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float32
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int64
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int64
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int64
task_index
int64
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[ 34.654396057128906, 82.36293029785156, 145.06747436523438, -69.80777740478516, -85.32537078857422, 52.261146545410156 ]
[ 32.16796875, 84.287109375, 149.4140625, -70.48828125, -86.1328125, 50.07122802734375 ]
2.166667
65
0
65
0
[ 35.19780731201172, 81.49862670898438, 144.01512145996094, -69.2901611328125, -85.5793228149414, 52.187782287597656 ]
[ 32.607421875, 83.935546875, 149.150390625, -70.13671875, -86.1328125, 50.498573303222656 ]
2.2
66
0
66
0
[ 34.53852844238281, 82.39138793945312, 145.08273315429688, -69.6502914428711, -85.34504699707031, 52.2939453125 ]
[ 33.310546875, 83.3203125, 148.447265625, -70.048828125, -85.693359375, 51.13959884643555 ]
2.233333
67
0
67
0
[ 35.61537170410156, 80.63662719726562, 143.41212463378906, -69.4686508178711, -84.91612243652344, 52.70904541015625 ]
[ 33.837890625, 82.265625, 147.216796875, -69.697265625, -85.517578125, 51.495723724365234 ]
2.266667
68
0
68
0
[ 35.910545349121094, 81.77740478515625, 144.48341369628906, -69.34078979492188, -85.07786560058594, 52.398277282714844 ]
[ 34.013671875, 82.08984375, 147.041015625, -69.697265625, -85.693359375, 51.63817596435547 ]
2.3
69
0
69
0
[ 35.57102966308594, 81.40816497802734, 144.29640197753906, -69.58492279052734, -85.02989959716797, 52.41263198852539 ]
[ 34.365234375, 81.826171875, 146.77734375, -69.697265625, -85.078125, 51.92307662963867 ]
2.333333
70
0
70
0
[ 36.3502197265625, 80.98522186279297, 143.51199340820312, -69.08576965332031, -85.07816314697266, 52.895477294921875 ]
[ 34.892578125, 80.947265625, 146.162109375, -69.521484375, -85.25390625, 51.994300842285156 ]
2.366667
71
0
71
0
[ 36.63480758666992, 80.12957763671875, 142.69642639160156, -69.06219482421875, -84.88097381591797, 53.04402160644531 ]
[ 35.068359375, 80.859375, 146.162109375, -69.521484375, -85.341796875, 51.994300842285156 ]
2.4
72
0
72
0
[ 36.67356872558594, 79.70038604736328, 142.77084350585938, -69.58214569091797, -84.2706298828125, 53.295040130615234 ]
[ 35.33203125, 80.771484375, 145.8984375, -69.43359375, -84.90234375, 52.279205322265625 ]
2.433333
73
0
73
0
[ 37.048179626464844, 79.0821762084961, 141.99342346191406, -69.1956787109375, -84.44156646728516, 53.68767547607422 ]
[ 35.68359375, 80.33203125, 145.37109375, -69.2578125, -84.90234375, 52.49287414550781 ]
2.466667
74
0
74
0
[ 37.08995819091797, 77.8166275024414, 140.79994201660156, -69.43240356445312, -84.37525177001953, 54.17804718017578 ]
[ 35.947265625, 79.8046875, 145.107421875, -69.2578125, -85.078125, 52.70655059814453 ]
2.5
75
0
75
0
[ 37.37620544433594, 77.89036560058594, 140.93466186523438, -69.23371887207031, -84.30322265625, 54.12200927734375 ]
[ 36.2109375, 79.27734375, 144.755859375, -69.2578125, -84.814453125, 52.991455078125 ]
2.533333
76
0
76
0
[ 37.506446838378906, 77.90078735351562, 140.978271484375, -69.23558044433594, -84.27552032470703, 53.946468353271484 ]
[ 36.298828125, 78.57421875, 144.052734375, -69.2578125, -84.7265625, 53.34757614135742 ]
2.566667
77
0
77
0
[ 37.58145523071289, 76.97171783447266, 139.8709716796875, -69.14967346191406, -84.22439575195312, 54.36363220214844 ]
[ 36.5625, 78.046875, 143.525390625, -69.2578125, -84.55078125, 53.56125259399414 ]
2.6
78
0
78
0
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[ 36.73828125, 78.046875, 143.349609375, -69.2578125, -84.638671875, 53.56125259399414 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 37.75658416748047, 76.08768463134766, 138.54310607910156, -68.99360656738281, -84.22258758544922, 54.765159606933594 ]
[ 37.177734375, 76.552734375, 142.03125, -69.2578125, -84.462890625, 54.0598258972168 ]
2.7
81
0
81
0
