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action
list
observation.state
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -8.175824165344238, -105.89010620117188, 96.52747344970703, 73.89010620117188, -5.318681240081787, 0.597907304763794 ]
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2.28
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0
57
0
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2.32
58
0
58
0
[ -8.175824165344238, -105.89010620117188, 96.52747344970703, 73.97801971435547, -5.318681240081787, 0.597907304763794 ]
[ -8.439560890197754, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.36
59
0
59
0
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2.4
60
0
60
0
[ -10.549450874328613, -105.89010620117188, 96.52747344970703, 73.71428680419922, -5.406593322753906, 0.597907304763794 ]
[ -8.439560890197754, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.44
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0
61
0
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[ -8.703296661376953, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.48
62
0
62
0
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2.52
63
0
63
0
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[ -10.725275039672852, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.56
64
0
64
0
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[ -11.164834976196289, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.6
65
0
65
0
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2.64
66
0
66
0
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2.68
67
0
67
0
[ -11.868131637573242, -105.89010620117188, 96.52747344970703, 73.71428680419922, -5.406593322753906, 0.597907304763794 ]
[ -11.692307472229004, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.72
68
0
68
0
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2.76
69
0
69
0
[ -13.538461685180664, -105.89010620117188, 96.52747344970703, 72.83516693115234, -5.406593322753906, 0.597907304763794 ]
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2.8
70
0
70
0
[ -14.241758346557617, -105.89010620117188, 96.52747344970703, 73.27472686767578, -5.406593322753906, 0.597907304763794 ]
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2.84
71
0
71
0
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2.88
72
0
72
0
[ -14.769230842590332, -105.89010620117188, 96.52747344970703, 72.92308044433594, -5.406593322753906, 0.597907304763794 ]
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2.92
73
0
73
0
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[ -14.065934181213379, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
2.96
74
0
74
0
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[ -14.329669952392578, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
3
75
0
75
0
[ -15.032966613769531, -105.97801971435547, 96.52747344970703, 71.95604705810547, -5.494505405426025, 0.597907304763794 ]
[ -14.593406677246094, -101.62637329101562, 96.52747344970703, 70.28571319580078, -5.05494499206543, 0.888585090637207 ]
3.04
76
0
76
0
[ -14.94505500793457, -105.97801971435547, 96.43955993652344, 69.14286041259766, -5.406593322753906, 0.597907304763794 ]
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3.08
77
0
77
0
[ -13.802197456359863, -105.97801971435547, 96.43955993652344, 66.85713958740234, -5.05494499206543, 0.597907304763794 ]
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3.12
78
0
78
0
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3.16
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0
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3.2
80
0
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3.24
81
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3.28
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3.32
83
0
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0
[ -13.538461685180664, -94.54945373535156, 78.68132019042969, 64.57142639160156, 2.065934181213379, 0.6726457476615906 ]
[ -13.01098918914795, -101.53845977783203, 93.27472686767578, 64.92308044433594, 1.0109890699386597, 0.888585090637207 ]
3.36
84
0
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0
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[ -13.186813354492188, -101.45054626464844, 90.02198028564453, 64.92308044433594, 1.186813235282898, 0.888585090637207 ]
3.4
85
0
85
0
[ -13.714285850524902, -77.5824203491211, 67.25274658203125, 65.36264038085938, 1.890109896659851, 0.6726457476615906 ]
[ -13.274724960327148, -99.95604705810547, 85.80220031738281, 64.92308044433594, 1.3626374006271362, 0.888585090637207 ]
3.44
86
0
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0
[ -14.329669952392578, -69.23076629638672, 61.978023529052734, 66.24176025390625, 1.890109896659851, 0.6726457476615906 ]
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3.48
87
0
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[ -16.439559936523438, -61.758243560791016, 58.021976470947266, 66.76923370361328, 2.065934181213379, 0.6726457476615906 ]
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3.52
88
0
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0
[ -18.549449920654297, -55.69230651855469, 55.20878982543945, 66.5934066772461, 1.802197813987732, 0.6726457476615906 ]
[ -13.714285850524902, -82.63735961914062, 70.85713958740234, 65.71428680419922, 1.5384615659713745, 0.888585090637207 ]
3.56
89
0
89
0
[ -20.395605087280273, -50.32966995239258, 53.978023529052734, 65.71428680419922, 1.7142857313156128, 0.6726457476615906 ]
[ -15.120879173278809, -75.16483306884766, 65.93406677246094, 66.15384674072266, 1.5384615659713745, 0.888585090637207 ]
3.6
90
0
90
0
[ -21.450550079345703, -45.31867980957031, 53.626373291015625, 63.868133544921875, 1.7142857313156128, 0.8221225738525391 ]
[ -17.14285659790039, -67.69230651855469, 61.80219650268555, 66.15384674072266, 1.5384615659713745, 0.888585090637207 ]
3.64
91
0
91
0
[ -21.538461685180664, -39.516483306884766, 53.71428680419922, 60.70329666137695, 1.7142857313156128, 0.8221225738525391 ]
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3.68
92
0
92
0
[ -21.36263656616211, -33.80219650268555, 53.626373291015625, 57.71428680419922, 1.7142857313156128, 0.8968609571456909 ]
[ -20.21977996826172, -54.06593322753906, 57.58241653442383, 64.74725341796875, 1.5384615659713745, 0.888585090637207 ]
3.72
93
0
93
0
[ -21.27472496032715, -27.91208839416504, 53.53845977783203, 55.07692337036133, 1.7142857313156128, 1.5695067644119263 ]
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3.76
94
0
94
0
[ -21.27472496032715, -23.076923370361328, 53.53845977783203, 52.79121017456055, 1.7142857313156128, 3.2884902954101562 ]
[ -20.659339904785156, -41.93406677246094, 56.35165023803711, 60.17582321166992, 1.5384615659713745, 0.888585090637207 ]
3.8
95
0
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3.84
96
0
96
0
[ -21.010988235473633, -16.30769157409668, 53.978023529052734, 49.18681335449219, 1.7142857313156128, 8.968609809875488 ]
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3.88
97
0
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[ -21.010988235473633, -14.637362480163574, 54.06593322753906, 47.868133544921875, 1.802197813987732, 12.107623100280762 ]
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3.92
98
0
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[ -21.098901748657227, -14.197802543640137, 54.06593322753906, 47.42856979370117, 1.9780219793319702, 15.022421836853027 ]
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3.96
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 2,
    "total_frames": 493,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.cam_top": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_wrist": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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