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sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
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int64
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0
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[ 3.251953125, 113.37890625, 116.3671875, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.333333
70
0
70
0
[ 4.74609375, 105.64453125, 107.2265625, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 3.603515625, 111.26953125, 114.521484375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.366667
71
0
71
0
[ 4.833984375, 103.798828125, 105.732421875, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 3.8671875, 109.16015625, 112.8515625, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.4
72
0
72
0
[ 4.921875, 102.041015625, 104.23828125, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 4.130859375, 107.138671875, 111.181640625, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.433333
73
0
73
0
[ 5.2734375, 100.37109375, 102.83203125, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 4.306640625, 105.205078125, 109.599609375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.466667
74
0
74
0
[ 5.625, 98.701171875, 101.42578125, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 4.39453125, 103.447265625, 108.193359375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.5
75
0
75
0
[ 5.888671875, 96.943359375, 100.107421875, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 4.658203125, 101.337890625, 106.5234375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.533333
76
0
76
0
[ 6.15234375, 95.361328125, 98.701171875, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 4.921875, 99.755859375, 105.205078125, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.566667
77
0
77
0
[ 6.328125, 93.8671875, 97.3828125, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 5.2734375, 98.0859375, 103.88671875, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.6
78
0
78
0
[ 6.591796875, 92.373046875, 96.15234375, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 5.537109375, 96.416015625, 102.48046875, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.633333
79
0
79
0
[ 6.943359375, 90.966796875, 94.74609375, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 5.80078125, 94.74609375, 100.986328125, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.666667
80
0
80
0
[ 7.294921875, 89.47265625, 93.33984375, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 5.9765625, 93.33984375, 99.84375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.7
81
0
81
0
[ 7.55859375, 88.06640625, 91.93359375, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 6.328125, 91.669921875, 98.349609375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.733333
82
0
82
0
[ 7.998046875, 86.8359375, 90.52734375, 79.453125, -86.396484375, -0.5692600011825562 ]
[ 6.591796875, 90.17578125, 97.119140625, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.766667
83
0
83
0
[ 8.26171875, 85.60546875, 89.296875, 79.453125, -86.484375, -0.5692600011825562 ]
[ 6.943359375, 88.59375, 95.712890625, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.8
84
0
84
0
[ 8.61328125, 84.55078125, 88.154296875, 79.453125, -86.484375, -0.5692600011825562 ]
[ 7.294921875, 87.1875, 94.306640625, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.833333
85
0
85
0
[ 8.96484375, 83.49609375, 86.8359375, 79.453125, -86.484375, -0.5692600011825562 ]
[ 7.55859375, 85.95703125, 92.98828125, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.866667
86
0
86
0
[ 9.228515625, 82.529296875, 85.693359375, 79.453125, -86.484375, -0.5692600011825562 ]
[ 7.91015625, 84.814453125, 91.7578125, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.9
87
0
87
0
[ 9.580078125, 81.650390625, 84.55078125, 79.453125, -86.484375, -0.5692600011825562 ]
[ 8.26171875, 83.671875, 90.615234375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.933333
88
0
88
0
[ 9.931640625, 80.859375, 83.671875, 79.453125, -86.484375, -0.5692600011825562 ]
[ 8.525390625, 82.529296875, 89.208984375, 79.716796875, -86.30859375, 0.2814258933067322 ]
2.966667
89
0
89
0
[ 10.283203125, 80.244140625, 82.96875, 79.453125, -86.484375, -0.5692600011825562 ]
[ 8.876953125, 81.5625, 88.06640625, 79.716796875, -86.30859375, 0.2814258933067322 ]
3
90
0
90
0
[ 10.546875, 79.8046875, 82.529296875, 79.453125, -86.484375, -0.5692600011825562 ]
[ 9.228515625, 80.595703125, 87.01171875, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.033333
91
0
91
0
[ 10.810546875, 79.365234375, 82.353515625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 9.580078125, 79.98046875, 86.220703125, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.066667
92
0
92
0
[ 11.162109375, 79.189453125, 82.353515625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 9.84375, 79.453125, 85.693359375, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.1
93
0
93
0
[ 11.513671875, 79.013671875, 82.353515625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 10.107421875, 79.013671875, 85.341796875, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.133333
94
0
94
0
[ 11.865234375, 78.837890625, 82.353515625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 10.458984375, 78.837890625, 85.166015625, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.166667
95
0
95
0
[ 12.3046875, 78.837890625, 82.353515625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 10.810546875, 78.662109375, 85.166015625, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.2
96
0
96
0
[ 12.744140625, 78.837890625, 82.44140625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 11.162109375, 78.3984375, 85.166015625, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.233333
97
0
97
0
[ 13.18359375, 78.75, 82.44140625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 11.513671875, 78.3984375, 85.166015625, 79.716796875, -86.30859375, 0.2814258933067322 ]
3.266667
98
0
98
0
[ 13.623046875, 78.75, 82.44140625, 79.453125, -86.484375, -0.5692600011825562 ]
[ 11.953125, 78.3984375, 85.166015625, 79.716796875, -86.30859375, 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": {
            "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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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.phone": {
            "dtype": "video",
            "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "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
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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