Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
29.8
| frame_index
int64 0
894
| episode_index
int64 0
59
| index
int64 0
25k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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107.05078125,
107.2265625,
59.0625,
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| 60
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[
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57.392578125,
191.337890625,
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[
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107.314453125,
108.017578125,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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| 74
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[
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[
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| 75
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[
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[
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52.822265625,
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| 76
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| 76
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[
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[
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| 77
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| 77
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[
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[
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| 78
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| 78
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[
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[
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| 79
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[
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[
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[
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[
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[
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[
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48.69140625,
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| 85
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| 85
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[
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[
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118.125,
48.251953125,
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| 86
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| 86
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[
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[
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| 87
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| 87
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[
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[
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109.423828125,
119.00390625,
47.109375,
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| 88
| 0
| 88
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[
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109.6875,
120.322265625,
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[
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| 89
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[
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[
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| 90
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| 90
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[
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[
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| 91
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| 91
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[
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[
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| 92
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| 92
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[
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120.9375,
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[
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120.5859375,
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| 93
| 0
| 93
| 0
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[
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120.9375,
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[
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120.673828125,
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175.60546875,
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| 94
| 0
| 94
| 0
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[
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107.314453125,
121.11328125,
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193.095703125,
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[
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107.138671875,
120.673828125,
43.59375,
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| 95
| 0
| 95
| 0
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[
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121.2890625,
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[
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120.673828125,
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175.60546875,
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| 96
| 0
| 96
| 0
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[
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106.875,
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193.095703125,
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[
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120.9375,
42.890625,
175.60546875,
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| 97
| 0
| 97
| 0
|
[
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106.69921875,
121.81640625,
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193.0078125,
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[
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106.259765625,
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175.60546875,
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| 98
| 0
| 98
| 0
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[
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106.5234375,
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[
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105.908203125,
121.640625,
42.275390625,
175.60546875,
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| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 60,
"total_frames": 25014,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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.laptop": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"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": "av1",
"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
}
}
}
Citation
BibTeX:
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