Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
29.8
| frame_index
int64 0
895
| episode_index
int64 0
14
| index
int64 0
13.4k
| 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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[
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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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[
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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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| 0
|
[
-24.521484375,
94.39453125,
82.44140625,
77.607421875,
97.20703125,
103.25444030761719
] |
[
-23.818359375,
93.69140625,
81.2109375,
78.57421875,
96.6796875,
103.03292846679688
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| 56
| 0
| 56
| 0
|
[
-24.521484375,
94.482421875,
82.880859375,
77.607421875,
97.20703125,
103.25444030761719
] |
[
-23.73046875,
93.69140625,
81.474609375,
77.958984375,
96.6796875,
103.03292846679688
] | 1.9
| 57
| 0
| 57
| 0
|
[
-24.521484375,
94.482421875,
83.232421875,
77.783203125,
97.20703125,
103.25444030761719
] |
[
-23.37890625,
93.603515625,
82.001953125,
77.6953125,
96.6796875,
103.03292846679688
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| 58
| 0
| 58
| 0
|
[
-24.521484375,
94.658203125,
83.759765625,
77.958984375,
97.20703125,
103.25444030761719
] |
[
-23.37890625,
93.603515625,
82.265625,
77.6953125,
96.6796875,
103.03292846679688
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-24.521484375,
94.921875,
84.287109375,
77.958984375,
97.20703125,
103.25444030761719
] |
[
-23.466796875,
93.603515625,
82.79296875,
77.607421875,
96.6796875,
103.03292846679688
] | 2
| 60
| 0
| 60
| 0
|
[
-24.521484375,
95.185546875,
84.90234375,
77.958984375,
97.294921875,
103.25444030761719
] |
[
-23.90625,
93.603515625,
83.056640625,
77.607421875,
96.6796875,
103.03292846679688
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-24.521484375,
95.44921875,
85.517578125,
77.783203125,
97.294921875,
103.25444030761719
] |
[
-23.994140625,
93.603515625,
83.759765625,
77.607421875,
96.6796875,
103.03292846679688
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-24.521484375,
95.625,
85.95703125,
77.783203125,
97.20703125,
103.25444030761719
] |
[
-24.08203125,
93.603515625,
84.111328125,
77.51953125,
96.6796875,
103.03292846679688
] | 2.1
| 63
| 0
| 63
| 0
|
[
-24.521484375,
95.625,
86.220703125,
77.6953125,
97.20703125,
103.25444030761719
] |
[
-23.90625,
93.603515625,
84.7265625,
77.431640625,
96.6796875,
103.03292846679688
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-24.521484375,
95.80078125,
86.572265625,
77.607421875,
97.20703125,
103.25444030761719
] |
[
-23.73046875,
93.603515625,
85.078125,
77.431640625,
96.6796875,
103.03292846679688
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-24.521484375,
95.9765625,
87.099609375,
77.431640625,
97.294921875,
103.25444030761719
] |
[
-23.642578125,
93.603515625,
85.78125,
77.431640625,
96.6796875,
103.03292846679688
] | 2.2
| 66
| 0
| 66
| 0
|
[
-24.521484375,
96.240234375,
87.802734375,
77.080078125,
97.3828125,
103.25444030761719
] |
[
-23.642578125,
93.603515625,
86.044921875,
77.431640625,
96.6796875,
103.03292846679688
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-24.521484375,
96.591796875,
88.505859375,
76.728515625,
97.470703125,
103.25444030761719
] |
[
-23.818359375,
93.603515625,
86.66015625,
77.431640625,
96.6796875,
103.03292846679688
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-24.521484375,
96.943359375,
89.208984375,
76.376953125,
97.55859375,
103.25444030761719
] |
[
-23.90625,
93.603515625,
87.01171875,
77.431640625,
96.6796875,
103.03292846679688
] | 2.3
| 69
| 0
| 69
| 0
|
[
-24.521484375,
97.20703125,
89.736328125,
76.11328125,
97.55859375,
103.25444030761719
] |
[
-23.994140625,
93.603515625,
87.71484375,
76.904296875,
96.6796875,
103.03292846679688
] | 2.333333
| 70
| 0
| 70
| 0
|
[
-24.521484375,
97.294921875,
90.087890625,
75.9375,
97.55859375,
103.25444030761719
] |
[
-23.994140625,
93.779296875,
88.59375,
76.201171875,
96.6796875,
103.03292846679688
] | 2.366667
| 71
| 0
| 71
| 0
|
[
-24.43359375,
97.3828125,
90.3515625,
75.849609375,
97.646484375,
103.25444030761719
] |
[
-23.994140625,
94.306640625,
88.76953125,
76.025390625,
96.6796875,
103.03292846679688
] | 2.4
| 72
| 0
| 72
| 0
|
[
-24.345703125,
97.470703125,
90.52734375,
75.76171875,
97.55859375,
103.25444030761719
] |
[
-23.994140625,
94.5703125,
89.384765625,
76.025390625,
96.6796875,
103.03292846679688
] | 2.433333
| 73
| 0
| 73
| 0
|
[
-24.2578125,
97.55859375,
90.703125,
75.5859375,
97.470703125,
103.25444030761719
] |
[
-23.994140625,
94.74609375,
89.82421875,
75.322265625,
96.6796875,
103.03292846679688
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-24.2578125,
97.55859375,
90.791015625,
75.498046875,
97.470703125,
103.25444030761719
] |
[
-23.994140625,
94.833984375,
89.82421875,
75.41015625,
96.6796875,
103.03292846679688
] | 2.5
| 75
| 0
| 75
| 0
|
[
-24.169921875,
97.646484375,
90.87890625,
75.41015625,
97.3828125,
103.25444030761719
] |
[
-23.994140625,
94.921875,
90,
75.322265625,
96.6796875,
103.03292846679688
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-23.994140625,
97.734375,
90.966796875,
75.41015625,
97.294921875,
103.25444030761719
] |
[
