.25, -0.703125, 10.283203125, 35.15625, -8.0859375, 0.0946073830127716 ]
3.233333
97
0
97
0
[ 11.337890625, 5.888671875, 15.029296875, 32.431640625, -7.470703125, -0.20020020008087158 ]
[ 11.25, 0.615234375, 11.42578125, 34.62890625, -8.0859375, 0.0946073830127716 ]
3.266667
98
0
98
0
[ 11.25, 8.0859375, 16.083984375, 31.9921875, -7.294921875, -0.20020020008087158 ]
[ 11.07421875, 3.251953125, 12.48046875, 34.1015625, -8.0859375, 0.1892147660255432 ]
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": 6185,
    "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": {
            "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
            }
        },
        "observation.images.phone": {
            "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

BibTeX:

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