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sequence
observation.state
sequence
timestamp
float32
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19.8
frame_index
int64
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595
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[ 3.515625, 143.525390625, 145.107421875, 29.267578125, -89.6484375, 0.2814258933067322 ]
2.4
72
0
72
0
[ 3.33984375, 151.259765625, 144.755859375, 41.30859375, -89.296875, -0.47438329458236694 ]
[ 3.251953125, 145.1953125, 145.107421875, 31.9921875, -89.6484375, 0.2814258933067322 ]
2.433333
73
0
73
0
[ 3.33984375, 152.841796875, 144.755859375, 44.296875, -89.296875, -0.47438329458236694 ]
[ 3.251953125, 146.865234375, 145.107421875, 34.8046875, -89.6484375, 0.2814258933067322 ]
2.466667
74
0
74
0
[ 3.427734375, 154.248046875, 144.755859375, 47.109375, -89.296875, -0.47438329458236694 ]
[ 3.251953125, 148.53515625, 145.107421875, 37.705078125, -89.6484375, 0.2814258933067322 ]
2.5
75
0
75
0
[ 3.603515625, 155.654296875, 144.755859375, 49.658203125, -89.296875, -0.47438329458236694 ]
[ 3.33984375, 150.205078125, 145.107421875, 40.60546875, -89.6484375, 0.2814258933067322 ]
2.533333
76
0
76
0
[ 3.779296875, 156.97265625, 144.755859375, 52.20703125, -89.296875, -0.47438329458236694 ]
[ 3.33984375, 151.875, 145.107421875, 43.41796875, -89.6484375, 0.2814258933067322 ]
2.566667
77
0
77
0
[ 3.955078125, 158.115234375, 144.755859375, 54.404296875, -89.296875, -0.47438329458236694 ]
[ 3.33984375, 153.28125, 145.107421875, 46.318359375, -89.6484375, 0.2814258933067322 ]
2.6
78
0
78
0
[ 4.04296875, 159.345703125, 144.755859375, 56.42578125, -89.384765625, -0.47438329458236694 ]
[ 3.33984375, 154.775390625, 145.107421875, 49.04296875, -89.6484375, 0.2814258933067322 ]
2.633333
79
0
79
0
[ 4.04296875, 160.48828125, 144.755859375, 58.447265625, -89.384765625, -0.47438329458236694 ]
[ 3.515625, 156.09375, 145.107421875, 51.416015625, -89.6484375, 0.2814258933067322 ]
2.666667
80
0
80
0
[ 4.130859375, 161.54296875, 144.755859375, 60.205078125, -89.384765625, -0.47438329458236694 ]
[ 3.603515625, 157.32421875, 145.107421875, 53.7890625, -89.6484375, 0.2814258933067322 ]
2.7
81
0
81
0
[ 4.130859375, 162.509765625, 144.755859375, 61.787109375, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 158.5546875, 145.107421875, 55.986328125, -89.6484375, 0.2814258933067322 ]
2.733333
82
0
82
0
[ 4.130859375, 163.212890625, 144.755859375, 63.193359375, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 159.78515625, 145.107421875, 57.919921875, -89.6484375, 0.2814258933067322 ]
2.766667
83
0
83
0
[ 4.130859375, 163.740234375, 144.755859375, 64.248046875, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 160.83984375, 145.107421875, 59.765625, -89.6484375, 0.2814258933067322 ]
2.8
84
0
84
0
[ 4.130859375, 164.00390625, 144.755859375, 64.951171875, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 161.71875, 145.107421875, 61.435546875, -89.6484375, 0.2814258933067322 ]
2.833333
85
0
85
0
[ 4.130859375, 164.00390625, 144.84375, 65.302734375, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 162.421875, 145.107421875, 62.75390625, -89.6484375, 0.2814258933067322 ]
2.866667
86
0
86
0
[ 4.21875, 164.00390625, 144.84375, 65.390625, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 162.861328125, 145.107421875, 63.80859375, -89.6484375, 0.2814258933067322 ]
2.9
87
0
87
0
[ 4.306640625, 164.00390625, 144.84375, 65.478515625, -89.384765625, -0.47438329458236694 ]
[ 3.779296875, 163.125, 145.107421875, 64.423828125, -89.6484375, 0.2814258933067322 ]
2.933333
88
0
88
0
[ 4.39453125, 163.916015625, 144.84375, 65.478515625, -89.384765625, -0.47438329458236694 ]
[ 3.8671875, 163.212890625, 145.107421875, 64.86328125, -89.6484375, 0.2814258933067322 ]
2.966667
89
0
89
0
[ 4.74609375, 163.916015625, 144.84375, 65.478515625, -89.384765625, -0.47438329458236694 ]
[ 3.955078125, 163.212890625, 145.107421875, 65.126953125, -89.6484375, 0.2814258933067322 ]
3
90
0
90
0
[ 5.537109375, 163.916015625, 144.84375, 65.478515625, -89.384765625, -0.47438329458236694 ]
[ 3.955078125, 163.212890625, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.033333
91
0
91
0
[ 6.767578125, 163.916015625, 144.84375, 65.390625, -89.384765625, -0.47438329458236694 ]
[ 4.21875, 163.212890625, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.066667
92
0
92
0
[ 7.822265625, 163.65234375, 144.84375, 65.390625, -89.384765625, -0.47438329458236694 ]
[ 4.74609375, 163.212890625, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.1
93
0
93
0
[ 8.876953125, 163.125, 144.84375, 65.126953125, -89.384765625, -0.47438329458236694 ]
[ 5.712890625, 163.212890625, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.133333
94
0
94
0
[ 10.01953125, 162.94921875, 144.84375, 64.951171875, -89.384765625, -0.47438329458236694 ]
[ 6.6796875, 163.212890625, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.166667
95
0
95
0
[ 11.162109375, 162.94921875, 144.84375, 64.951171875, -89.47265625, -0.47438329458236694 ]
[ 7.55859375, 163.037109375, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.2
96
0
96
0
[ 12.392578125, 162.94921875, 144.84375, 64.86328125, -89.47265625, -0.47438329458236694 ]
[ 8.701171875, 163.037109375, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.233333
97
0
97
0
[ 13.623046875, 162.94921875, 144.84375, 64.86328125, -89.47265625, -0.47438329458236694 ]
[ 9.84375, 163.037109375, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
3.266667
98
0
98
0
[ 14.765625, 162.94921875, 144.84375, 64.86328125, -89.47265625, -0.47438329458236694 ]
[ 11.07421875, 163.037109375, 145.107421875, 65.21484375, -89.6484375, 0.2814258933067322 ]
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": 1,
    "total_frames": 596,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
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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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
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            "names": [
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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                640,
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
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            "shape": [
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                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,
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                "video.channels": 3,
                "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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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