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float32
0
26.3
frame_index
int64
0
525
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int64
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int64
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1.6
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1.65
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1.7
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1.75
35
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1.8
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1.85
37
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1.9
38
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1.95
39
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2
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40
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2.05
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2.1
42
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
50
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2.55
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2.6
52
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2.65
53
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2.7
54
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2.75
55
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2.8
56
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2.85
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2.9
58
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2.95
59
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3
60
0
60
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3.05
61
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3.1
62
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3.15
63
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[ 20.043956756591797, -23.384614944458008, 29.538461685180664, 9.05494499206543, 12, 0.6743088364601135, 8.175824165344238, -69.53845977783203, 58.901100158691406, 46.593406677246094, 27.03296661376953, 1.063829779624939 ]
3.2
64
0
64
0
[ 18.681320190429688, -21.311124801635742, 29.905906677246094, 7.564218044281006, 10.849802017211914, 0.6946051716804504, 7.500000476837158, -69.62568664550781, 55.44127655029297, 46.4835205078125, 27.000988006591797, 0.24590164422988892 ]
[ 20.21977996826172, -23.296703338623047, 30.505495071411133, 9.142857551574707, 11.032966613769531, 0.6743088364601135, 6.505494594573975, -68.30769348144531, 56.263736724853516, 47.47252655029297, 28.615385055541992, 1.1968084573745728 ]
3.25
65
0
65
0
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3.3
66
0
66
0
[ 18.65728187561035, -22.12070655822754, 30.941965103149414, 7.648352146148682, 9.967032432556152, 0.7201645970344543, 6.809666156768799, -68.96308135986328, 53.54533004760742, 46.730770111083984, 28.671098709106445, 0.24590164422988892 ]
[ 19.428571701049805, -21.89011001586914, 30.241758346557617, 7.912087917327881, 10.94505500793457, 0.6743088364601135, 7.384615421295166, -68.65933990478516, 56.61538314819336, 47.38461685180664, 27.47252655029297, 0.9973404407501221 ]
3.35
67
0
67
0
[ 18.362895965576172, -22.018543243408203, 31.35740089416504, 9.130837440490723, 9.873282432556152, 0.7185570597648621, 7.731026649475098, -69.45423889160156, 55.09787368774414, 47.07761001586914, 30.796873092651367, 0.24590164422988892 ]
[ 18.72527503967285, -21.80219841003418, 30.329669952392578, 7.912087917327881, 10.15384578704834, 0.6743088364601135, 7.384615421295166, -68.57142639160156, 56.087913513183594, 47.29670333862305, 28.351648330688477, 0.9973404407501221 ]
3.4
68
0
68
0
[ 18.74699592590332, -21.32090950012207, 32.14667892456055, 8.695999145507812, 9.597526550292969, 0.7211291193962097, 6.696086406707764, -70.3965072631836, 53.61753463745117, 47.7231330871582, 30.18543815612793, 0.24590164422988892 ]
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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[ 18.0219783782959, -25.05494499206543, 37.89011001586914, 4.5714287757873535, 8.835165023803711, 0.6743088364601135, -2.7252748012542725, -58.021976470947266, 49.230770111083984, 50.901100158691406, 56.659339904785156, 14.827127456665039 ]
4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
[ 18.592891693115234, -23.836366653442383, 40.003604888916016, 0.27833250164985657, 6.55357027053833, 0.658677339553833, -13.931662559509277, -21.245813369750977, 21.551767349243164, 66.90642547607422, 86.0252456665039, 42.39882278442383 ]
[ 18.373626708984375, -23.648351669311523, 38.5054931640625, 0.17582418024539948, 6.637362480163574, 0.8766014575958252, -12.483516693115234, -25.670330047607422, 24, 66.989013671875, 84.17582702636719, 35.10638427734375 ]
4.8
96
0
96
0
[ 18.76923179626465, -23.923763275146484, 39.62397003173828, 0.1778857707977295, 6.207931995391846, 0.657662570476532, -14.751373291015625, -18.803569793701172, 21.35576820373535, 66.2644271850586, 87.02936553955078, 41.58427047729492 ]
[ 18.285715103149414, -23.648351669311523, 38.593406677246094, 0.17582418024539948, 6.725274562835693, 0.8766014575958252, -12.923076629638672, -23.91208839416504, 21.80219841003418, 67.78022003173828, 86.37362670898438, 34.97340393066406 ]
4.85
97
0
97
0
[ 18.916810989379883, -22.810009002685547, 39.38418197631836, -0.627747654914856, 5.811339855194092, 0.6612091660499573, -14.466259956359863, -16.96978187561035, 19.204668045043945, 66.99726104736328, 87.83782958984375, 41.991546630859375 ]
[ 18.285715103149414, -24.175825119018555, 38.68132019042969, -0.17582418024539948, 6.725274562835693, 0.8766014575958252, -13.274724960327148, -22.769229888916016, 21.80219841003418, 67.51648712158203, 86.19779968261719, 35.571807861328125 ]
4.9
98
0
98
0
[ 18.8984375, -23.07477569580078, 40.110748291015625, 0.30219829082489014, 6.048977851867676, 0.6614100933074951, -14.4223051071167, -15.983260154724121, 21.01485252380371, 67.48008728027344, 87.73360443115234, 41.88972854614258 ]
[ 18.285715103149414, -24.52747344970703, 38.85714340209961, -0.35164836049079895, 6.549450397491455, 0.8766014575958252, -13.89011001586914, -20.131868362426758, 22.41758155822754, 67.07691955566406, 86.54945373535156, 38.23138427734375 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so-101",
    "total_episodes": 1,
    "total_frames": 526,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.left_wrist": {
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            "shape": [
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            ],
            "names": [
                "height",
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            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
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        },
        "observation.images.top": {
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            "names": [
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            "info": {
                "video.height": 576,
                "video.width": 1024,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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