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sequence | observation.state
sequence | timestamp
float32 0
24.2
| frame_index
int64 0
727
| episode_index
int64 0
19
| index
int64 0
14.4k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
5.09765625,
120.05859375,
133.330078125,
51.6796875,
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[
3.779296875,
122.87109375,
139.306640625,
52.55859375,
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10.439165115356445
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[
5.185546875,
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[
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138.779296875,
52.03125,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
0.791015625,
111.4453125,
131.396484375,
50.009765625,
-41.1328125,
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| 56
| 0
| 56
| 0
|
[
-0.17578125,
112.939453125,
125.859375,
50.537109375,
-41.748046875,
12.570355415344238
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[
0.791015625,
111.4453125,
131.220703125,
49.921875,
-41.1328125,
11.591072082519531
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| 57
| 0
| 57
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|
[
-0.17578125,
112.939453125,
125.68359375,
50.361328125,
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[
0.791015625,
111.4453125,
131.220703125,
50.09765625,
-41.1328125,
11.591072082519531
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| 58
| 0
| 58
| 0
|
[
-0.3515625,
112.939453125,
125.5078125,
50.361328125,
-41.748046875,
12.664164543151855
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[
0.791015625,
111.4453125,
130.869140625,
50.2734375,
-41.1328125,
11.591072082519531
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| 59
| 0
| 59
| 0
|
[
-0.439453125,
112.939453125,
125.33203125,
50.361328125,
-41.66015625,
12.664164543151855
] |
[
0.791015625,
111.4453125,
130.60546875,
50.2734375,
-41.1328125,
11.591072082519531
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| 60
| 0
| 60
| 0
|
[
-0.439453125,
112.939453125,
124.98046875,
50.361328125,
-41.66015625,
12.664164543151855
] |
[
0.791015625,
111.4453125,
130.25390625,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-0.615234375,
112.939453125,
124.716796875,
50.361328125,
-41.66015625,
12.664164543151855
] |
[
0.791015625,
111.4453125,
130.078125,
50.185546875,
-41.1328125,
11.591072082519531
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-0.791015625,
112.939453125,
124.541015625,
50.361328125,
-41.572265625,
12.664164543151855
] |
[
0.791015625,
111.4453125,
129.814453125,
50.2734375,
-41.1328125,
11.591072082519531
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| 63
| 0
| 63
| 0
|
[
-0.87890625,
112.939453125,
124.365234375,
50.361328125,
-41.572265625,
12.664164543151855
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[
0.791015625,
111.4453125,
129.638671875,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-1.0546875,
112.939453125,
124.189453125,
50.361328125,
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12.664164543151855
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[
0.791015625,
111.4453125,
129.462890625,
50.185546875,
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| 65
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| 65
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|
[
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112.939453125,
124.1015625,
50.361328125,
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[
0.791015625,
111.4453125,
129.375,
50.2734375,
-41.1328125,
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| 66
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| 66
| 0
|
[
-1.142578125,
112.939453125,
124.013671875,
50.361328125,
-41.484375,
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[
0.52734375,
111.4453125,
129.375,
50.2734375,
-41.1328125,
11.591072082519531
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| 67
| 0
| 67
| 0
|
[
-1.142578125,
112.939453125,
123.92578125,
50.361328125,
-41.484375,
12.664164543151855
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[
0.263671875,
111.4453125,
129.375,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-1.23046875,
112.939453125,
123.92578125,
50.361328125,
-41.484375,
12.664164543151855
] |
[
0.17578125,
111.4453125,
129.375,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.3
| 69
| 0
| 69
| 0
|
[
-1.318359375,
112.939453125,
123.92578125,
50.2734375,
-41.572265625,
12.664164543151855
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[
0.087890625,
111.4453125,
129.111328125,
50.2734375,
-41.1328125,
11.591072082519531
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| 70
| 0
| 70
| 0
|
[
-1.40625,
112.939453125,
123.92578125,
50.2734375,
-41.572265625,
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[
-0.087890625,
111.4453125,
128.671875,
50.2734375,
-41.1328125,
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| 71
| 0
| 71
| 0
|
[
-1.58203125,
112.939453125,
123.92578125,
50.2734375,
-41.572265625,
