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float32
0
53.2
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int64
0
1.06k
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int64
0
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index
int64
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task_index
int64
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1.65
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
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3.05
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3.1
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[ 11.604395866394043, -52.131866455078125, 65.14286041259766, 70.24176025390625, -50.85714340209961, 1.2137558460235596, -5.538461685180664, -25.670330047607422, 38.32966995239258, 70.15384674072266, 95.78022003173828, 1.396276593208313 ]
3.15
63
0
63
0
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[ 11.076923370361328, -51.69230651855469, 65.84615325927734, 69.53845977783203, -51.20878982543945, 1.2137558460235596, -6.593406677246094, -24.351648330688477, 38.32966995239258, 67.42857360839844, 94.19779968261719, 2.9255318641662598 ]
3.2
64
0
64
0
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[ 10.813186645507812, -52.0439567565918, 65.67032623291016, 69.62637329101562, -50.94505310058594, 1.2137558460235596, -7.560439586639404, -20.30769157409668, 41.846153259277344, 66.989013671875, 95.6043930053711, 9.77393627166748 ]
3.25
65
0
65
0
[ 9.818166732788086, -46.567134857177734, 60.81563186645508, 73.2566909790039, -48.57571792602539, 2.0085840225219727, -7.472184181213379, -36.56352996826172, 51.28330993652344, 58.569583892822266, 98.80262756347656, 9.123815536499023 ]
[ 10.285714149475098, -50.63736343383789, 64.61538696289062, 69.80220031738281, -50.593406677246094, 1.2137558460235596, -7.648351669311523, -23.47252655029297, 43.25274658203125, 64, 96.13186645507812, 9.308510780334473 ]
3.3
66
0
66
0
[ 9.977507591247559, -46.44334030151367, 57.77189254760742, 71.48709869384766, -49.19432067871094, 2.225276470184326, -9.114697456359863, -38.19282531738281, 52.22037887573242, 57.119422912597656, 98.60919952392578, 12.481549263000488 ]
[ 9.582417488098145, -49.406593322753906, 63.912086486816406, 70.32967376708984, -50.593406677246094, 1.2137558460235596, -7.648351669311523, -27.69230842590332, 45.4505500793457, 62.68132019042969, 97.0988998413086, 7.380319118499756 ]
3.35
67
0
67
0
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3.4
68
0
68
0
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[ 10.10988998413086, -46.94505310058594, 62.593406677246094, 72, -49.626373291015625, 1.820633888244629, -8.439560890197754, -35.25274658203125, 50.72527313232422, 58.989009857177734, 97.97801971435547, 10.106383323669434 ]
3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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[ 8.527472496032715, -44.83516311645508, 60.659339904785156, 72.43955993652344, -48.83516311645508, 1.8880647420883179, -10.197802543640137, -42.19780349731445, 59.9560432434082, 53.4505500793457, 102.72527313232422, 22.207447052001953 ]
3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
[ 9.061694145202637, -46.529361724853516, 65.15118408203125, 71.80526733398438, -49.18990707397461, 1.1418145895004272, -10.731627464294434, -50.016483306884766, 89.78038787841797, 27.712739944458008, 106.1667251586914, 23.028783798217773 ]
[ 8.615385055541992, -42.81318664550781, 66.46154022216797, 74.02198028564453, -48.92307662963867, 1.5509103536605835, -11.868131637573242, -54.68132019042969, 89.4065933227539, 30.153846740722656, 107.73626708984375, 25.26595687866211 ]
4.75
95
0
95
0
[ 10.080185890197754, -36.68818664550781, 65.50703430175781, 73.0674819946289, -49.975101470947266, 1.846064805984497, -9.213598251342773, -51.12834930419922, 87.1542739868164, 29.323835372924805, 110.01373291015625, 25.293609619140625 ]
[ 8.615385055541992, -40.17582321166992, 69.010986328125, 73.4945068359375, -49.978023529052734, 1.281186819076538, -11.164834976196289, -55.120880126953125, 89.4945068359375, 30.153846740722656, 107.12088012695312, 25.1994686126709 ]
4.8
96
0
96
0
[ 8.007598876953125, -37.721153259277344, 66.2176284790039, 73.84268188476562, -50.83327865600586, 2.1711034774780273, -8.860748291015625, -48.38393020629883, 85.7100830078125, 30.279794692993164, 108.80769348144531, 24.87224578857422 ]
[ 9.230769157409668, -44.30769348144531, 67.34066009521484, 72.35164642333984, -49.80219650268555, 1.1463249921798706, -11.076923370361328, -51.07692337036133, 90.37362670898438, 28.74725341796875, 106.5054931640625, 23.803192138671875 ]
4.85
97
0
97
0
[ 7.455873012542725, -37.692779541015625, 67.03571319580078, 75.92657470703125, -50.01064682006836, 2.333622694015503, -9.703210830688477, -48.12903594970703, 82.6090316772461, 34.503177642822266, 107.2754135131836, 24.87224578857422 ]
[ 9.494505882263184, -44.30769348144531, 67.34066009521484, 72.70330047607422, -49.71428680419922, 1.281186819076538, -10.813186645507812, -51.60439682006836, 89.5824203491211, 29.010988235473633, 107.03296661376953, 24.00265884399414 ]
4.9
98
0
98
0
[ 5.963084697723389, -37.160369873046875, 64.74175262451172, 75.05777740478516, -51.587310791015625, 3.579603910446167, -13.105769157409668, -46.36663055419922, 86.440673828125, 32.97038269042969, 107.29601287841797, 25.7149715423584 ]
[ 8.79120922088623, -41.4945068359375, 67.34066009521484, 73.4065933227539, -50.153846740722656, 1.5509103536605835, -9.494505882263184, -49.58241653442383, 88.26373291015625, 29.714284896850586, 108.43955993652344, 24.46808433532715 ]
4.95
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": "so-101",
    "total_episodes": 1,
    "total_frames": 1064,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
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                1280,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
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            "names": [
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            ],
            "info": {
                "video.height": 576,
                "video.width": 1024,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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