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sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
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9
index
int64
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5.98k
task_index
int64
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0
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[ 32.34375, 49.833984375, 41.044921875, 85.95703125, -8.61328125, 31.07902717590332 ]
2.466667
74
0
74
0
[ 34.62890625, 45, 32.34375, 89.912109375, -9.66796875, 31.44144058227539 ]
[ 33.046875, 48.076171875, 39.111328125, 87.1875, -8.61328125, 31.07902717590332 ]
2.5
75
0
75
0
[ 34.98046875, 44.384765625, 31.728515625, 90.17578125, -9.931640625, 31.44144058227539 ]
[ 33.662109375, 46.40625, 37.177734375, 88.154296875, -8.61328125, 31.07902717590332 ]
2.533333
76
0
76
0
[ 35.244140625, 44.208984375, 31.728515625, 90.17578125, -10.01953125, 31.44144058227539 ]
[ 34.1015625, 45.087890625, 35.859375, 88.857421875, -8.96484375, 31.07902717590332 ]
2.566667
77
0
77
0
[ 35.419921875, 43.9453125, 31.728515625, 90.17578125, -10.1953125, 31.44144058227539 ]
[ 34.453125, 44.296875, 35.068359375, 89.296875, -9.31640625, 31.07902717590332 ]
2.6
78
0
78
0
[ 35.595703125, 43.681640625, 31.728515625, 90.263671875, -10.283203125, 31.44144058227539 ]
[ 34.62890625, 43.857421875, 34.716796875, 89.560546875, -9.4921875, 31.07902717590332 ]
2.633333
79
0
79
0
[ 35.771484375, 43.41796875, 31.728515625, 90.3515625, -10.458984375, 31.44144058227539 ]
[ 34.716796875, 43.505859375, 34.365234375, 89.736328125, -9.66796875, 31.07902717590332 ]
2.666667
80
0
80
0
[ 36.03515625, 43.154296875, 31.728515625, 90.52734375, -10.634765625, 31.44144058227539 ]
[ 34.8046875, 43.154296875, 34.1015625, 89.912109375, -9.84375, 31.07902717590332 ]
2.7
81
0
81
0
[ 36.2109375, 42.802734375, 31.728515625, 90.615234375, -10.810546875, 31.44144058227539 ]
[ 34.98046875, 42.890625, 33.92578125, 90, -10.01953125, 31.07902717590332 ]
2.733333
82
0
82
0
[ 36.474609375, 42.5390625, 31.728515625, 90.703125, -10.810546875, 31.44144058227539 ]
[ 35.244140625, 42.626953125, 33.837890625, 90.263671875, -10.1953125, 31.07902717590332 ]
2.766667
83
0
83
0
[ 36.73828125, 42.275390625, 31.728515625, 90.703125, -10.986328125, 31.44144058227539 ]
[ 35.595703125, 42.36328125, 33.837890625, 90.3515625, -10.283203125, 31.07902717590332 ]
2.8
84
0
84
0
[ 37.001953125, 42.099609375, 31.728515625, 90.703125, -11.162109375, 31.44144058227539 ]
[ 35.859375, 41.923828125, 33.837890625, 90.439453125, -10.283203125, 31.07902717590332 ]
2.833333
85
0
85
0
[ 37.265625, 41.8359375, 31.728515625, 90.703125, -11.337890625, 31.44144058227539 ]
[ 36.123046875, 41.66015625, 33.837890625, 90.439453125, -10.546875, 31.07902717590332 ]
2.866667
86
0
86
0
[ 37.529296875, 41.572265625, 31.640625, 90.703125, -11.513671875, 31.44144058227539 ]
[ 36.38671875, 41.484375, 33.837890625, 90.439453125, -10.810546875, 31.07902717590332 ]
2.9
87
0
87
0
[ 37.79296875, 41.30859375, 31.552734375, 90.703125, -11.6015625, 31.44144058227539 ]
[ 36.650390625, 41.396484375, 33.837890625, 90.439453125, -10.8984375, 31.07902717590332 ]
2.933333
88
0
88
0
[ 38.056640625, 40.95703125, 31.2890625, 90.703125, -11.689453125, 31.44144058227539 ]
[ 36.9140625, 41.044921875, 33.837890625, 90.439453125, -10.986328125, 31.07902717590332 ]
2.966667
89
0
89
0
[ 38.3203125, 40.517578125, 31.11328125, 90.703125, -11.865234375, 31.44144058227539 ]
[ 37.177734375, 40.693359375, 33.75, 90.439453125, -11.25, 31.07902717590332 ]
3
90
0
90
0
[ 38.49609375, 40.25390625, 30.9375, 90.703125, -12.041015625, 31.44144058227539 ]
[ 37.44140625, 40.25390625, 33.486328125, 90.52734375, -11.337890625, 31.07902717590332 ]
3.033333
91
0
91
0
[ 38.759765625, 39.90234375, 30.673828125, 90.703125, -12.216796875, 31.44144058227539 ]
[ 37.705078125, 39.90234375, 33.310546875, 90.52734375, -11.337890625, 31.07902717590332 ]
3.066667
92
0
92
0
[ 39.0234375, 39.462890625, 30.322265625, 90.703125, -12.392578125, 31.44144058227539 ]
[ 37.96875, 39.7265625, 33.134765625, 90.52734375, -11.513671875, 31.07902717590332 ]
3.1
93
0
93
0
[ 39.287109375, 39.111328125, 29.970703125, 90.703125, -12.568359375, 31.44144058227539 ]
[ 38.14453125, 39.287109375, 32.783203125, 90.52734375, -11.77734375, 31.07902717590332 ]
3.133333
94
0
94
0
[ 39.462890625, 38.671875, 29.70703125, 90.703125, -12.744140625, 31.44144058227539 ]
[ 38.408203125, 38.84765625, 32.34375, 90.52734375, -11.953125, 31.07902717590332 ]
3.166667
95
0
95
0
[ 39.7265625, 38.232421875, 29.267578125, 90.703125, -12.919921875, 31.44144058227539 ]
[ 38.671875, 38.408203125, 32.080078125, 90.52734375, -12.041015625, 31.07902717590332 ]
3.2
96
0
96
0
[ 39.814453125, 37.79296875, 28.828125, 90.703125, -13.095703125, 31.44144058227539 ]
[ 38.935546875, 38.056640625, 31.728515625, 90.52734375, -12.3046875, 31.07902717590332 ]
3.233333
97
0
97
0
[ 39.990234375, 37.353515625, 28.388671875, 90.703125, -13.271484375, 31.44144058227539 ]
[ 39.111328125, 37.529296875, 31.2890625, 90.52734375, -12.392578125, 31.07902717590332 ]
3.266667
98
0
98
0
[ 40.078125, 37.001953125, 27.94921875, 90.703125, -13.359375, 31.44144058227539 ]
[ 39.287109375, 37.177734375, 30.849609375, 90.52734375, -12.65625, 31.07902717590332 ]
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": 5980,
    "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.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.phone": {
            "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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