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sequence | observation.state
sequence | timestamp
float32 0
0.3
| frame_index
int64 0
9
| episode_index
int64 0
3
| index
int64 0
29
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0 | 0 | 0 | 0 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.033333 | 1 | 0 | 1 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
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-0.09578543901443481
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[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.066667 | 2 | 0 | 2 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.1 | 3 | 0 | 3 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
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] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.133333 | 4 | 0 | 4 | 0 |
[
10.546875,
186.15234375,
177.099609375,
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-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0 | 0 | 1 | 5 | 0 |
[
10.546875,
186.15234375,
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[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.033333 | 1 | 1 | 6 | 0 |
[
10.546875,
186.15234375,
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] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.066667 | 2 | 1 | 7 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.1 | 3 | 1 | 8 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.517578125,
76.728515625,
-7.55859375,
0.06954102963209152
] | 0.133333 | 4 | 1 | 9 | 0 |
[
10.546875,
186.15234375,
177.099609375,
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] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0 | 0 | 2 | 10 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.033333 | 1 | 2 | 11 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.066667 | 2 | 2 | 12 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.1 | 3 | 2 | 13 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.133333 | 4 | 2 | 14 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.166667 | 5 | 2 | 15 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.2 | 6 | 2 | 16 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.233333 | 7 | 2 | 17 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.266667 | 8 | 2 | 18 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.3 | 9 | 2 | 19 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0 | 0 | 3 | 20 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.033333 | 1 | 3 | 21 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.066667 | 2 | 3 | 22 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.1 | 3 | 3 | 23 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.133333 | 4 | 3 | 24 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.166667 | 5 | 3 | 25 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.2 | 6 | 3 | 26 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.233333 | 7 | 3 | 27 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.266667 | 8 | 3 | 28 | 0 |
[
10.546875,
186.15234375,
177.099609375,
79.013671875,
-8.0859375,
-0.09578543901443481
] |
[
9.755859375,
186.416015625,
175.4296875,
76.904296875,
-7.55859375,
0.06954102963209152
] | 0.3 | 9 | 3 | 29 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 4,
"total_frames": 30,
"total_tasks": 1,
"total_videos": 8,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:4"
},
"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": [
6
],
"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": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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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