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float32
0
29.8
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int64
0
893
episode_index
int64
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4
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int64
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4.25k
task_index
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74
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[ -69.345703125, 96.6796875, 56.162109375, 73.4765625, 35.15625, 30.632911682128906 ]
[ -68.90625, 100.72265625, 66.09375, 68.994140625, 40.341796875, 30.124481201171875 ]
2.5
75
0
75
0
[ -69.43359375, 95.185546875, 54.31640625, 74.70703125, 33.486328125, 30.632911682128906 ]
[ -68.90625, 99.140625, 63.6328125, 70.048828125, 38.759765625, 30.124481201171875 ]
2.533333
76
0
76
0
[ -69.9609375, 93.8671875, 52.646484375, 75.76171875, 31.9921875, 30.632911682128906 ]
[ -68.90625, 97.646484375, 61.259765625, 71.54296875, 37.177734375, 30.124481201171875 ]
2.566667
77
0
77
0
[ -70.576171875, 92.548828125, 51.15234375, 76.728515625, 30.673828125, 30.632911682128906 ]
[ -68.90625, 96.240234375, 59.150390625, 73.037109375, 35.595703125, 30.124481201171875 ]
2.6
78
0
78
0
[ -70.927734375, 91.23046875, 49.921875, 77.51953125, 29.794921875, 30.632911682128906 ]
[ -69.2578125, 94.833984375, 57.041015625, 74.1796875, 34.013671875, 30.124481201171875 ]
2.633333
79
0
79
0
[ -71.279296875, 90.087890625, 48.955078125, 78.22265625, 29.00390625, 30.632911682128906 ]
[ -69.697265625, 93.33984375, 55.283203125, 75.234375, 32.607421875, 30.124481201171875 ]
2.666667
80
0
80
0
[ -71.54296875, 88.9453125, 48.076171875, 78.92578125, 28.212890625, 30.632911682128906 ]
[ -70.3125, 92.021484375, 53.7890625, 76.201171875, 31.46484375, 30.124481201171875 ]
2.7
81
0
81
0
[ -71.806640625, 87.890625, 47.373046875, 79.453125, 27.509765625, 30.632911682128906 ]
[ -71.015625, 90.703125, 52.646484375, 77.080078125, 30.41015625, 30.124481201171875 ]
2.733333
82
0
82
0
[ -72.158203125, 86.923828125, 46.7578125, 80.068359375, 26.71875, 30.632911682128906 ]
[ -71.3671875, 89.560546875, 51.50390625, 77.87109375, 29.53125, 30.124481201171875 ]
2.766667
83
0
83
0
[ -72.7734375, 86.044921875, 46.23046875, 80.595703125, 25.927734375, 30.632911682128906 ]
[ -71.630859375, 88.330078125, 50.537109375, 78.57421875, 28.740234375, 30.124481201171875 ]
2.8
84
0
84
0
[ -73.212890625, 85.166015625, 45.87890625, 81.03515625, 25.3125, 30.632911682128906 ]
[ -71.630859375, 87.275390625, 49.74609375, 79.189453125, 27.861328125, 30.124481201171875 ]
2.833333
85
0
85
0
[ -73.4765625, 84.462890625, 45.703125, 81.2109375, 24.609375, 30.54852294921875 ]
[ -71.71875, 86.30859375, 49.04296875, 79.8046875, 27.0703125, 30.124481201171875 ]
2.866667
86
0
86
0
[ -73.65234375, 83.759765625, 45.703125, 81.38671875, 24.08203125, 30.54852294921875 ]
[ -72.158203125, 85.341796875, 48.515625, 80.33203125, 26.3671875, 30.124481201171875 ]
2.9
87
0
87
0
[ -73.916015625, 83.232421875, 45.703125, 81.38671875, 23.5546875, 30.54852294921875 ]
[ -72.59765625, 84.462890625, 48.251953125, 80.68359375, 25.6640625, 30.124481201171875 ]
2.933333
88
0
88
0
[ -74.443359375, 82.6171875, 45.703125, 81.474609375, 22.763671875, 30.54852294921875 ]
[ -73.388671875, 83.759765625, 48.1640625, 80.947265625, 24.9609375, 30.124481201171875 ]
2.966667
89
0
89
0
[ -74.8828125, 82.08984375, 45.703125, 81.474609375, 21.796875, 30.54852294921875 ]
[ -73.828125, 83.056640625, 48.1640625, 81.123046875, 24.43359375, 30.124481201171875 ]
3
90
0
90
0
[ -75.234375, 81.5625, 45.703125, 81.474609375, 20.830078125, 30.54852294921875 ]
[ -74.1796875, 82.353515625, 48.1640625, 81.298828125, 23.73046875, 30.124481201171875 ]
3.033333
91
0
91
0
[ -75.5859375, 80.947265625, 45.791015625, 81.5625, 19.86328125, 30.54852294921875 ]
[ -74.267578125, 81.73828125, 48.1640625, 81.298828125, 22.8515625, 30.124481201171875 ]
3.066667
92
0
92
0
[ -76.025390625, 80.33203125, 45.791015625, 81.5625, 18.984375, 30.54852294921875 ]
[ -74.35546875, 81.298828125, 48.1640625, 81.298828125, 21.97265625, 30.124481201171875 ]
3.1
93
0
93
0
[ -76.2890625, 79.716796875, 45.87890625, 81.5625, 18.28125, 30.54852294921875 ]
[ -74.619140625, 80.771484375, 48.1640625, 81.298828125, 21.09375, 30.124481201171875 ]
3.133333
94
0
94
0
[ -76.376953125, 79.189453125, 46.0546875, 81.5625, 17.75390625, 30.54852294921875 ]
[ -75.05859375, 80.068359375, 48.1640625, 81.298828125, 20.21484375, 30.124481201171875 ]
3.166667
95
0
95
0
[ -76.376953125, 78.57421875, 46.318359375, 81.5625, 17.2265625, 30.54852294921875 ]
[ -75.673828125, 79.453125, 48.1640625, 81.298828125, 19.423828125, 30.124481201171875 ]
3.2
96
0
96
0
[ -76.46484375, 78.046875, 46.494140625, 81.650390625, 16.69921875, 30.54852294921875 ]
[ -76.2890625, 78.92578125, 48.1640625, 81.298828125, 18.720703125, 30.124481201171875 ]
3.233333
97
0
97
0
[ -76.46484375, 77.431640625, 46.58203125, 81.9140625, 15.99609375, 30.54852294921875 ]
[ -76.46484375, 78.310546875, 48.1640625, 81.298828125, 18.10546875, 30.124481201171875 ]
3.266667
98
0
98
0
[ -76.46484375, 76.640625, 46.58203125, 82.353515625, 15.29296875, 30.54852294921875 ]
[ -76.46484375, 77.783203125, 48.1640625, 81.298828125, 17.490234375, 30.124481201171875 ]
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": "so101",
    "total_episodes": 5,
    "total_frames": 4248,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
                400,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 400,
                "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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