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action
sequence
observation.state
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float32
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195
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int64
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5.85k
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[ -2.3947813510894775, 111.85005950927734, 96.04766845703125, 74.44740295410156, -5.409706115722656, 37.77023696899414 ]
[ 3.8671875, 107.666015625, 85.869140625, 79.1015625, -23.818359375, 38.78116226196289 ]
2.166667
65
0
65
0
[ -3.0526702404022217, 111.5069351196289, 97.69305419921875, 73.10301208496094, -3.565183401107788, 38.13494873046875 ]
[ 2.900390625, 107.578125, 86.66015625, 79.013671875, -20.654296875, 38.22714614868164 ]
2.2
66
0
66
0
[ -3.912782907485962, 110.99994659423828, 100.06092834472656, 71.07535552978516, -1.6033732891082764, 38.543182373046875 ]
[ 1.845703125, 107.578125, 87.978515625, 77.87109375, -17.578125, 37.88088607788086 ]
2.233333
67
0
67
0
[ -4.544039726257324, 110.38426971435547, 102.31233978271484, 69.03672790527344, 0.19177913665771484, 39.09403991699219 ]
[ 0.439453125, 107.578125, 90.3515625, 76.2890625, -13.88671875, 37.74238204956055 ]
2.266667
68
0
68
0
[ -5.915763854980469, 108.90162658691406, 106.37136840820312, 64.65061950683594, 2.9707417488098145, 39.87285614013672 ]
[ -0.87890625, 107.666015625, 93.427734375, 74.619140625, -9.931640625, 37.74238204956055 ]
2.3
69
0
69
0
[ -6.157895088195801, 108.48649597167969, 107.56587219238281, 63.32347869873047, 3.552603244781494, 40.36460876464844 ]
[ -2.548828125, 107.666015625, 96.6796875, 73.125, -6.416015625, 37.74238204956055 ]
2.333333
70
0
70
0
[ -6.50141716003418, 107.21929931640625, 108.55731964111328, 61.50307083129883, 4.369988918304443, 41.06139373779297 ]
[ -3.33984375, 107.490234375, 99.580078125, 71.54296875, -3.8671875, 37.74238204956055 ]
2.366667
71
0
71
0
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[ -4.21875, 106.962890625, 102.48046875, 69.345703125, -1.7578125, 37.950138092041016 ]
2.4
72
0
72
0
[ -6.9525604248046875, 105.17221069335938, 111.00788116455078, 58.28636169433594, 5.129157543182373, 42.95502471923828 ]
[ -4.39453125, 106.611328125, 105.205078125, 66.884765625, 0.17578125, 38.78116226196289 ]
2.433333
73
0
73
0
[ -7.147414207458496, 103.73687744140625, 111.05741882324219, 57.18981170654297, 5.3173604011535645, 43.501220703125 ]
[ -4.5703125, 105.908203125, 107.138671875, 64.599609375, 1.58203125, 39.68144226074219 ]
2.466667
74
0
74
0
[ -7.262920379638672, 102.19474792480469, 110.74646759033203, 56.577430725097656, 5.327394962310791, 44.145721435546875 ]
[ -4.921875, 104.853515625, 108.80859375, 62.314453125, 2.724609375, 40.51246643066406 ]
2.5
75
0
75
0
[ -7.349539756774902, 101.75123596191406, 111.25666809082031, 55.740455627441406, 5.283449649810791, 44.394073486328125 ]
[ -5.44921875, 103.88671875, 110.390625, 60.556640625, 3.69140625, 41.13573455810547 ]
2.533333
76
0
76
0
[ -7.349327087402344, 100.2353515625, 109.90910339355469, 56.059364318847656, 5.225831508636475, 44.67266082763672 ]
[ -6.064453125, 102.48046875, 110.91796875, 59.23828125, 3.779296875, 41.759002685546875 ]
2.566667
77
0
77
0
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[ -6.6796875, 101.162109375, 110.91796875, 58.0078125, 4.130859375, 42.45152282714844 ]
2.6
78
0
78
0
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[ -7.119140625, 100.01953125, 111.181640625, 56.953125, 4.39453125, 42.9362907409668 ]
2.633333
79
0
79
0
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[ -7.294921875, 99.052734375, 111.181640625, 56.953125, 4.5703125, 43.28254699707031 ]
2.666667
80
0
80
0
[ -7.771432876586914, 95.6941909790039, 106.49288177490234, 56.31187438964844, 5.403672695159912, 45.909385681152344 ]
[ -7.3828125, 97.998046875, 111.181640625, 56.42578125, 4.658203125, 43.767311096191406 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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[ -7.03125, 95.9765625, 110.56640625, 55.810546875, 4.833984375, 44.2520751953125 ]
2.766667
83
0
83
0
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[ -6.85546875, 94.921875, 109.951171875, 56.07421875, 4.833984375, 44.459835052490234 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -6.85546875, 91.0546875, 106.611328125, 56.953125, 4.833984375, 45.360111236572266 ]
2.9
87
0
87
0
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[ -7.119140625, 90, 105.64453125, 57.568359375, 4.833984375, 45.49861526489258 ]
2.933333
88
0
88
0
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[ -7.3828125, 88.76953125, 104.4140625, 58.18359375, 4.833984375, 45.914127349853516 ]
2.966667
89
0
89
0
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[ -7.646484375, 87.451171875, 103.0078125, 58.53515625, 4.833984375, 46.19113540649414 ]
3
90
0
90
0
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[ -7.998046875, 86.044921875, 101.6015625, 59.4140625, 4.833984375, 46.32964324951172 ]
3.033333
91
0
91
0
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[ -8.173828125, 84.638671875, 99.931640625, 60.205078125, 4.833984375, 46.39889144897461 ]
3.066667
92
0
92
0
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[ -8.173828125, 83.14453125, 98.0859375, 60.99609375, 4.833984375, 46.39889144897461 ]
3.1
93
0
93
0
[ -9.026483535766602, 80.54889678955078, 88.22471618652344, 62.57085037231445, 5.803785800933838, 43.709083557128906 ]
[ -8.173828125, 82.177734375, 96.50390625, 61.34765625, 4.833984375, 46.32964324951172 ]
3.133333
94
0
94
0
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[ -8.173828125, 81.123046875, 95.2734375, 61.611328125, 4.833984375, 46.2603874206543 ]
3.166667
95
0
95
0
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[ -8.173828125, 80.068359375, 93.955078125, 61.787109375, 4.833984375, 45.29085922241211 ]
3.2
96
0
96
0
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3.233333
97
0
97
0
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[ -8.173828125, 78.3984375, 91.7578125, 61.787109375, 4.833984375, 43.905818939208984 ]
3.266667
98
0
98
0
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[ -8.173828125, 77.783203125, 90.87890625, 61.787109375, 5.185546875, 43.074790954589844 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 5855,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
                "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": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
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                "channels"
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            "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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