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sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
444
episode_index
int64
0
4
index
int64
0
2.22k
task_index
int64
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72
0
[ -5.888671875, 136.142578125, 122.431640625, 76.9921875, 23.90625, 0.39100682735443115 ]
[ 2.724609375, 149.23828125, 134.6484375, 72.24609375, 11.953125, 0.9365994334220886 ]
2.433333
73
0
73
0
[ -8.4375, 132.978515625, 120.41015625, 77.958984375, 27.0703125, 0.48875856399536133 ]
[ 0.703125, 145.810546875, 132.275390625, 73.564453125, 14.501953125, 0.9365994334220886 ]
2.466667
74
0
74
0
[ -11.07421875, 130.341796875, 118.65234375, 78.310546875, 29.8828125, 2.1505377292633057 ]
[ -1.58203125, 142.294921875, 129.990234375, 75.05859375, 17.40234375, 0.9365994334220886 ]
2.5
75
0
75
0
[ -13.7109375, 128.232421875, 117.509765625, 77.87109375, 31.552734375, 8.21114444732666 ]
[ -3.955078125, 138.779296875, 127.96875, 76.2890625, 20.56640625, 0.9365994334220886 ]
2.533333
76
0
76
0
[ -16.083984375, 126.123046875, 116.19140625, 76.9921875, 32.16796875, 16.813295364379883 ]
[ -6.328125, 135.615234375, 126.123046875, 77.080078125, 23.466796875, 1.2968299388885498 ]
2.566667
77
0
77
0
[ -18.193359375, 124.27734375, 114.873046875, 76.11328125, 32.87109375, 25.317691802978516 ]
[ -8.7890625, 132.802734375, 124.365234375, 77.255859375, 26.3671875, 2.233429431915283 ]
2.6
78
0
78
0
[ -19.951171875, 122.6953125, 114.169921875, 75.146484375, 34.892578125, 25.317691802978516 ]
[ -11.25, 130.166015625, 122.87109375, 77.080078125, 28.388671875, 4.827089309692383 ]
2.633333
79
0
79
0
[ -21.26953125, 121.2890625, 113.203125, 74.443359375, 36.73828125, 21.89638328552246 ]
[ -13.53515625, 127.705078125, 121.376953125, 76.640625, 29.970703125, 8.78962516784668 ]
2.666667
80
0
80
0
[ -22.5, 119.794921875, 111.97265625, 74.091796875, 37.880859375, 22.189638137817383 ]
[ -15.908203125, 125.5078125, 120.146484375, 76.11328125, 31.46484375, 13.040346145629883 ]
2.7
81
0
81
0
[ -23.642578125, 118.30078125, 111.005859375, 73.388671875, 38.583984375, 25.610946655273438 ]
[ -18.10546875, 123.486328125, 118.916015625, 75.498046875, 33.3984375, 17.146974563598633 ]
2.733333
82
0
82
0
[ -24.609375, 117.0703125, 110.302734375, 72.685546875, 39.55078125, 28.34799575805664 ]
[ -19.951171875, 121.81640625, 117.685546875, 75.05859375, 35.068359375, 20.10086441040039 ]
2.766667
83
0
83
0
[ -25.48828125, 115.751953125, 109.51171875, 72.0703125, 39.990234375, 32.35581588745117 ]
[ -21.357421875, 120.05859375, 116.54296875, 74.443359375, 36.298828125, 22.11815643310547 ]
2.8
84
0
84
0
[ -26.103515625, 114.43359375, 108.720703125, 71.71875, 41.1328125, 32.94232940673828 ]
[ -22.67578125, 118.564453125, 115.48828125, 73.828125, 37.44140625, 23.77521514892578 ]
2.833333
85
0
85
0
[ -26.806640625, 113.02734375, 108.017578125, 71.3671875, 42.36328125, 33.13783264160156 ]
[ -23.73046875, 117.0703125, 114.609375, 73.212890625, 38.408203125, 26.008644104003906 ]
2.866667
86
0
86
0
[ -27.24609375, 111.62109375, 107.2265625, 71.015625, 43.330078125, 33.91984558105469 ]
[ -24.521484375, 115.576171875, 113.73046875, 72.685546875, 39.375, 28.386167526245117 ]
2.9
87
0
87
0
[ -27.59765625, 110.126953125, 106.69921875, 70.83984375, 44.82421875, 33.724342346191406 ]
[ -25.048828125, 114.169921875, 112.939453125, 72.24609375, 40.517578125, 30.11527442932129 ]
2.933333
88
0
88
0
[ -27.94921875, 108.896484375, 106.34765625, 70.48828125, 45.966796875, 35.288368225097656 ]
[ -25.751953125, 112.763671875, 112.1484375, 71.89453125, 41.572265625, 31.4121036529541 ]
2.966667
89
0
89
0
[ -28.212890625, 107.490234375, 106.083984375, 70.13671875, 47.548828125, 34.50635528564453 ]
[ -26.3671875, 111.181640625, 111.4453125, 71.54296875, 42.71484375, 32.20460891723633 ]
3
90
0
90
0
[ -28.212890625, 106.171875, 105.99609375, 69.43359375, 49.130859375, 33.431087493896484 ]
[ -26.982421875, 109.6875, 110.830078125, 71.19140625, 43.9453125, 33.141212463378906 ]
3.033333
91
0
91
0
[ -28.212890625, 105.029296875, 105.908203125, 68.5546875, 50.361328125, 32.746822357177734 ]
[ -27.59765625, 108.45703125, 110.390625, 70.83984375, 45.263671875, 33.78962707519531 ]
3.066667
92
0
92
0
[ -28.037109375, 103.798828125, 105.64453125, 68.02734375, 51.943359375, 30.987293243408203 ]
[ -27.94921875, 106.962890625, 110.0390625, 70.3125, 46.669921875, 33.78962707519531 ]
3.1
93
0
93
0
[ -27.7734375, 102.568359375, 105.1171875, 67.5, 52.91015625, 31.378299713134766 ]
[ -28.037109375, 105.556640625, 109.775390625, 69.697265625, 47.98828125, 33.501441955566406 ]
3.133333
94
0
94
0
[ -27.509765625, 101.513671875, 104.58984375, 67.236328125, 54.052734375, 31.085044860839844 ]
[ -28.037109375, 104.326171875, 109.6875, 69.08203125, 49.39453125, 32.780982971191406 ]
3.166667
95
0
95
0
[ -27.158203125, 100.546875, 104.0625, 66.97265625, 55.01953125, 31.085044860839844 ]
[ -27.861328125, 103.095703125, 109.51171875, 68.5546875, 50.712890625, 31.98847198486328 ]
3.2
96
0
96
0
[ -26.630859375, 99.4921875, 103.623046875, 66.4453125, 55.810546875, 31.378299713134766 ]
[ -27.59765625, 101.689453125, 109.072265625, 68.115234375, 51.943359375, 31.62824249267578 ]
3.233333
97
0
97
0
[ -26.279296875, 98.701171875, 103.359375, 65.830078125, 56.689453125, 30.987293243408203 ]
[ -27.421875, 100.546875, 108.544921875, 67.763671875, 53.0859375, 31.484149932861328 ]
3.266667
98
0
98
0
[ -25.751953125, 97.734375, 103.18359375, 64.951171875, 57.041015625, 31.182796478271484 ]
[ -27.158203125, 99.4921875, 108.017578125, 67.32421875, 54.052734375, 31.4121036529541 ]
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": 5,
    "total_frames": 2222,
    "total_tasks": 1,
    "total_videos": 5,
    "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.laptop1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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
        }
    }
}

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BibTeX:

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