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sequence
observation.state
sequence
timestamp
float32
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24.2
frame_index
int64
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727
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2.166667
65
0
65
0
[ -1.3100862503051758, 84.19136047363281, 115.15318298339844, 43.21177291870117, -128.2042236328125, 1.404897689819336 ]
[ -0.87890625, 82.353515625, 114.9609375, 40.693359375, -128.49609375, 2.295746088027954 ]
2.2
66
0
66
0
[ -1.4219350814819336, 84.98016357421875, 114.63945007324219, 43.921302795410156, -127.95740509033203, 1.4103431701660156 ]
[ -1.0546875, 82.79296875, 114.9609375, 40.869140625, -128.49609375, 1.9581364393234253 ]
2.233333
67
0
67
0
[ -1.4606618881225586, 85.06432342529297, 114.53191375732422, 44.1463623046875, -127.97735595703125, 1.3374404907226562 ]
[ -1.23046875, 83.056640625, 114.9609375, 41.044921875, -128.49609375, 1.755570650100708 ]
2.266667
68
0
68
0
[ -1.4608583450317383, 86.64127349853516, 114.23518371582031, 45.052650451660156, -127.73548889160156, 1.273345947265625 ]
[ -1.23046875, 83.3203125, 114.9609375, 41.30859375, -128.49609375, 1.5530047416687012 ]
2.3
69
0
69
0
[ -1.4598379135131836, 86.55805206298828, 114.17277526855469, 45.10487365722656, -127.79756927490234, 1.313502311706543 ]
[ -1.23046875, 83.583984375, 115.13671875, 41.66015625, -128.49609375, 1.4179608821868896 ]
2.333333
70
0
70
0
[ -1.6447715759277344, 86.95237731933594, 113.73143005371094, 45.533512115478516, -127.43334197998047, 1.3632173538208008 ]
[ -1.23046875, 83.759765625, 115.224609375, 42.099609375, -128.49609375, 1.4179608821868896 ]
2.366667
71
0
71
0
[ -1.5022611618041992, 87.17329406738281, 113.54454040527344, 45.52989959716797, -127.44202423095703, 1.3106870651245117 ]
[ -1.23046875, 84.19921875, 115.3125, 42.626953125, -128.49609375, 1.4179608821868896 ]
2.4
72
0
72
0
[ -1.5565967559814453, 88.36874389648438, 113.4539794921875, 46.338600158691406, -127.43888854980469, 1.3187475204467773 ]
[ -1.23046875, 84.19921875, 115.048828125, 43.06640625, -128.408203125, 1.4179608821868896 ]
2.433333
73
0
73
0
[ -1.540278434753418, 90.51994323730469, 112.5327377319336, 47.78173828125, -126.93091583251953, 1.4418468475341797 ]
[ -1.23046875, 84.287109375, 114.873046875, 43.505859375, -128.14453125, 1.4179608821868896 ]
2.466667
74
0
74
0
[ -1.511795997619629, 90.47079467773438, 112.53463745117188, 47.6515998840332, -126.50959014892578, 1.508540153503418 ]
[ -1.23046875, 84.287109375, 114.78515625, 43.9453125, -127.96875, 1.4179608821868896 ]
2.5
75
0
75
0
[ -1.4418525695800781, 90.8717041015625, 112.21903228759766, 47.92604064941406, -126.73147583007812, 1.490128517150879 ]
[ -1.23046875, 84.90234375, 114.78515625, 44.6484375, -127.705078125, 1.4179608821868896 ]
2.533333
76
0
76
0
[ -1.5447864532470703, 92.11286926269531, 111.92311096191406, 48.774253845214844, -126.18950653076172, 1.5607881546020508 ]
[ -1.23046875, 85.4296875, 114.873046875, 45.52734375, -127.6171875, 1.4854828119277954 ]
2.566667
77
0
77
0
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[ -1.142578125, 85.78125, 114.873046875, 46.0546875, -127.353515625, 1.4854828119277954 ]
2.6
78
0
78
0
[ -1.3934745788574219, 93.95278930664062, 111.34241485595703, 49.641990661621094, -125.63946533203125, 1.5934619903564453 ]
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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ -1.068338394165039, 96.7428207397461, 109.47392272949219, 51.861602783203125, -124.13384246826172, 1.779505729675293 ]
[ -1.142578125, 87.451171875, 114.873046875, 47.98828125, -126.38671875, 1.4854828119277954 ]
2.7
81
0
81
0
[ -0.9887027740478516, 97.13174438476562, 109.26861572265625, 52.11537551879883, -124.07146453857422, 1.7711315155029297 ]
