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sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
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895
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[ -2.514253616333008, 191.93161010742188, 180.1263427734375, 55.21768569946289, 41.86233139038086, 0.2381305694580078 ]
[ -4.04296875, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.166667
65
0
65
0
[ -1.3742589950561523, 191.80804443359375, 181.4559326171875, 54.76648712158203, 41.885196685791016, 0.2386188507080078 ]
[ -3.8671875, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.2
66
0
66
0
[ -1.5959749221801758, 191.90045166015625, 181.55209350585938, 54.59001159667969, 41.93131637573242, 0.22359848022460938 ]
[ -3.779296875, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.233333
67
0
67
0
[ -1.1361656188964844, 191.86968994140625, 181.653564453125, 54.8222541809082, 41.876182556152344, 0.22553062438964844 ]
[ -3.603515625, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.266667
68
0
68
0
[ -0.7582111358642578, 191.8270263671875, 182.07354736328125, 54.69276809692383, 41.87578582763672, 0.2203502655029297 ]
[ -3.33984375, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.3
69
0
69
0
[ -0.6763515472412109, 191.84039306640625, 181.81405639648438, 55.030067443847656, 41.818511962890625, 0.2217388153076172 ]
[ -3.076171875, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.333333
70
0
70
0
[ 0.23795318603515625, 191.74908447265625, 182.83016967773438, 54.70487594604492, 41.81703567504883, 0.2229290008544922 ]
[ -2.8125, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.366667
71
0
71
0
[ 0.5735435485839844, 191.7662353515625, 183.15435791015625, 54.70459747314453, 41.8004150390625, 0.22197723388671875 ]
[ -2.548828125, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.4
72
0
72
0
[ 0.4677753448486328, 191.7721405029297, 183.03961181640625, 54.746910095214844, 41.79173278808594, 0.21848297119140625 ]
[ -2.197265625, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.433333
73
0
73
0
[ 0.3946495056152344, 191.75991821289062, 183.05447387695312, 54.636802673339844, 41.834259033203125, 0.2163867950439453 ]
[ -1.7578125, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.466667
74
0
74
0
[ 0.3802223205566406, 191.8400115966797, 183.032958984375, 54.7269287109375, 41.81438064575195, 0.21163368225097656 ]
[ -1.58203125, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.5
75
0
75
0
[ 0.9425525665283203, 191.76304626464844, 183.787841796875, 54.382110595703125, 41.86978530883789, 0.19659042358398438 ]
[ -1.40625, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.533333
76
0
76
0
[ 1.241943359375, 191.78768920898438, 183.9102325439453, 54.54058837890625, 41.773094177246094, 0.21093368530273438 ]
[ -1.40625, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.566667
77
0
77
0
[ 1.5204944610595703, 191.74221801757812, 184.33447265625, 54.38023376464844, 41.806488037109375, 0.19563865661621094 ]
[ -1.23046875, 191.337890625, 184.921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.6
78
0
78
0
[ 1.5493431091308594, 191.8062744140625, 184.48611450195312, 54.301856994628906, 41.88263702392578, 0.17617225646972656 ]
[ -0.966796875, 191.25, 185.009765625, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.633333
79
0
79
0
[ 1.542715072631836, 191.7711181640625, 184.42318725585938, 54.337730407714844, 41.83557891845703, 0.18964004516601562 ]
[ -0.703125, 191.25, 185.009765625, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.666667
80
0
80
0
[ 1.5506343841552734, 191.79080200195312, 184.53158569335938, 54.31952667236328, 41.86555099487305, 0.17110443115234375 ]
[ -0.52734375, 191.25, 185.009765625, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.7
81
0
81
0
[ 1.5821094512939453, 191.8964080810547, 184.66146850585938, 54.29526901245117, 41.87290954589844, 0.1476917266845703 ]
[ -0.3515625, 191.25, 185.009765625, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.733333
82
0
82
0
[ 1.5713672637939453, 191.92933654785156, 184.7323455810547, 54.297752380371094, 41.87869644165039, 0.1315135955810547 ]
[ -0.3515625, 191.25, 185.185546875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.766667
83
0
83
0
[ 1.5668296813964844, 191.90896606445312, 184.72509765625, 54.297584533691406, 41.87758255004883, 0.1324329376220703 ]
[ -0.3515625, 191.25, 185.2734375, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.8
84
0
84
0
[ 1.5548114776611328, 191.8201904296875, 184.58999633789062, 54.314109802246094, 41.8914909362793, 0.1568470001220703 ]
[ -0.263671875, 191.25, 185.361328125, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.833333
85
0
85
0
[ 1.5323143005371094, 191.89894104003906, 184.7657470703125, 54.30781555175781, 41.92355728149414, 0.12348747253417969 ]
[ -0.087890625, 191.25, 185.361328125, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.866667
86
0
86
0
[ 1.5609893798828125, 191.93545532226562, 184.78396606445312, 54.302433013916016, 41.93339157104492, 0.1148681640625 ]
[ 0, 191.25, 185.361328125, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.9
87
0
87
0
[ 1.5275993347167969, 191.93804931640625, 184.8193359375, 54.2960205078125, 41.937679290771484, 0.11908149719238281 ]
[ 0, 191.25, 185.361328125, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.933333
88
0
88
0
[ 1.5045909881591797, 191.81842041015625, 184.67431640625, 54.32318878173828, 41.94805145263672, 0.143829345703125 ]
[ 0, 191.25, 185.44921875, 56.42578125, 41.66015625, 0.4160887598991394 ]
2.966667
89
0
89
0
[ 1.511392593383789, 191.86502075195312, 184.74514770507812, 54.31602478027344, 41.95619201660156, 0.13624191284179688 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3
90
0
90
0
[ 1.4996967315673828, 191.84683227539062, 184.74563598632812, 54.313720703125, 41.97223663330078, 0.1377887725830078 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.033333
91
0
91
0
[ 1.478719711303711, 191.838134765625, 184.73341369628906, 54.325660705566406, 41.974021911621094, 0.139312744140625 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.066667
92
0
92
0
[ 1.4631271362304688, 191.80770874023438, 184.71859741210938, 54.33033752441406, 41.98313903808594, 0.142608642578125 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.1
93
0
93
0
[ 1.4570579528808594, 191.82086181640625, 184.71539306640625, 54.31913375854492, 41.9802131652832, 0.14503097534179688 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.133333
94
0
94
0
[ 1.452962875366211, 191.80023193359375, 184.700927734375, 54.337547302246094, 41.996341705322266, 0.1478748321533203 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.166667
95
0
95
0
[ 1.4525127410888672, 191.843505859375, 184.76284790039062, 54.318241119384766, 42.00607681274414, 0.14774703979492188 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.2
96
0
96
0
[ 1.4452629089355469, 191.74813842773438, 184.6592254638672, 54.357566833496094, 41.99647903442383, 0.15575790405273438 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.233333
97
0
97
0
[ 1.4390239715576172, 191.73577880859375, 184.64414978027344, 54.3546257019043, 42.00220489501953, 0.15809059143066406 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
3.266667
98
0
98
0
[ 1.4458293914794922, 191.74867248535156, 184.66964721679688, 54.363136291503906, 42.00246810913086, 0.15766143798828125 ]
[ 0, 191.25, 185.537109375, 56.42578125, 41.66015625, 0.4160887598991394 ]
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": "v2.1",
    "robot_type": "so101",
    "total_episodes": 10,
    "total_frames": 8947,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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