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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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index
int64
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int64
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71
0
[ 6.064453125, 143.876953125, 150.556640625, 36.650390625, -86.396484375, 0.759013295173645 ]
[ 3.427734375, 150.64453125, 156.533203125, 40.25390625, -86.30859375, 1.3133208751678467 ]
2.4
72
0
72
0
[ 7.03125, 141.943359375, 149.58984375, 35.859375, -86.396484375, 0.759013295173645 ]
[ 4.306640625, 148.271484375, 155.390625, 39.111328125, -86.30859375, 1.3133208751678467 ]
2.433333
73
0
73
0
[ 7.91015625, 139.833984375, 148.623046875, 34.98046875, -86.396484375, 0.759013295173645 ]
[ 5.009765625, 146.25, 154.248046875, 38.408203125, -86.30859375, 1.3133208751678467 ]
2.466667
74
0
74
0
[ 8.701171875, 137.724609375, 147.65625, 34.1015625, -86.396484375, 0.759013295173645 ]
[ 5.80078125, 144.052734375, 153.28125, 37.529296875, -86.30859375, 1.3133208751678467 ]
2.5
75
0
75
0
[ 9.4921875, 135.703125, 146.6015625, 33.046875, -86.396484375, 0.759013295173645 ]
[ 6.6796875, 141.943359375, 152.314453125, 36.650390625, -86.30859375, 1.3133208751678467 ]
2.533333
76
0
76
0
[ 10.1953125, 133.505859375, 145.458984375, 31.9921875, -86.396484375, 0.759013295173645 ]
[ 7.55859375, 139.833984375, 151.34765625, 35.68359375, -86.30859375, 1.3133208751678467 ]
2.566667
77
0
77
0
[ 10.986328125, 131.30859375, 144.31640625, 31.025390625, -86.396484375, 0.759013295173645 ]
[ 8.349609375, 137.63671875, 150.380859375, 34.8046875, -86.30859375, 1.3133208751678467 ]
2.6
78
0
78
0
[ 11.689453125, 129.19921875, 143.173828125, 29.970703125, -86.396484375, 0.759013295173645 ]
[ 9.052734375, 135.52734375, 149.23828125, 33.837890625, -86.30859375, 1.3133208751678467 ]
2.633333
79
0
79
0
[ 12.392578125, 127.08984375, 141.943359375, 28.828125, -86.396484375, 0.759013295173645 ]
[ 9.931640625, 133.2421875, 148.095703125, 32.87109375, -86.30859375, 1.3133208751678467 ]
2.666667
80
0
80
0
[ 13.095703125, 124.892578125, 140.712890625, 27.7734375, -86.396484375, 0.759013295173645 ]
[ 10.546875, 131.1328125, 146.953125, 31.81640625, -86.30859375, 1.3133208751678467 ]
2.7
81
0
81
0
[ 13.7109375, 122.783203125, 139.306640625, 26.71875, -86.396484375, 0.759013295173645 ]
[ 11.25, 129.0234375, 145.72265625, 30.673828125, -86.30859375, 1.3133208751678467 ]
2.733333
82
0
82
0
[ 14.326171875, 120.5859375, 137.900390625, 25.6640625, -86.396484375, 0.759013295173645 ]
[ 12.041015625, 126.826171875, 144.580078125, 29.619140625, -86.30859375, 1.3133208751678467 ]
2.766667
83
0
83
0
[ 14.853515625, 118.388671875, 136.494140625, 24.697265625, -86.396484375, 0.759013295173645 ]
[ 12.65625, 124.62890625, 143.26171875, 28.65234375, -86.30859375, 1.3133208751678467 ]
2.8
84
0
84
0
[ 15.380859375, 116.279296875, 135.263671875, 23.73046875, -86.396484375, 0.759013295173645 ]
[ 13.271484375, 122.431640625, 141.943359375, 27.59765625, -86.30859375, 1.3133208751678467 ]
2.833333
85
0
85
0
[ 15.908203125, 114.08203125, 134.033203125, 22.939453125, -86.396484375, 0.759013295173645 ]
[ 13.88671875, 120.322265625, 140.537109375, 26.630859375, -86.30859375, 1.3133208751678467 ]