[ -1.142578125, 88.330078125, 114.78515625, 48.603515625, -125.947265625, 1.4854828119277954 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -1.142578125, 90.52734375, 113.73046875, 50.2734375, -124.98046875, 1.4854828119277954 ]
2.8
84
0
84
0
[ -0.2318868637084961, 100.66372680664062, 106.34249877929688, 54.95845413208008, -121.71881103515625, 2.0047101974487305 ]
[ -1.142578125, 91.58203125, 113.02734375, 50.888671875, -124.541015625, 1.4854828119277954 ]
2.833333
85
0
85
0
[ 0.19563961029052734, 101.435546875, 105.86760711669922, 55.720619201660156, -121.22952270507812, 2.129629135131836 ]
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2.866667
86
0
86
0
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[ -0.966796875, 93.779296875, 111.533203125, 52.55859375, -123.134765625, 1.4854828119277954 ]
2.9
87
0
87
0
[ 0.790623664855957, 102.26648712158203, 104.04156494140625, 56.63896179199219, -120.21141052246094, 2.249929428100586 ]
[ -0.703125, 94.833984375, 110.830078125, 53.349609375, -122.51953125, 1.4854828119277954 ]
2.933333
88
0
88
0
[ 1.5581350326538086, 103.3226318359375, 103.14171600341797, 57.602134704589844, -119.64279174804688, 2.4286794662475586 ]
[ -0.439453125, 95.80078125, 110.126953125, 54.140625, -121.9921875, 1.6205265522003174 ]
2.966667
89
0
89
0
[ 2.1701607704162598, 103.91736602783203, 101.56716918945312, 58.62371826171875, -119.1019515991211, 2.517998695373535 ]
[ -0.087890625, 96.50390625, 109.3359375, 54.84375, -121.46484375, 1.755570650100708 ]
3
90
0
90
0
[ 2.3993897438049316, 103.95578002929688, 101.7107162475586, 58.27284240722656, -119.09243774414062, 2.538641929626465 ]
[ 0.3515625, 97.294921875, 108.544921875, 55.458984375, -120.9375, 1.9581364393234253 ]
3.033333
91
0
91
0
[ 2.9499120712280273, 104.2635498046875, 100.92072296142578, 58.67446517944336, -118.75204467773438, 2.5406856536865234 ]
[ 0.87890625, 97.998046875, 107.75390625, 56.337890625, -120.41015625, 2.1607022285461426 ]
3.066667
92
0
92
0
[ 3.9996814727783203, 104.9644775390625, 99.7261962890625, 59.037132263183594, -117.72677612304688, 2.768362045288086 ]
[ 1.40625, 98.701171875, 106.875, 56.865234375, -119.970703125, 2.228224039077759 ]
3.1
93
0
93
0
[ 4.203610897064209, 104.60920715332031, 99.08003234863281, 58.86368179321289, -117.4481430053711, 2.7334890365600586 ]
[ 1.93359375, 99.228515625, 106.171875, 57.3046875, -119.70703125, 2.295746088027954 ]
3.133333
94
0
94
0
[ 5.807470321655273, 104.60916900634766, 97.1591567993164, 59.70358657836914, -117.2376937866211, 2.8232927322387695 ]
[ 2.373046875, 99.580078125, 105.380859375, 57.744140625, -119.1796875, 2.4307899475097656 ]
3.166667
95
0
95
0
[ 6.8014750480651855, 104.54474639892578, 96.13795471191406, 59.385154724121094, -117.26353454589844, 2.8777389526367188 ]
[ 2.900390625, 99.931640625, 104.58984375, 58.18359375, -118.65234375, 2.5658340454101562 ]
3.2
96
0
96
0
[ 9.312463760375977, 104.73831939697266, 94.03524017333984, 59.667991638183594, -116.30599975585938, 3.0251693725585938 ]
[ 3.515625, 100.107421875, 103.623046875, 58.359375, -118.212890625, 2.5658340454101562 ]
3.233333
97
0
97
0
[ 12.701497077941895, 103.90464782714844, 91.09861755371094, 60.0631103515625, -114.67436218261719, 3.1173152923583984 ]
[ 4.39453125, 100.107421875, 102.48046875, 58.798828125, -117.94921875, 2.5658340454101562 ]
3.266667
98
0
98
0
[ 12.390009880065918, 104.04498291015625, 91.28105163574219, 60.26106262207031, -115.63788604736328, 3.0838871002197266 ]
[ 5.361328125, 100.1953125, 101.337890625, 59.0625, -117.509765625, 2.5658340454101562 ]
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": 6795,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.phone": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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