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float32
0
25.5
frame_index
int64
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509
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int64
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int64
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1.55
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1.6
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1.65
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1.7
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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
58
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2.95
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3
60
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3.05
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3.1
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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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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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
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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
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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
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4.35
87
0
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4.4
88
0
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4.45
89
0
89
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4.5
90
0
90
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4.55
91
0
91
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4.6
92
0
92
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4.65
93
0
93
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4.7
94
0
94
0
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[ 0.35164836049079895, -37.978023529052734, 64.43955993652344, 88.70330047607422, -49.18681335449219, 10.316925048828125, -12.747252464294434, -29.538461685180664, 72.79120635986328, 44.39560317993164, 92.26373291015625, 6.715425491333008 ]
4.75
95
0
95
0
[ 0.16963215172290802, -35.15874099731445, 64.51519012451172, 83.75384521484375, -46.237892150878906, 3.3629114627838135, -9.788853645324707, -31.211658477783203, 73.70570373535156, 43.55756378173828, 94.96359252929688, 0.32786884903907776 ]
[ 0.791208803653717, -37.36263656616211, 64.87911987304688, 87.47252655029297, -49.36263656616211, 9.575185775756836, -11.95604419708252, -29.89011001586914, 72.52747344970703, 42.10988998413086, 95.6043930053711, 3.922872304916382 ]
4.8
96
0
96
0
[ -0.26043009757995605, -37.55219650268555, 64.88548278808594, 83.6957015991211, -46.382381439208984, 1.4126800298690796, -10.12135124206543, -34.0302848815918, 72.18277740478516, 45.7985954284668, 95.46084594726562, 0.32786884903907776 ]
[ 0.08791209012269974, -38.593406677246094, 66.37362670898438, 85.97801971435547, -51.03296661376953, 9.5077543258667, -9.230769157409668, -29.450550079345703, 71.73626708984375, 42.989009857177734, 101.4945068359375, 2.7260637283325195 ]
4.85
97
0
97
0
[ -1.3359371423721313, -37.941104888916016, 65.04356384277344, 84.33121490478516, -45.618858337402344, 1.0334683656692505, -10.286884307861328, -35.160884857177734, 70.62362670898438, 48.328556060791016, 95.19762420654297, 0.32786884903907776 ]
[ 0.17582418024539948, -38.241756439208984, 66.54945373535156, 84.92308044433594, -50.769229888916016, 9.103169441223145, -9.318681716918945, -29.9780216217041, 72.0879135131836, 42.989009857177734, 100.96703338623047, 2.1941490173339844 ]
4.9
98
0
98
0
[ -1.2787598371505737, -37.046016693115234, 64.22930908203125, 84.81104278564453, -46.65914535522461, 0.7626028656959534, -9.828897476196289, -38.306278228759766, 68.97527313232422, 52.790523529052734, 94.93558502197266, 0.32786884903907776 ]
[ -0.17582418024539948, -36.39560317993164, 66.28571319580078, 83.95604705810547, -48.39560317993164, 6.203641414642334, -10.021978378295898, -31.91208839416504, 72.87911987304688, 44.57143020629883, 98.32967376708984, 1.9946808815002441 ]
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": 510,
    "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": {
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            "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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            ],
            "names": [
                "height",
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            "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": [
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                1280,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.top": {
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            "names": [
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            "info": {
                "video.height": 576,
                "video.width": 1024,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
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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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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