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[ 37.265625, 76.025390625, 141.591796875, -69.169921875, -84.638671875, 54.20227813720703 ]
2.733333
82
0
82
0
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[ 37.265625, 75.9375, 141.15234375, -69.169921875, -84.19921875, 54.273502349853516 ]
2.766667
83
0
83
0
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[ 37.529296875, 75.849609375, 141.064453125, -69.169921875, -84.19921875, 54.344730377197266 ]
2.8
84
0
84
0
[ 39.091548919677734, 73.00289154052734, 136.53961181640625, -68.92819213867188, -84.0197525024414, 55.646949768066406 ]
[ 37.79296875, 75.05859375, 140.712890625, -69.169921875, -84.462890625, 54.55840301513672 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ 38.3203125, 73.65234375, 139.5703125, -69.08203125, -84.19921875, 55.056976318359375 ]
2.9
87
0
87
0
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[ 38.49609375, 72.7734375, 138.69140625, -68.994140625, -83.84765625, 55.341880798339844 ]
2.933333
88
0
88
0
[ 39.096961975097656, 70.07157897949219, 133.8241424560547, -69.02582550048828, -84.01699829101562, 56.43885803222656 ]
[ 38.583984375, 71.89453125, 138.1640625, -68.90625, -84.19921875, 55.341880798339844 ]
2.966667
89
0
89
0
[ 39.13920593261719, 69.89876556396484, 133.95704650878906, -68.9788589477539, -84.05438232421875, 56.214534759521484 ]
[ 38.583984375, 71.015625, 137.4609375, -68.90625, -84.0234375, 55.55555725097656 ]
3
90
0
90
0
[ 38.85027313232422, 69.0653305053711, 132.67135620117188, -68.86163330078125, -84.1302490234375, 56.309593200683594 ]
[ 38.671875, 70.3125, 136.7578125, -68.90625, -83.84765625, 55.840457916259766 ]
3.033333
91
0
91
0
[ 39.130836486816406, 68.50696563720703, 132.8589324951172, -68.99386596679688, -84.19693756103516, 56.59584426879883 ]
[ 38.671875, 69.9609375, 136.494140625, -68.90625, -84.111328125, 55.840457916259766 ]
3.066667
92
0
92
0
[ 38.866363525390625, 68.9712905883789, 132.7799072265625, -68.79561614990234, -84.14260864257812, 56.31135177612305 ]
[ 38.671875, 69.43359375, 135.966796875, -68.90625, -83.84765625, 55.840457916259766 ]
3.1
93
0
93
0
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[ 38.671875, 68.73046875, 135.439453125, -68.90625, -83.84765625, 55.982906341552734 ]
3.133333
94
0
94
0
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[ 38.671875, 68.5546875, 135.263671875, -68.90625, -84.19921875, 55.982906341552734 ]
3.166667
95
0
95
0
[ 38.67601776123047, 66.62871551513672, 130.29124450683594, -68.79812622070312, -84.25184631347656, 56.75153732299805 ]
[ 38.671875, 68.291015625, 134.82421875, -68.90625, -83.84765625, 56.054134368896484 ]
3.2
96
0
96
0
[ 38.53150939941406, 65.77178955078125, 129.364990234375, -68.62167358398438, -84.57742309570312, 56.72258758544922 ]
[ 38.671875, 67.060546875, 133.505859375, -68.90625, -83.935546875, 56.1253547668457 ]
3.233333
97
0
97
0
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[ 38.671875, 66.4453125, 132.71484375, -68.90625, -84.19921875, 56.19658279418945 ]
3.266667
98
0
98
0
[ 38.27725601196289, 64.80751037597656, 128.29547119140625, -68.43515014648438, -84.70930480957031, 56.955963134765625 ]
[ 38.759765625, 66.181640625, 132.626953125, -68.818359375, -84.19921875, 56.26780319213867 ]
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": 2,
    "total_frames": 2002,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
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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.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.wrist": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.phone": {
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                "has_audio": false
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        "frame_index": {
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    }
}

Citation

BibTeX:

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