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sequence
observation.state
sequence
timestamp
float32
0
13.3
frame_index
int64
0
400
episode_index
int64
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29
index
int64
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8.64k
task_index
int64
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[ -35.15625, 92.8125, 110.830078125, 8.701171875, 99.140625, 73.19078826904297 ]
2.466667
74
0
74
0
[ -36.73828125, 100.634765625, 112.763671875, 7.03125, 99.052734375, 72.99651336669922 ]
[ -35.419921875, 93.427734375, 111.4453125, 8.701171875, 99.140625, 73.19078826904297 ]
2.5
75
0
75
0
[ -36.73828125, 100.72265625, 113.02734375, 7.03125, 99.228515625, 72.64808654785156 ]
[ -35.5078125, 93.955078125, 112.060546875, 8.701171875, 99.140625, 73.19078826904297 ]
2.533333
76
0
76
0
[ -36.650390625, 100.72265625, 113.02734375, 7.03125, 99.31640625, 71.25435638427734 ]
[ -35.595703125, 94.39453125, 112.5, 8.701171875, 99.140625, 73.19078826904297 ]
2.566667
77
0
77
0
[ -36.650390625, 100.634765625, 112.763671875, 7.03125, 99.404296875, 68.11846160888672 ]
[ -35.595703125, 94.74609375, 113.115234375, 8.701171875, 99.140625, 73.19078826904297 ]
2.6
78
0
78
0
[ -36.474609375, 100.458984375, 112.412109375, 7.03125, 99.228515625, 63.240421295166016 ]
[ -35.595703125, 94.921875, 113.466796875, 8.701171875, 99.140625, 72.69737243652344 ]
2.633333
79
0
79
0
[ -36.38671875, 100.37109375, 112.060546875, 7.03125, 99.052734375, 56.7944221496582 ]
[ -35.595703125, 95.009765625, 113.5546875, 8.701171875, 99.140625, 71.21710968017578 ]
2.666667
80
0
80
0
[ -36.2109375, 100.1953125, 111.708984375, 7.03125, 98.876953125, 49.12892150878906 ]
[ -35.595703125, 95.09765625, 113.5546875, 8.701171875, 99.140625, 68.58552551269531 ]
2.7
81
0
81
0
[ -36.123046875, 100.107421875, 111.4453125, 7.03125, 98.876953125, 40.76654815673828 ]
[ -35.595703125, 95.09765625, 113.5546875, 8.701171875, 98.876953125, 64.96710968017578 ]
2.733333
82
0
82
0
[ -36.03515625, 99.931640625, 111.181640625, 7.03125, 98.876953125, 31.707317352294922 ]
[ -35.595703125, 95.09765625, 113.5546875, 8.701171875, 98.525390625, 60.36184310913086 ]
2.766667
83
0
83
0
[ -35.947265625, 99.84375, 111.005859375, 7.03125, 98.876953125, 21.95121955871582 ]
[ -35.595703125, 95.09765625, 113.5546875, 8.701171875, 98.349609375, 54.769737243652344 ]
2.8
84
0
84
0
[ -35.947265625, 99.84375, 110.830078125, 7.03125, 98.61328125, 12.543554306030273 ]
[ -35.595703125, 95.09765625, 113.5546875, 8.701171875, 98.26171875, 48.84868621826172 ]
2.833333
85
0
85
0
[ -35.947265625, 99.84375, 110.654296875, 7.03125, 98.4375, 4.181184768676758 ]
[ -35.33203125, 95.09765625, 113.5546875, 8.701171875, 98.0859375, 44.57236862182617 ]
2.866667
86
0
86
0
[ -35.947265625, 99.84375, 110.56640625, 7.119140625, 98.26171875, -3.8327527046203613 ]
[ -35.15625, 95.09765625, 113.466796875, 8.61328125, 97.998046875, 43.092105865478516 ]
2.9
87
0
87
0
[ -36.123046875, 100.01953125, 110.302734375, 7.55859375, 98.0859375, -7.142857551574707 ]
[ -35.068359375, 95.09765625, 113.37890625, 8.61328125, 97.998046875, 43.092105865478516 ]
2.933333
88
0
88
0
[ -36.2109375, 100.283203125, 109.775390625, 8.349609375, 97.3828125, -5.574913024902344 ]
[ -35.068359375, 95.185546875, 113.37890625, 8.61328125, 97.998046875, 43.092105865478516 ]
2.966667
89
0
89
0
[ -36.298828125, 100.986328125, 109.599609375, 8.96484375, 97.03125, -2.96167254447937 ]
[ -35.068359375, 95.2734375, 113.37890625, 8.525390625, 97.91015625, 43.092105865478516 ]
3
90
0
90
0
[ -36.474609375, 101.77734375, 109.599609375, 9.404296875, 96.50390625, 0.8710801601409912 ]
[ -35.068359375, 95.2734375, 113.37890625, 8.61328125, 97.734375, 43.092105865478516 ]
3.033333
91
0
91
0
[ -36.5625, 102.83203125, 109.51171875, 10.107421875, 95.888671875, 3.658536434173584 ]
[ -35.068359375, 95.2734375, 113.37890625, 8.61328125, 97.470703125, 43.092105865478516 ]
3.066667
92
0
92
0
[ -36.73828125, 104.0625, 109.3359375, 11.07421875, 95.361328125, 4.529616832733154 ]
[ -35.068359375, 95.537109375, 113.37890625, 8.61328125, 96.943359375, 43.092105865478516 ]
3.1
93
0
93
0
[ -36.826171875, 105.29296875, 108.80859375, 12.392578125, 94.658203125, 4.006968975067139 ]
[ -35.068359375, 96.064453125, 113.37890625, 9.140625, 96.591796875, 43.092105865478516 ]
3.133333
94
0
94
0
[ -37.08984375, 106.69921875, 108.10546875, 13.974609375, 93.8671875, 2.787456512451172 ]
[ -35.068359375, 96.6796875, 113.466796875, 9.66796875, 96.416015625, 43.092105865478516 ]
3.166667
95
0
95
0
[ -37.177734375, 107.9296875, 106.962890625, 16.083984375, 92.98828125, 1.7421603202819824 ]
[ -35.15625, 97.20703125, 113.466796875, 10.458984375, 95.712890625, 43.092105865478516 ]
3.2
96
0
96
0
[ -37.353515625, 109.072265625, 105.556640625, 18.10546875, 92.021484375, 1.2195121049880981 ]
[ -35.5078125, 97.998046875, 113.466796875, 11.337890625, 94.833984375, 43.092105865478516 ]
3.233333
97
0
97
0
[ -37.44140625, 110.126953125, 103.7109375, 20.7421875, 91.23046875, 0.696864128112793 ]
[ -35.68359375, 98.96484375, 113.203125, 12.568359375, 94.04296875, 43.092105865478516 ]
3.266667
98
0
98
0
[ -37.44140625, 111.005859375, 101.689453125, 23.466796875, 90.3515625, 0.17421603202819824 ]
[ -35.947265625, 99.931640625, 112.5, 14.326171875, 93.427734375, 43.092105865478516 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 8642,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
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            ],
            "names": [
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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