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sequence
observation.state
sequence
timestamp
float32
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19.8
frame_index
int64
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594
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4.12k
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[ -4.090432643890381, 79.14378356933594, 75.09723663330078, 73.67877197265625, -32.09925079345703, 0.12417411804199219 ]
[ -0.966796875, 69.697265625, 76.552734375, 71.103515625, -31.201171875, 2.351314067840576 ]
2.2
66
0
66
0
[ -5.066934585571289, 80.90230560302734, 75.25830078125, 74.46617126464844, -32.13658905029297, 0.1227712631225586 ]
[ -1.58203125, 71.19140625, 76.552734375, 71.982421875, -31.46484375, 2.351314067840576 ]
2.233333
67
0
67
0
[ -6.504960536956787, 82.74110412597656, 75.31739807128906, 75.24320220947266, -32.17322540283203, 0.12659931182861328 ]
[ -2.4609375, 73.037109375, 76.552734375, 72.861328125, -31.640625, 2.351314067840576 ]
2.266667
68
0
68
0
[ -7.697606086730957, 84.0905532836914, 75.34552764892578, 75.86199188232422, -32.14403533935547, 0.13178634643554688 ]
[ -3.515625, 74.970703125, 76.552734375, 73.564453125, -31.640625, 2.351314067840576 ]
2.3
69
0
69
0
[ -9.310595512390137, 85.2088623046875, 75.06832122802734, 76.53999328613281, -32.084381103515625, 0.12119817733764648 ]
[ -4.5703125, 76.640625, 76.552734375, 74.35546875, -31.640625, 2.351314067840576 ]
2.333333
70
0
70
0
[ -10.638092041015625, 85.83082580566406, 74.5133056640625, 77.24380493164062, -32.009544372558594, 0.12583065032958984 ]
[ -5.80078125, 78.486328125, 76.552734375, 75.234375, -31.640625, 2.351314067840576 ]
2.366667
71
0
71
0
[ -11.503862380981445, 86.14644622802734, 74.34439086914062, 77.49552154541016, -31.94605827331543, 0.11920452117919922 ]
[ -6.943359375, 79.98046875, 76.552734375, 75.76171875, -31.640625, 2.351314067840576 ]
2.4
72
0
72
0
[ -12.735981941223145, 86.10443878173828, 73.72300720214844, 77.92188262939453, -31.73159408569336, 0.1228947639465332 ]
[ -8.26171875, 81.2109375, 76.46484375, 76.46484375, -31.640625, 2.351314067840576 ]
2.433333
73
0
73
0
[ -13.734661102294922, 85.54976654052734, 73.00459289550781, 78.2800521850586, -31.499603271484375, 0.12648248672485352 ]
[ -9.66796875, 82.001953125, 76.46484375, 76.904296875, -31.640625, 2.351314067840576 ]
2.466667
74
0
74
0
[ -14.47196102142334, 84.91432189941406, 72.49089050292969, 78.33837127685547, -31.33270263671875, 0.1215062141418457 ]
[ -11.07421875, 82.265625, 76.46484375, 77.34375, -31.552734375, 2.351314067840576 ]
2.5
75
0
75
0
[ -15.295737266540527, 83.90974426269531, 71.65986633300781, 78.58332824707031, -31.180557250976562, 0.11863899230957031 ]
[ -12.216796875, 82.353515625, 76.025390625, 77.783203125, -31.552734375, 2.351314067840576 ]
2.533333
76
0
76
0
[ -15.909686088562012, 83.00485229492188, 71.08303833007812, 78.59304809570312, -31.035484313964844, 0.11885547637939453 ]
[ -13.18359375, 82.353515625, 75.5859375, 77.958984375, -31.552734375, 2.351314067840576 ]
2.566667
77
0
77
0
[ -16.40201187133789, 81.85963439941406, 70.31533813476562, 78.66921997070312, -30.83739471435547, 0.11516571044921875 ]
[ -14.0625, 82.353515625, 74.970703125, 78.310546875, -31.552734375, 2.351314067840576 ]
2.6
78
0
78
0
[ -16.81058120727539, 80.8978042602539, 69.76238250732422, 78.6474380493164, -30.698877334594727, 0.11244773864746094 ]
[ -14.58984375, 82.08984375, 74.267578125, 78.310546875, -31.552734375, 2.351314067840576 ]
2.633333
79
0
79
0
[ -17.235811233520508, 79.7658920288086, 69.04905700683594, 78.67863464355469, -30.514644622802734, 0.12182044982910156 ]
[ -15.1171875, 81.474609375, 73.4765625, 78.310546875, -31.46484375, 2.351314067840576 ]
2.666667
80
0
80
0
[ -17.452495574951172, 78.624755859375, 68.37881469726562, 78.6162109375, -30.43109130859375, 0.1177816390991211 ]
[ -15.64453125, 80.595703125, 72.7734375, 78.3984375, -31.201171875, 2.351314067840576 ]
2.7
81
0
81
0
[ -17.85645294189453, 77.35003662109375, 67.6019287109375, 78.55094909667969, -30.313608169555664, 0.10313940048217773 ]
[ -16.171875, 79.541015625, 72.333984375, 78.486328125, -31.025390625, 2.351314067840576 ]
2.733333
82
0
82
0
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[ -16.611328125, 78.486328125, 71.71875, 78.486328125, -30.849609375, 2.351314067840576 ]
2.766667
83
0
83
0
