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sequence
observation.state
sequence
timestamp
float32
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19.9
frame_index
int64
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597
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[ 67.32421875, 110.56640625, 111.796875, 61.5234375, -9.580078125, 31.610942840576172 ]
2.5
75
0
75
0
[ 66.181640625, 103.447265625, 100.634765625, 64.248046875, -9.4921875, 33.423423767089844 ]
[ 67.060546875, 108.6328125, 109.86328125, 61.962890625, -9.580078125, 32.066871643066406 ]
2.533333
76
0
76
0
[ 66.005859375, 101.6015625, 98.173828125, 65.390625, -9.4921875, 33.60360336303711 ]
[ 66.884765625, 106.787109375, 107.75390625, 62.578125, -9.580078125, 32.446807861328125 ]
2.566667
77
0
77
0
[ 65.7421875, 99.66796875, 95.537109375, 66.62109375, -9.4921875, 33.783782958984375 ]
[ 66.708984375, 104.94140625, 105.380859375, 63.369140625, -9.580078125, 32.75075912475586 ]
2.6
78
0
78
0
[ 65.56640625, 97.822265625, 93.076171875, 67.939453125, -9.404296875, 33.87387466430664 ]
[ 66.4453125, 103.18359375, 103.271484375, 64.248046875, -9.580078125, 33.05471420288086 ]
2.633333
79
0
79
0
[ 65.390625, 96.15234375, 90.3515625, 69.2578125, -9.31640625, 34.14414596557617 ]
[ 66.26953125, 101.25, 100.8984375, 65.302734375, -9.580078125, 33.28267288208008 ]
2.666667
80
0
80
0
[ 65.126953125, 94.39453125, 87.802734375, 70.751953125, -9.228515625, 34.23423385620117 ]
[ 66.09375, 99.31640625, 98.4375, 66.533203125, -9.580078125, 33.43465042114258 ]
2.7
81
0
81
0
[ 64.951171875, 92.8125, 85.341796875, 72.0703125, -9.140625, 34.41441345214844 ]
[ 65.830078125, 97.470703125, 95.888671875, 67.763671875, -9.580078125, 33.66261291503906 ]
2.733333
82
0
82
0
[ 64.599609375, 91.318359375, 83.14453125, 73.30078125, -9.052734375, 34.59459686279297 ]
[ 65.654296875, 95.712890625, 93.33984375, 69.08203125, -9.580078125, 33.8145866394043 ]
2.766667
83
0
83
0
[ 64.3359375, 90, 81.298828125, 74.1796875, -8.876953125, 34.77477264404297 ]
[ 65.478515625, 93.955078125, 90.703125, 70.48828125, -9.580078125, 33.9665641784668 ]
2.8
84
0
84
0
[ 64.072265625, 88.76953125, 79.62890625, 74.8828125, -8.61328125, 35.0450439453125 ]
[ 65.126953125, 92.373046875, 88.41796875, 71.630859375, -9.580078125, 34.1185417175293 ]
2.833333
85
0
85
0
[ 63.720703125, 87.626953125, 78.134765625, 75.498046875, -8.26171875, 35.135135650634766 ]
[ 64.951171875, 90.87890625, 86.220703125, 72.59765625, -9.4921875, 34.42249298095703 ]
2.866667
86
0
86
0
[ 63.369140625, 86.484375, 76.728515625, 76.11328125, -7.998046875, 35.31531524658203 ]
[ 64.599609375, 89.47265625, 84.19921875, 73.564453125, -9.228515625, 34.574466705322266 ]
2.9
87
0
87
0
[ 62.9296875, 85.341796875, 75.146484375, 76.81640625, -7.822265625, 35.58558654785156 ]
[ 64.248046875, 88.154296875, 82.353515625, 74.267578125, -8.7890625, 34.726444244384766 ]
2.933333
88
0
88
0
[ 62.490234375, 84.287109375, 73.65234375, 77.51953125, -7.470703125, 35.67567443847656 ]
[ 63.984375, 86.923828125, 80.771484375, 75.146484375, -8.525390625, 34.95440673828125 ]
2.966667
89
0
89
0
[ 62.05078125, 83.232421875, 71.982421875, 78.486328125, -7.20703125, 35.76576614379883 ]
[ 63.6328125, 85.78125, 79.1015625, 75.76171875, -8.349609375, 35.106380462646484 ]
3
90
0
90
0
[ 61.5234375, 82.08984375, 70.3125, 79.453125, -6.943359375, 35.76576614379883 ]
[ 63.193359375, 84.638671875, 77.431640625, 76.552734375, -7.998046875, 35.258358001708984 ]
3.033333
91
0
91
0
[ 60.908203125, 80.947265625, 68.73046875, 80.595703125, -6.85546875, 36.39639663696289 ]
[ 62.75390625, 83.408203125, 75.849609375, 77.34375, -7.734375, 35.334346771240234 ]
3.066667
92
0
92
0
[ 60.205078125, 79.892578125, 67.236328125, 81.650390625, -6.85546875, 37.92792892456055 ]
[ 62.314453125, 82.265625, 74.1796875, 78.310546875, -7.470703125, 35.334346771240234 ]
3.1
93
0
93
0
[ 59.501953125, 78.92578125, 66.005859375, 82.529296875, -6.85546875, 38.738739013671875 ]
[ 61.787109375, 81.2109375, 72.59765625, 79.27734375, -7.294921875, 35.7902717590332 ]
3.133333
94
0
94
0
[ 58.798828125, 77.87109375, 64.86328125, 83.3203125, -6.85546875, 38.738739013671875 ]
[ 61.171875, 80.068359375, 71.015625, 80.33203125, -7.294921875, 36.62614059448242 ]
3.166667
95
0
95
0
[ 58.18359375, 76.9921875, 63.896484375, 84.0234375, -6.767578125, 38.738739013671875 ]
[ 60.556640625, 79.013671875, 69.609375, 81.2109375, -7.294921875, 37.537994384765625 ]
3.2
96
0
96
0
[ 57.568359375, 76.11328125, 62.9296875, 84.638671875, -6.6796875, 38.738739013671875 ]
[ 59.853515625, 77.958984375, 68.37890625, 82.177734375, -7.294921875, 37.84194564819336 ]
3.233333
97
0
97
0
[ 57.041015625, 75.234375, 62.05078125, 85.166015625, -6.6796875, 38.738739013671875 ]
[ 59.150390625, 76.9921875, 67.236328125, 82.880859375, -7.119140625, 37.993919372558594 ]
3.266667
98
0
98
0
[ 56.513671875, 74.35546875, 61.083984375, 85.60546875, -6.50390625, 38.738739013671875 ]
[ 58.623046875, 76.025390625, 66.09375, 83.671875, -7.03125, 38.145896911621094 ]
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": 10,
    "total_frames": 5980,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "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.phone": {
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            "names": [
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                "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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