2.866667
86
0
86
0
[ 16.5234375, 111.97265625, 132.802734375, 22.1484375, -86.396484375, 0.759013295173645 ]
[ 14.501953125, 118.125, 139.21875, 25.576171875, -86.30859375, 1.3133208751678467 ]
2.9
87
0
87
0
[ 17.138671875, 110.0390625, 131.66015625, 21.357421875, -86.396484375, 0.759013295173645 ]
[ 15.029296875, 116.015625, 137.900390625, 24.78515625, -86.30859375, 1.3133208751678467 ]
2.933333
88
0
88
0
[ 17.578125, 108.017578125, 130.517578125, 20.654296875, -86.396484375, 0.759013295173645 ]
[ 15.556640625, 113.73046875, 136.669921875, 23.818359375, -86.30859375, 1.3133208751678467 ]
2.966667
89
0
89
0
[ 18.017578125, 105.99609375, 129.375, 20.0390625, -86.396484375, 0.759013295173645 ]
[ 16.171875, 111.708984375, 135.52734375, 23.02734375, -86.30859375, 1.3133208751678467 ]
3
90
0
90
0
[ 18.45703125, 103.88671875, 128.14453125, 19.423828125, -86.396484375, 0.759013295173645 ]
[ 16.787109375, 109.6875, 134.47265625, 22.32421875, -86.30859375, 1.3133208751678467 ]
3.033333
91
0
91
0
[ 18.984375, 101.865234375, 126.826171875, 18.984375, -86.396484375, 0.759013295173645 ]
[ 17.2265625, 107.578125, 133.154296875, 21.62109375, -86.30859375, 1.3133208751678467 ]
3.066667
92
0
92
0
[ 19.423828125, 99.931640625, 125.68359375, 18.544921875, -86.396484375, 0.8538898825645447 ]
[ 17.666015625, 105.380859375, 132.01171875, 21.005859375, -86.30859375, 1.3133208751678467 ]
3.1
93
0
93
0
[ 19.86328125, 97.998046875, 124.62890625, 18.193359375, -86.396484375, 1.2333965301513672 ]
[ 18.193359375, 103.447265625, 130.693359375, 20.478515625, -86.30859375, 1.3133208751678467 ]
3.133333
94
0
94
0
[ 20.390625, 96.240234375, 123.486328125, 18.017578125, -86.396484375, 1.2333965301513672 ]
[ 18.6328125, 101.337890625, 129.55078125, 19.86328125, -86.30859375, 1.3133208751678467 ]
3.166667
95
0
95
0
[ 20.830078125, 94.658203125, 122.34375, 17.841796875, -86.396484375, 1.2333965301513672 ]
[ 19.072265625, 99.140625, 128.3203125, 19.51171875, -86.30859375, 1.3133208751678467 ]
3.2
96
0
96
0
[ 21.26953125, 93.1640625, 121.11328125, 17.666015625, -86.396484375, 1.3282731771469116 ]
[ 19.599609375, 97.294921875, 127.177734375, 19.248046875, -86.30859375, 1.3133208751678467 ]
3.233333
97
0
97
0
[ 21.708984375, 91.7578125, 119.8828125, 17.666015625, -86.396484375, 1.3282731771469116 ]
[ 20.0390625, 95.80078125, 126.298828125, 19.072265625, -86.30859375, 1.3133208751678467 ]
3.266667
98
0
98
0
[ 22.060546875, 90.439453125, 118.740234375, 17.666015625, -86.396484375, 1.4231499433517456 ]
[ 20.478515625, 94.21875, 125.068359375, 18.896484375, -86.30859375, 1.3133208751678467 ]
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"
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    "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": {
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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",
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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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            }
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.gripper": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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