[ -17.968950271606445, 75.38041687011719, 66.26734161376953, 78.45428466796875, -30.197404861450195, 0.10143041610717773 ]
[ -17.05078125, 77.34375, 71.015625, 78.3984375, -30.849609375, 2.351314067840576 ]
2.8
84
0
84
0
[ -18.01781463623047, 74.28990936279297, 65.50948333740234, 78.43383026123047, -30.144329071044922, 0.10628890991210938 ]
[ -17.40234375, 76.201171875, 70.224609375, 78.3984375, -30.849609375, 2.351314067840576 ]
2.833333
85
0
85
0
[ -17.970251083374023, 73.02438354492188, 64.66078186035156, 78.46219635009766, -30.066919326782227, 0.10582876205444336 ]
[ -17.666015625, 75.234375, 69.697265625, 78.3984375, -30.673828125, 2.351314067840576 ]
2.866667
86
0
86
0
[ -17.97671127319336, 72.06342315673828, 64.03012084960938, 78.4826889038086, -30.011404037475586, 0.10600566864013672 ]
[ -17.841796875, 74.091796875, 68.90625, 78.3984375, -30.498046875, 2.351314067840576 ]
2.9
87
0
87
0
[ -17.978240966796875, 71.12260437011719, 63.48626708984375, 78.55778503417969, -29.914447784423828, 0.10885381698608398 ]
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2.933333
88
0
88
0
[ -17.961837768554688, 70.18405151367188, 62.95691680908203, 78.50496673583984, -29.853668212890625, 0.10081815719604492 ]
[ -17.9296875, 71.806640625, 67.5, 78.3984375, -30.41015625, 2.351314067840576 ]
2.966667
89
0
89
0
[ -17.927871704101562, 69.44671630859375, 62.554893493652344, 78.55867004394531, -29.74839973449707, 0.09819650650024414 ]
[ -17.9296875, 70.83984375, 66.97265625, 78.3984375, -30.41015625, 2.351314067840576 ]
3
90
0
90
0
[ -17.926626205444336, 68.53253173828125, 62.01504135131836, 78.57064819335938, -29.64857292175293, 0.0894765853881836 ]
[ -17.75390625, 69.873046875, 66.357421875, 78.3984375, -30.146484375, 2.351314067840576 ]
3.033333
91
0
91
0
[ -17.83050537109375, 67.61060333251953, 61.67167663574219, 78.37646484375, -29.568431854248047, 0.09329557418823242 ]
[ -17.666015625, 69.08203125, 65.91796875, 78.3984375, -30.146484375, 2.351314067840576 ]
3.066667
92
0
92
0
[ -17.826181411743164, 66.6611099243164, 60.9940185546875, 78.48731231689453, -29.569948196411133, 0.11365175247192383 ]
[ -17.578125, 68.203125, 65.478515625, 78.3984375, -29.970703125, 2.351314067840576 ]
3.1
93
0
93
0
[ -17.795682907104492, 65.881591796875, 60.56134033203125, 78.45114135742188, -29.526636123657227, 0.16668939590454102 ]
[ -17.578125, 67.32421875, 64.951171875, 78.3984375, -29.8828125, 2.351314067840576 ]
3.133333
94
0
94
0
[ -17.665159225463867, 64.993408203125, 60.081581115722656, 78.36769104003906, -29.489763259887695, 0.28601789474487305 ]
[ -17.578125, 66.884765625, 64.6875, 78.3984375, -29.8828125, 2.351314067840576 ]
3.166667
95
0
95
0
[ -17.508649826049805, 64.27616882324219, 59.70770263671875, 78.2854232788086, -29.558040618896484, 0.521399974822998 ]
[ -17.666015625, 65.91796875, 63.80859375, 78.3984375, -29.8828125, 2.351314067840576 ]
3.2
96
0
96
0
[ -17.348020553588867, 63.4466552734375, 59.24129104614258, 78.26465606689453, -29.617721557617188, 0.6594419479370117 ]
[ -17.666015625, 64.86328125, 63.10546875, 78.3984375, -29.8828125, 2.351314067840576 ]
3.233333
97
0
97
0
[ -17.211048126220703, 63.00584411621094, 59.04581069946289, 78.20025634765625, -29.644432067871094, 0.7196154594421387 ]
[ -17.75390625, 63.896484375, 62.666015625, 78.3984375, -29.8828125, 2.351314067840576 ]
3.266667
98
0
98
0
[ -17.094385147094727, 62.67197799682617, 58.92723846435547, 78.16312408447266, -29.686790466308594, 0.7483139038085938 ]
[ -17.75390625, 63.017578125, 62.314453125, 78.3984375, -29.8828125, 2.351314067840576 ]
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": "so100",
    "total_episodes": 10,
    "total_frames": 4121,
    "total_tasks": 1,
    "total_videos": 20,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "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"
            ]
        },
        "observation.images.eye": {
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            "shape": [
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            "names": [
                "height",
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            "info": {
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                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
                "height",
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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