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[
-0.087890625,
111.4453125,
128.49609375,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.4
| 72
| 0
| 72
| 0
|
[
-1.669921875,
112.939453125,
123.92578125,
50.2734375,
-41.484375,
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[
-0.087890625,
111.4453125,
128.232421875,
50.2734375,
-41.1328125,
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] | 2.433333
| 73
| 0
| 73
| 0
|
[
-1.7578125,
112.939453125,
123.92578125,
50.361328125,
-41.484375,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
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] | 2.466667
| 74
| 0
| 74
| 0
|
[
-1.7578125,
112.939453125,
123.75,
50.44921875,
-41.396484375,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.5
| 75
| 0
| 75
| 0
|
[
-1.7578125,
112.939453125,
123.57421875,
50.44921875,
-41.30859375,
12.664164543151855
] |
[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-1.7578125,
112.939453125,
123.486328125,
50.537109375,
-41.220703125,
12.664164543151855
] |
[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-1.7578125,
112.939453125,
123.3984375,
50.537109375,
-41.220703125,
12.664164543151855
] |
[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.6
| 78
| 0
| 78
| 0
|
[
-1.669921875,
112.939453125,
123.310546875,
50.625,
-41.220703125,
12.664164543151855
] |
[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-1.669921875,
112.939453125,
123.310546875,
50.712890625,
-41.1328125,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-1.669921875,
112.939453125,
123.310546875,
50.712890625,
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] |
[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
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| 81
| 0
| 81
| 0
|
[
-1.669921875,
112.939453125,
123.3984375,
50.712890625,
-41.1328125,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
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| 82
| 0
| 82
| 0
|
[
-1.845703125,
112.939453125,
123.486328125,
50.80078125,
-41.044921875,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
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| 83
| 0
| 83
| 0
|
[
-2.021484375,
112.939453125,
123.57421875,
50.80078125,
-41.044921875,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
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| 84
| 0
| 84
| 0
|
[
-2.021484375,
112.939453125,
123.662109375,
50.80078125,
-41.044921875,
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[
-0.087890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
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| 85
| 0
| 85
| 0
|
[
-2.109375,
112.939453125,
123.75,
50.80078125,
-41.044921875,
12.570355415344238
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[
-0.263671875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-2.109375,
112.939453125,
123.837890625,
50.80078125,
-41.1328125,
12.570355415344238
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[
-0.52734375,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
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] | 2.9
| 87
| 0
| 87
| 0
|
[
-2.109375,
112.939453125,
123.837890625,
50.80078125,
-41.1328125,
12.570355415344238
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[
-0.791015625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-2.109375,
112.939453125,
123.92578125,
50.80078125,
-41.1328125,
12.570355415344238
] |
[
-0.87890625,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-2.109375,
112.939453125,
124.013671875,
50.888671875,
-41.220703125,
12.570355415344238
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[
-0.966796875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3
| 90
| 0
| 90
| 0
|
[
-2.109375,
112.939453125,
124.013671875,
50.888671875,
-41.220703125,
12.570355415344238
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[
-0.966796875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-2.109375,
112.939453125,
124.013671875,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-2.197265625,
112.939453125,
124.013671875,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.1
| 93
| 0
| 93
| 0
|
[
-2.197265625,
112.939453125,
124.1015625,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-2.28515625,
112.939453125,
124.27734375,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-2.373046875,
112.939453125,
124.453125,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.2
| 96
| 0
| 96
| 0
|
[
-2.63671875,
112.939453125,
124.62890625,
50.888671875,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-2.8125,
112.939453125,
124.8046875,
50.80078125,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-2.98828125,
112.939453125,
124.892578125,
50.712890625,
-41.220703125,
12.570355415344238
] |
[
-1.0546875,
111.4453125,
128.14453125,
50.2734375,
-41.1328125,
11.591072082519531
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 14399,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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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