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sequence
observation.state
sequence
timestamp
float32
0
28.6
frame_index
int64
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858
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[ -0.791015625, 164.443359375, 167.783203125, 46.7578125, -6.064453125, 0.9105960130691528 ]
2.1
63
0
63
0
[ -0.9661521911621094, 160.87925720214844, 161.27975463867188, 48.09971237182617, -5.322695255279541, -0.4602315425872803 ]
[ -0.87890625, 162.158203125, 165.849609375, 47.373046875, -5.888671875, 0.9105960130691528 ]
2.133333
64
0
64
0
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[ -0.87890625, 161.54296875, 164.8828125, 47.548828125, -5.80078125, 0.9105960130691528 ]
2.166667
65
0
65
0
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[ -1.0546875, 161.71875, 164.267578125, 47.900390625, -5.712890625, 0.9105960130691528 ]
2.2
66
0
66
0
[ -1.0287017822265625, 155.60787963867188, 155.35931396484375, 49.80842208862305, -4.918972492218018, -0.4582393169403076 ]
[ -0.966796875, 159.169921875, 161.982421875, 48.33984375, -5.537109375, 0.9105960130691528 ]
2.233333
67
0
67
0
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[ -0.87890625, 157.8515625, 160.576171875, 48.603515625, -5.2734375, 0.9105960130691528 ]
2.266667
68
0
68
0
[ -1.2232494354248047, 151.2098846435547, 151.40386962890625, 51.06584548950195, -4.526583194732666, -0.4256758689880371 ]
[ -0.87890625, 156.4453125, 159.08203125, 49.482421875, -5.361328125, 0.9105960130691528 ]
2.3
69
0
69
0
[ -1.3524150848388672, 149.3984832763672, 149.5603790283203, 51.72342300415039, -4.373969078063965, -0.4090006351470947 ]
[ -0.87890625, 154.3359375, 156.97265625, 49.658203125, -5.09765625, 0.9105960130691528 ]
2.333333
70
0
70
0
[ -1.2514896392822266, 147.65737915039062, 147.78915405273438, 52.4196662902832, -4.274755954742432, -0.3912780284881592 ]
[ -0.87890625, 152.841796875, 155.390625, 50.537109375, -4.921875, 0.9105960130691528 ]
2.366667
71
0
71
0
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[ -0.966796875, 150.99609375, 153.720703125, 50.9765625, -5.009765625, 0.9105960130691528 ]
2.4
72
0
72
0
[ -1.3954925537109375, 145.3472442626953, 145.73731994628906, 53.3089714050293, -4.015390872955322, -0.3719325065612793 ]
[ -0.966796875, 149.0625, 151.69921875, 51.328125, -4.833984375, 0.9105960130691528 ]
2.433333
73
0
73
0
[ -1.4480514526367188, 140.67266845703125, 141.32705688476562, 54.883026123046875, -3.6781487464904785, -0.33112120628356934 ]
[ -1.0546875, 148.0078125, 150.732421875, 52.119140625, -5.009765625, 0.9105960130691528 ]
2.466667
74
0
74
0
[ -1.5170211791992188, 140.91839599609375, 141.32785034179688, 54.8828239440918, -3.671988010406494, -0.345257043838501 ]
[ -1.142578125, 146.337890625, 149.4140625, 52.294921875, -5.009765625, 0.9105960130691528 ]
2.5
75
0
75
0
[ -1.5742816925048828, 138.13717651367188, 138.91250610351562, 55.72959899902344, -3.4924001693725586, -0.31733107566833496 ]
[ -1.142578125, 143.4375, 146.865234375, 53.26171875, -4.658203125, 0.9105960130691528 ]
2.533333
76
0
76
0
[ -1.4224328994750977, 137.15975952148438, 137.9476776123047, 56.2666130065918, -3.468993902206421, -0.2880568504333496 ]
[ -1.0546875, 142.03125, 145.1953125, 53.349609375, -4.306640625, 0.9105960130691528 ]
2.566667
77
0
77
0
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[ -1.142578125, 140.185546875, 143.525390625, 54.755859375, -4.130859375, 0.9105960130691528 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -1.142578125, 136.40625, 140.09765625, 56.25, -3.779296875, 0.9105960130691528 ]
2.666667
80