-23.994140625,
95.009765625,
90,
75.234375,
96.6796875,
103.03292846679688
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-23.90625,
97.822265625,
90.966796875,
75.41015625,
97.20703125,
103.25444030761719
] |
[
-23.994140625,
95.009765625,
90,
75.322265625,
96.6796875,
103.03292846679688
] | 2.6
| 78
| 0
| 78
| 0
|
[
-23.73046875,
97.91015625,
91.0546875,
75.322265625,
96.943359375,
103.25444030761719
] |
[
-23.73046875,
95.009765625,
90,
75.322265625,
96.6796875,
103.03292846679688
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-23.642578125,
97.91015625,
91.0546875,
75.322265625,
96.85546875,
103.25444030761719
] |
[
-23.5546875,
95.09765625,
90.087890625,
75.322265625,
96.6796875,
103.03292846679688
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-23.466796875,
97.998046875,
91.0546875,
75.322265625,
96.767578125,
103.25444030761719
] |
[
-23.466796875,
95.09765625,
90.52734375,
74.794921875,
96.50390625,
103.03292846679688
] | 2.7
| 81
| 0
| 81
| 0
|
[
-23.37890625,
98.0859375,
91.0546875,
75.322265625,
96.591796875,
103.25444030761719
] |
[
-23.466796875,
95.09765625,
90.791015625,
74.70703125,
96.328125,
103.03292846679688
] | 2.733333
| 82
| 0
| 82
| 0
|
[
-23.203125,
98.0859375,
91.0546875,
75.234375,
96.416015625,
103.25444030761719
] |
[
-23.466796875,
95.185546875,
90.791015625,
74.70703125,
96.328125,
103.03292846679688
] | 2.766667
| 83
| 0
| 83
| 0
|
[
-23.115234375,
98.0859375,
91.0546875,
75.234375,
96.416015625,
103.25444030761719
] |
[
-23.466796875,
95.625,
90.87890625,
74.70703125,
96.328125,
103.03292846679688
] | 2.8
| 84
| 0
| 84
| 0
|
[
-22.939453125,
98.0859375,
91.0546875,
75.05859375,
96.328125,
103.25444030761719
] |
[
-23.37890625,
95.80078125,
90.87890625,
75.146484375,
96.328125,
103.03292846679688
] | 2.833333
| 85
| 0
| 85
| 0
|
[
-22.939453125,
98.0859375,
91.0546875,
74.970703125,
96.240234375,
103.25444030761719
] |
[
-23.37890625,
95.80078125,
90.87890625,
75.146484375,
96.328125,
103.03292846679688
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-22.8515625,
98.0859375,
91.0546875,
74.8828125,
96.240234375,
103.25444030761719
] |
[
-23.115234375,
95.80078125,
90.87890625,
75.146484375,
96.328125,
103.03292846679688
] | 2.9
| 87
| 0
| 87
| 0
|
[
-22.763671875,
97.998046875,
91.142578125,
74.70703125,
96.240234375,
103.25444030761719
] |
[
-22.8515625,
95.80078125,
90.87890625,
74.794921875,
96.328125,
103.03292846679688
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-22.67578125,
97.998046875,
91.318359375,
74.443359375,
96.240234375,
103.25444030761719
] |
[
-22.67578125,
95.80078125,
90.87890625,
74.53125,
96.328125,
103.03292846679688
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-22.587890625,
97.998046875,
91.494140625,
74.091796875,
96.240234375,
103.25444030761719
] |
[
-22.587890625,
95.80078125,
90.87890625,
74.53125,
96.328125,
103.03292846679688
] | 3
| 90
| 0
| 90
| 0
|
[
-22.412109375,
97.91015625,
91.669921875,
73.740234375,
96.15234375,
103.25444030761719
] |
[
-22.5,
95.80078125,
90.87890625,
74.53125,
96.328125,
103.03292846679688
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-22.236328125,
97.91015625,
91.845703125,
73.388671875,
95.888671875,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
90.87890625,
74.443359375,
96.328125,
103.03292846679688
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-22.1484375,
97.822265625,
92.021484375,
73.125,
95.80078125,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
90.87890625,
73.916015625,
96.328125,
103.03292846679688
] | 3.1
| 93
| 0
| 93
| 0
|
[
-22.1484375,
97.734375,
92.021484375,
73.037109375,
95.80078125,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
90.966796875,
73.65234375,
95.80078125,
103.03292846679688
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-22.060546875,
97.55859375,
92.021484375,
73.037109375,
95.80078125,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
91.58203125,
73.388671875,
95.537109375,
103.03292846679688
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-22.060546875,
97.470703125,
92.021484375,
72.94921875,
95.80078125,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
91.7578125,
73.125,
95.537109375,
103.03292846679688
] | 3.2
| 96
| 0
| 96
| 0
|
[
-22.060546875,
97.3828125,
92.021484375,
72.94921875,
95.80078125,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
91.7578125,
73.037109375,
95.361328125,
103.03292846679688
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-22.060546875,
97.20703125,
92.021484375,
72.861328125,
95.888671875,
103.25444030761719
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[
-22.412109375,
95.80078125,
91.845703125,
72.861328125,
95.361328125,
103.03292846679688
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-22.060546875,
97.119140625,
92.021484375,
72.685546875,
95.888671875,
103.25444030761719
] |
[
-22.412109375,
95.80078125,
91.845703125,
72.59765625,
95.361328125,
103.03292846679688
] | 3.3
| 99
| 0
| 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": 15,
"total_frames": 13440,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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.logitech_1": {
"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.logitech_2": {
"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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