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sequence
observation.state
sequence
timestamp
float32
0
22.1
frame_index
int64
0
663
episode_index
int64
0
49
index
int64
0
32.8k
task_index
int64
0
0
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[ 93.251953125, 93.955078125, 57.919921875, 104.501953125, -0.791015625, 14.040560722351074 ]
2.466667
74
0
74
0
[ 92.63671875, 94.04296875, 59.58984375, 101.42578125, 7.294921875, 15.534978866577148 ]
[ 93.251953125, 93.69140625, 57.919921875, 103.53515625, 1.7578125, 14.43057632446289 ]
2.5
75
0
75
0
[ 92.548828125, 93.955078125, 61.435546875, 100.810546875, 5.625, 16.666667938232422 ]
[ 93.076171875, 93.69140625, 58.18359375, 102.568359375, 4.130859375, 14.586583137512207 ]
2.533333
76
0
76
0
[ 92.548828125, 93.779296875, 63.544921875, 100.72265625, 3.603515625, 21.9135799407959 ]
[ 92.8125, 93.69140625, 58.974609375, 101.865234375, 5.185546875, 14.742588996887207 ]
2.566667
77
0
77
0
[ 92.4609375, 93.69140625, 65.830078125, 100.634765625, 1.58203125, 26.44032859802246 ]
[ 92.373046875, 93.427734375, 60.029296875, 101.07421875, 4.833984375, 15.444618225097656 ]
2.6
78
0
78
0
[ 92.28515625, 93.69140625, 67.67578125, 101.07421875, -0.439453125, 32.09876251220703 ]
[ 92.197265625, 93.076171875, 61.875, 100.72265625, 3.8671875, 17.082683563232422 ]
2.633333
79
0
79
0
[ 92.109375, 93.955078125, 70.13671875, 101.42578125, -1.93359375, 39.50617218017578 ]
[ 92.197265625, 92.724609375, 63.80859375, 100.546875, 2.724609375, 20.280811309814453 ]
2.666667
80
0
80
0
[ 91.93359375, 94.130859375, 72.421875, 101.42578125, -2.98828125, 44.95884704589844 ]
[ 92.197265625, 92.548828125, 65.830078125, 100.8984375, 1.40625, 24.258970260620117 ]
2.7
81
0
81
0
[ 91.93359375, 94.21875, 74.443359375, 102.041015625, -3.779296875, 52.057613372802734 ]
[ 92.28515625, 92.548828125, 67.939453125, 100.986328125, 0.439453125, 28.939157485961914 ]
2.733333
82
0
82
0
[ 91.93359375, 94.21875, 76.904296875, 102.392578125, -4.482421875, 59.87654495239258 ]
[ 92.28515625, 92.548828125, 70.576171875, 100.986328125, -0.791015625, 35.179405212402344 ]
2.766667
83
0
83
0
[ 92.021484375, 94.04296875, 78.662109375, 103.095703125, -5.2734375, 66.97531127929688 ]
[ 91.93359375, 92.4609375, 73.212890625, 101.6015625, -1.93359375, 42.82371520996094 ]
2.8
84
0
84
0
[ 92.021484375, 93.69140625, 79.892578125, 103.359375, -5.80078125, 73.25102996826172 ]
[ 91.318359375, 92.548828125, 75.498046875, 101.6015625, -2.724609375, 50.702030181884766 ]
2.833333
85
0
85
0
[ 92.021484375, 93.427734375, 80.595703125, 103.359375, -6.328125, 76.64608764648438 ]
[ 91.318359375, 92.548828125, 77.080078125, 102.568359375, -3.603515625, 56.24024963378906 ]
2.866667
86
0
86
0
[ 92.021484375, 93.251953125, 81.474609375, 103.095703125, -6.85546875, 79.11522674560547 ]
[ 91.669921875, 92.197265625, 78.22265625, 102.3046875, -4.306640625, 61.778472900390625 ]
2.9
87
0
87
0
[ 91.845703125, 92.8125, 82.353515625, 101.953125, -7.119140625, 80.96707916259766 ]
[ 92.021484375, 92.197265625, 79.716796875, 102.392578125, -5.185546875, 68.01872253417969 ]
2.933333
88
0
88
0
[ 91.845703125, 92.021484375, 83.056640625, 101.25, -7.55859375, 83.64197540283203 ]
[ 92.021484375, 92.109375, 80.947265625, 102.568359375, -5.625, 73.79094696044922 ]
2.966667
89
0
89
0
[ 91.845703125, 91.23046875, 83.232421875, 100.107421875, -6.767578125, 83.95061492919922 ]
[ 91.669921875, 91.7578125, 81.73828125, 101.42578125, -6.15234375, 76.44306182861328 ]
3
90
0
90
0
[ 91.845703125, 90.17578125, 83.14453125, 99.228515625, -6.064453125, 84.56790161132812 ]
[ 91.40625, 91.58203125, 82.6171875, 101.25, -6.240234375, 78.62714385986328 ]
3.033333
91
0
91
0
[ 91.93359375, 88.76953125, 82.96875, 97.998046875, -4.921875, 85.18518829345703 ]
[ 91.142578125, 90.703125, 82.880859375, 100.810546875, -6.15234375, 80.81123352050781 ]
3.066667
92
0
92
0
[ 91.93359375, 86.748046875, 82.529296875, 96.416015625, -3.69140625, 84.87654113769531 ]
[ 91.0546875, 89.47265625, 82.79296875, 99.140625, -5.9765625, 82.52730560302734 ]
3.1
93
0
93
0
[ 91.7578125, 84.814453125, 81.826171875, 95.185546875, -2.8125, 84.67078399658203 ]
[ 91.142578125, 88.06640625, 82.880859375, 98.4375, -5.009765625, 83.46334075927734 ]
3.133333
94
0
94
0
[ 91.58203125, 82.44140625, 80.947265625, 93.69140625, -2.021484375, 84.46501922607422 ]
[ 91.318359375, 85.95703125, 82.79296875, 96.50390625, -3.779296875, 83.54133605957031 ]
3.166667
95
0
95
0
[ 91.318359375, 80.419921875, 80.15625, 92.548828125, -1.494140625, 83.95061492919922 ]
[ 91.318359375, 84.287109375, 82.705078125, 95.9765625, -3.076171875, 83.54133605957031 ]
3.2
96
0
96
0
[ 91.142578125, 78.22265625, 79.1015625, 91.845703125, -1.142578125, 83.7448501586914 ]
[ 91.318359375, 82.529296875, 82.705078125, 94.921875, -2.63671875, 83.54133605957031 ]
3.233333
97
0
97
0
[ 90.791015625, 75.76171875, 77.6953125, 91.0546875, -0.615234375, 83.02468872070312 ]
[ 91.318359375, 80.33203125, 82.44140625, 92.8125, -1.93359375, 83.46334075927734 ]
3.266667
98
0
98
0
[ 90.52734375, 73.564453125, 76.11328125, 90.615234375, -0.087890625, 81.58436584472656 ]
[ 91.318359375, 78.3984375, 81.650390625, 92.021484375, -1.58203125, 83.30733489990234 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 32777,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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,
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            ],
            "names": [
                "height",
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                "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": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
            ],
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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