0
80
0
[ -1.8095102310180664, 128.14852905273438, 127.89607238769531, 59.583038330078125, -2.7890069484710693, -0.23514938354492188 ]
[ -1.142578125, 133.41796875, 137.197265625, 57.12890625, -3.515625, 0.9105960130691528 ]
2.7
81
0
81
0
[ -1.8005552291870117, 125.81947326660156, 126.22667694091797, 60.32279968261719, -2.5290470123291016, -0.19959735870361328 ]
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -1.40625, 127.96875, 131.044921875, 58.53515625, -3.1640625, 0.9105960130691528 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
[ -1.942713737487793, 117.15618133544922, 117.36570739746094, 64.0543441772461, -2.0302226543426514, -0.0038309097290039062 ]
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2.866667
86
0
86
0
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[ -2.021484375, 121.728515625, 124.716796875, 61.34765625, -2.63671875, 0.9105960130691528 ]
2.9
87
0
87
0
[ -2.1549758911132812, 113.24638366699219, 113.10123443603516, 65.50055694580078, -1.7591722011566162, 0.1898641586303711 ]
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -2.109375, 114.43359375, 117.333984375, 64.775390625, -2.28515625, 0.9105960130691528 ]
3
90
0
90
0
[ -2.4617433547973633, 109.32349395751953, 108.63748168945312, 67.13522338867188, -1.5905718803405762, 0.3369171619415283 ]
[ -2.109375, 113.291015625, 116.103515625, 64.951171875, -2.109375, 0.9105960130691528 ]
3.033333
91
0
91
0
[ -2.5726537704467773, 108.01588439941406, 107.57057189941406, 67.55751037597656, -1.4008619785308838, 0.45332813262939453 ]
[ -2.109375, 111.357421875, 114.169921875, 65.0390625, -2.021484375, 0.9105960130691528 ]
3.066667
92
0
92
0
[ -2.5958175659179688, 106.70803833007812, 105.80572509765625, 68.12130737304688, -1.500870704650879, 0.6192066669464111 ]
[ -2.109375, 109.951171875, 112.587890625, 66.181640625, -1.93359375, 0.9105960130691528 ]
3.1
93
0
93
0
[ -2.661116600036621, 106.5623779296875, 105.69961547851562, 68.13218688964844, -1.4093875885009766, 0.6083269119262695 ]
[ -2.109375, 108.6328125, 111.26953125, 66.796875, -1.93359375, 0.9105960130691528 ]
3.133333
94
0
94
0
[ -2.736872673034668, 105.80477905273438, 104.9349136352539, 68.47181701660156, -1.3131332397460938, 0.6805615425109863 ]
[ -2.109375, 107.40234375, 109.6875, 66.97265625, -1.93359375, 0.9105960130691528 ]
3.166667
95
0
95
0
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[ -2.109375, 106.69921875, 108.896484375, 66.97265625, -1.93359375, 0.9105960130691528 ]
3.2
96
0
96
0
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[ -2.197265625, 105.908203125, 108.193359375, 68.37890625, -1.93359375, 0.9105960130691528 ]
3.233333
97
0
97
0
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[ -2.373046875, 104.677734375, 106.962890625, 68.37890625, -1.93359375, 0.9105960130691528 ]
3.266667
98
0
98
0
[ -3.1433467864990234, 103.63453674316406, 102.06626892089844, 69.3534927368164, -1.302891731262207, 1.0666894912719727 ]
[ -2.63671875, 103.974609375, 105.732421875, 68.02734375, -1.93359375, 1.076158881187439 ]
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": 1,
    "total_frames": 859,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.side": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "h264",
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        "observation.images.above": {
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                "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": {
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        }
    }
}

Citation

BibTeX:

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