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int64
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2
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2.3
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.033333
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3.1
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3.133333
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3.166667
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3.2
96
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96
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[ 0.20749256014823914, 0.028179597109556198, 0.019484298303723335, -0.039092835038900375, 2.5654971599578857, 0.057940613478422165, 7.345094203948975 ]
[ 0.20368558168411255, 0.02560422755777836, 0.012020505964756012, -0.05094361677765846, 2.62662672996521, 0.09134919941425323, 6.72042989730835 ]
3.233333
97
0
97
0
[ 0.20300264656543732, 0.02787959575653076, 0.02031198889017105, -0.04643457755446434, 2.542938232421875, 0.04493927210569382, 5.893167972564697 ]
[ 0.199300616979599, 0.025225160643458366, 0.009757352992892265, -0.04697049781680107, 2.6299002170562744, 0.09299756586551666, 7.056451797485352 ]
3.266667
98
0
98
0
[ 0.19815504550933838, 0.02792593650519848, 0.020688330754637718, -0.03460972383618355, 2.521718978881836, 0.024691902101039886, 5.6994218826293945 ]
[ 0.19705934822559357, 0.024880291894078255, 0.010430967435240746, -0.04667018726468086, 2.6130852699279785, 0.0955795869231224, 6.451612949371338 ]
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_follower",
    "total_episodes": 2,
    "total_frames": 120,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                7
            ],
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.wx",
                "ee.wy",
                "ee.wz",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.front": {
            "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
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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