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int64
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2.2
66
0
66
0
[ 18.353897094726562, 83.40707397460938, 78.13665771484375, 61.637325286865234, 1.3425086736679077, 31.97043228149414 ]
[ 17.578125, 84.287109375, 84.19921875, 59.94140625, 1.494140625, 31.908153533935547 ]
2.233333
67
0
67
0
[ 18.670272827148438, 82.13404846191406, 76.22393798828125, 62.301876068115234, 1.23736572265625, 32.165809631347656 ]
[ 17.666015625, 83.935546875, 83.232421875, 60.46875, 1.494140625, 31.908153533935547 ]
2.266667
68
0
68
0
[ 18.92130470275879, 80.77967071533203, 74.1540298461914, 62.973899841308594, 1.2603437900543213, 32.237831115722656 ]
[ 17.9296875, 83.408203125, 81.73828125, 60.99609375, 1.494140625, 31.908153533935547 ]
2.3
69
0
69
0
[ 19.16978645324707, 79.67340850830078, 72.52610778808594, 63.52238464355469, 1.1981850862503052, 32.28912353515625 ]
[ 18.28125, 82.44140625, 80.068359375, 61.5234375, 1.494140625, 31.908153533935547 ]
2.333333
70
0
70
0
[ 19.39676284790039, 78.8238525390625, 71.08294677734375, 63.87042999267578, 1.1180593967437744, 32.31134033203125 ]
[ 18.544921875, 81.474609375, 78.22265625, 62.138671875, 1.494140625, 31.908153533935547 ]
2.366667
71
0
71
0
[ 19.580705642700195, 77.77507019042969, 69.88114929199219, 64.29561614990234, 1.060258150100708, 32.479515075683594 ]
[ 18.896484375, 80.15625, 76.552734375, 62.841796875, 1.494140625, 31.987329483032227 ]
2.4
72
0
72
0
[ 19.628347396850586, 76.99347686767578, 68.81879425048828, 64.54996490478516, 0.96959388256073, 32.5450553894043 ]
[ 19.16015625, 79.1015625, 75.05859375, 63.193359375, 1.494140625, 31.987329483032227 ]
2.433333
73
0
73
0
[ 19.767704010009766, 76.33818054199219, 68.1644515991211, 64.54815673828125, 1.0272595882415771, 32.6383171081543 ]
[ 19.423828125, 77.958984375, 73.740234375, 63.720703125, 1.494140625, 31.987329483032227 ]
2.466667
74
0
74
0
[ 19.74866485595703, 75.9677505493164, 67.68608093261719, 64.6155014038086, 0.9374756217002869, 32.59931182861328 ]
[ 19.775390625, 77.080078125, 72.509765625, 64.072265625, 1.494140625, 31.987329483032227 ]
2.5
75
0
75
0
[ 19.77535629272461, 75.54884338378906, 67.02359008789062, 64.65676879882812, 0.9817750453948975, 32.602760314941406 ]
[ 19.951171875, 76.201171875, 71.630859375, 64.16015625, 1.494140625, 32.06650924682617 ]
2.533333
76
0
76
0
[ 19.743087768554688, 75.07909393310547, 66.77590942382812, 64.69149017333984, 0.8907436728477478, 32.52032470703125 ]
[ 20.0390625, 75.76171875, 70.927734375, 64.3359375, 1.494140625, 32.06650924682617 ]
2.566667
77
0
77
0
[ 19.808849334716797, 74.47343444824219, 66.15097045898438, 64.87694549560547, 0.9223650097846985, 32.68391418457031 ]
[ 20.0390625, 75.322265625, 70.224609375, 64.423828125, 1.494140625, 32.06650924682617 ]
2.6
78
0
78
0
[ 19.744497299194336, 73.94764709472656, 65.40599060058594, 64.86439514160156, 0.8325542211532593, 32.64521026611328 ]
[ 20.0390625, 74.794921875, 69.697265625, 64.51171875, 1.40625, 32.06650924682617 ]
2.633333
79
0
79
0
[ 19.62779998779297, 73.68260192871094, 65.2242660522461, 64.83552551269531, 0.8612217307090759, 32.59689712524414 ]
[ 20.0390625, 74.1796875, 68.994140625, 64.51171875, 1.318359375, 32.06650924682617 ]
2.666667
80
0
80
0
[ 19.634408950805664, 73.34774780273438, 64.86885833740234, 64.95305633544922, 0.8162592053413391, 32.569053649902344 ]
[ 20.0390625, 73.564453125, 68.466796875, 64.6875, 1.23046875, 32.06650924682617 ]
2.7
81
0
81
0
[ 19.494083404541016, 73.04304504394531, 64.5280532836914, 64.9170150756836, 0.8533430695533752, 32.459842681884766 ]
[ 19.951171875, 73.30078125, 68.115234375, 64.6875, 1.142578125, 32.06650924682617 ]
2.733333
82
0
82
0
[ 19.342769622802734, 72.74240112304688, 64.15400695800781, 64.93365478515625, 0.7792984843254089, 32.27604675292969 ]
[ 19.951171875, 73.125, 67.763671875, 64.6875, 1.142578125, 32.06650924682617 ]
2.766667
83
0
83
0
[ 19.344331741333008, 72.19097900390625, 63.64938735961914, 64.9180679321289, 0.695537805557251, 31.912246704101562 ]
[ 19.951171875, 72.685546875, 67.412109375, 64.775390625, 1.142578125, 32.06650924682617 ]
2.8
84
0
84
0
[ 19.251811981201172, 72.06732177734375, 63.38292694091797, 64.99433135986328, 0.6223776340484619, 31.363691329956055 ]
