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action
sequence | observation.state
sequence | timestamp
float32 0
14.9
| frame_index
int64 0
448
| episode_index
int64 0
103
| index
int64 0
46.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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| 55
| 0
| 55
| 0
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[
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70.751953125,
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76.201171875,
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[
-14.23828125,
70.576171875,
90.703125,
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| 56
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| 56
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[
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70.751953125,
88.76953125,
76.201171875,
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[
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69.9609375,
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[
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[
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[
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90.087890625,
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[
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[
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69.78515625,
90,
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[
-14.853515625,
70.751953125,
88.76953125,
76.201171875,
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[
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69.697265625,
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[
-14.853515625,
70.751953125,
88.76953125,
76.201171875,
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[
-14.23828125,
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|
[
-14.765625,
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[
-14.23828125,
69.697265625,
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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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71.19140625,
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[
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| 69
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| 69
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[
-13.798828125,
71.19140625,
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[
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[
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[
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| 71
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| 71
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[
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71.19140625,
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[
-13.271484375,
69.609375,
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80.771484375,
-5.625,
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| 72
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| 72
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[
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[
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| 73
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| 73
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[
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71.19140625,
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[
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| 74
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| 74
| 0
|
[
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[
-13.18359375,
69.609375,
77.34375,
84.7265625,
-5.2734375,
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| 75
| 0
| 75
| 0
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[
-12.48046875,
71.3671875,
65.830078125,
91.669921875,
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[
-13.18359375,
69.609375,
74.970703125,
86.66015625,
-4.833984375,
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| 76
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| 76
| 0
|
[
-12.12890625,
71.3671875,
63.984375,
92.98828125,
-3.8671875,
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[
-12.83203125,
69.609375,
72.59765625,
87.978515625,
-4.5703125,
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| 77
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| 77
| 0
|
[
-11.77734375,
71.3671875,
61.962890625,
94.5703125,
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[
-12.568359375,
69.609375,
70.3125,
88.681640625,
-4.5703125,
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| 78
| 0
| 78
| 0
|
[
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71.3671875,
60.64453125,
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-3.515625,
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[
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69.697265625,
68.818359375,
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| 79
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| 79
| 0
|
[
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71.3671875,
60.46875,
96.416015625,
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[
-11.865234375,
69.609375,
67.236328125,
91.40625,
-3.955078125,
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| 80
| 0
| 80
| 0
|
[
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71.455078125,
60.46875,
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[
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69.521484375,
65.21484375,
92.98828125,
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| 81
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[
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60.46875,
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[
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93.515625,
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| 82
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| 82
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[
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[
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69.697265625,
63.10546875,
95.009765625,
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| 83
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| 83
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[
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71.54296875,
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[
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69.697265625,
62.75390625,
95.712890625,
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| 84
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| 84
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[
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71.54296875,
61.259765625,
97.998046875,
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[
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69.609375,
62.578125,
95.625,
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| 85
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| 85
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[
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71.54296875,
61.787109375,
97.91015625,
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[
-7.3828125,
69.609375,
62.578125,
96.50390625,
-2.021484375,
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| 86
| 0
| 86
| 0
|
[
-0.791015625,
71.54296875,
62.138671875,
97.734375,
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[
-6.064453125,
69.609375,
62.578125,
97.20703125,
-1.669921875,
17.83132553100586
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| 87
| 0
| 87
| 0
|
[
1.0546875,
71.54296875,
62.2265625,
97.734375,
1.23046875,
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[
-4.39453125,
69.609375,
62.490234375,
96.328125,
-1.0546875,
17.83132553100586
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| 88
| 0
| 88
| 0
|
[
2.98828125,
71.54296875,
62.2265625,
97.734375,
2.021484375,
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[
-2.724609375,
69.609375,
62.666015625,
96.50390625,
-0.703125,
17.83132553100586
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| 89
| 0
| 89
| 0
|
[
4.74609375,
71.54296875,
62.2265625,
97.646484375,
2.8125,
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[
-1.318359375,
69.609375,
62.666015625,
97.294921875,
0,
17.83132553100586
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| 90
| 0
| 90
| 0
|
[
6.591796875,
71.630859375,
62.138671875,
97.55859375,
3.69140625,
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[
0,
69.609375,
62.666015625,
96.767578125,
0.703125,
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| 91
| 0
| 91
| 0
|
[
8.26171875,
71.630859375,
62.05078125,
97.55859375,
4.658203125,
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[
1.669921875,
69.609375,
62.666015625,
96.6796875,
1.142578125,
17.83132553100586
] | 3.066667
| 92
| 0
| 92
| 0
|
[
9.84375,
71.630859375,
61.962890625,
97.55859375,
5.625,
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[
3.427734375,
69.609375,
62.666015625,
96.943359375,
1.845703125,
17.83132553100586
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| 93
| 0
| 93
| 0
|
[
11.513671875,
71.630859375,
62.05078125,
97.55859375,
6.591796875,
0.1818181872367859
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[
5.185546875,
69.609375,
62.666015625,
97.03125,
2.724609375,
17.83132553100586
] | 3.133333
| 94
| 0
| 94
| 0
|
[
13.18359375,
71.630859375,
62.05078125,
97.470703125,
7.3828125,
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[
6.591796875,
69.609375,
62.578125,
97.119140625,
3.69140625,
17.83132553100586
] | 3.166667
| 95
| 0
| 95
| 0
|
[
14.58984375,
71.630859375,
62.05078125,
97.470703125,
8.26171875,
0.1818181872367859
] |
[
8.173828125,
69.609375,
62.666015625,
96.943359375,
4.5703125,
17.83132553100586
] | 3.2
| 96
| 0
| 96
| 0
|
[
15.908203125,
71.630859375,
62.05078125,
97.470703125,
8.96484375,
0.1818181872367859
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[
10.107421875,
69.609375,
62.75390625,
96.85546875,
5.537109375,
17.83132553100586
] | 3.233333
| 97
| 0
| 97
| 0
|
[
17.138671875,
71.630859375,
62.05078125,
97.55859375,
9.580078125,
0.1818181872367859
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[
11.6015625,
69.609375,
62.75390625,
96.85546875,
6.416015625,
17.83132553100586
] | 3.266667
| 98
| 0
| 98
| 0
|
[
18.28125,
71.630859375,
62.05078125,
97.55859375,
10.107421875,
0.1818181872367859
] |
[
13.0078125,
69.609375,
62.75390625,
96.85546875,
6.943359375,
17.83132553100586
] | 3.3
| 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": 104,
"total_frames": 46689,
"total_tasks": 1,
"total_videos": 208,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:104"
},
"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.arm": {
"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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