[ 19.86328125, 72.333984375, 66.884765625, 64.86328125, 1.142578125, 32.06650924682617 ]
2.833333
85
0
85
0
[ 19.161693572998047, 71.80404663085938, 63.210670471191406, 64.91553497314453, 0.6096045970916748, 30.662578582763672 ]
[ 19.775390625, 72.0703125, 66.533203125, 64.86328125, 1.142578125, 32.06650924682617 ]
2.866667
86
0
86
0
[ 19.103553771972656, 71.75193786621094, 63.07649230957031, 64.9642562866211, 0.4039425253868103, 29.712982177734375 ]
[ 19.775390625, 71.71875, 66.26953125, 64.86328125, 1.142578125, 31.8289794921875 ]
2.9
87
0
87
0
[ 19.20307731628418, 71.3540267944336, 62.64978790283203, 64.90851593017578, 0.34861046075820923, 28.509057998657227 ]
[ 19.599609375, 71.3671875, 66.005859375, 64.86328125, 1.142578125, 31.512271881103516 ]
2.933333
88
0
88
0
[ 19.07088279724121, 71.2257080078125, 62.42140197753906, 64.81942749023438, 0.12588679790496826, 26.62975311279297 ]
[ 19.51171875, 71.279296875, 65.7421875, 64.86328125, 0.966796875, 31.037214279174805 ]
2.966667
89
0
89
0
[ 19.214120864868164, 71.17975616455078, 62.437129974365234, 64.86299896240234, 0.06196892261505127, 24.17058753967285 ]
[ 19.51171875, 71.015625, 65.478515625, 64.86328125, 0.791015625, 30.245447158813477 ]
3
90
0
90
0
[ 19.020389556884766, 71.06544494628906, 62.5677490234375, 64.66981506347656, -0.3259744644165039, 21.016550064086914 ]
[ 19.51171875, 70.751953125, 65.126953125, 64.86328125, 0.615234375, 28.978622436523438 ]
3.033333
91
0
91
0
[ 19.166812896728516, 70.56339263916016, 62.27518844604492, 64.65586853027344, -0.5323934555053711, 17.031108856201172 ]
[ 19.51171875, 70.751953125, 65.0390625, 64.86328125, 0.439453125, 27.474266052246094 ]
3.066667
92
0
92
0
[ 19.322721481323242, 70.65593719482422, 61.95014190673828, 64.57561492919922, -0.7959851026535034, 12.176786422729492 ]
[ 19.51171875, 70.751953125, 64.951171875, 64.86328125, 0.087890625, 25.33650016784668 ]
3.1
93
0
93
0
[ 19.526636123657227, 70.75552368164062, 61.96818161010742, 64.47122192382812, -1.1123450994491577, 7.541351318359375 ]
[ 19.51171875, 70.48828125, 64.775390625, 64.86328125, -0.087890625, 23.119556427001953 ]
3.133333
94
0
94
0
[ 19.444780349731445, 70.53984832763672, 61.854278564453125, 64.45899963378906, -1.3645306825637817, 4.478002548217773 ]
[ 19.51171875, 70.3125, 64.423828125, 64.86328125, -0.3515625, 20.03167152404785 ]
3.166667
95
0
95
0
[ 19.630218505859375, 70.702880859375, 62.076744079589844, 64.43991088867188, -1.641983151435852, 2.636164665222168 ]
[ 19.51171875, 70.224609375, 64.3359375, 64.775390625, -0.703125, 16.07284164428711 ]
3.2
96
0
96
0
[ 19.386722564697266, 70.53315734863281, 62.16630172729492, 64.54716491699219, -1.8716212511062622, 2.6575450897216797 ]
[ 19.51171875, 70.224609375, 64.16015625, 64.775390625, -0.966796875, 12.430720329284668 ]
3.233333
97
0
97
0
[ 19.428525924682617, 70.49735260009766, 62.292274475097656, 64.52439880371094, -2.086266040802002, 3.1395225524902344 ]
[ 19.51171875, 70.224609375, 64.16015625, 64.775390625, -1.23046875, 8.867774963378906 ]
3.266667
98
0
98
0
[ 19.352161407470703, 70.41276550292969, 61.7756462097168, 64.6871566772461, -2.17604923248291, 3.4831581115722656 ]
[ 19.51171875, 70.224609375, 64.16015625, 64.775390625, -1.40625, 6.413301944732666 ]
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": "v3.0",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 18067,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "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"
            ],
            "fps": 30
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        "observation.state": {
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            "shape": [
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ],
            "fps": 30
        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.wrist": {
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            "names": [
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            "info": {
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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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        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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