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sequence
observation.state
sequence
timestamp
float32
0
17.7
frame_index
int64
0
531
episode_index
int64
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49
index
int64
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26.3k
task_index
int64
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2.466667
74
0
74
0
[ 95.44921875, 102.041015625, 92.373046875, 92.28515625, 36.73828125, 62.860084533691406 ]
[ 87.890625, 103.974609375, 97.20703125, 80.859375, 39.990234375, 35.10140609741211 ]
2.5
75
0
75
0
[ 97.20703125, 100.810546875, 91.142578125, 93.955078125, 37.177734375, 64.81481170654297 ]
[ 90.3515625, 103.0078125, 96.416015625, 84.638671875, 38.759765625, 42.66770935058594 ]
2.533333
76
0
76
0
[ 98.7890625, 98.96484375, 89.6484375, 95.009765625, 37.79296875, 66.2551498413086 ]
[ 92.900390625, 101.77734375, 95.185546875, 88.76953125, 37.79296875, 51.014041900634766 ]
2.566667
77
0
77
0
[ 99.580078125, 97.3828125, 88.59375, 95.2734375, 38.408203125, 66.66667175292969 ]
[ 94.74609375, 100.458984375, 94.04296875, 90.439453125, 37.705078125, 56.24024963378906 ]
2.6
78
0
78
0
[ 100.107421875, 95.80078125, 87.626953125, 95.2734375, 39.0234375, 66.76954650878906 ]
[ 96.15234375, 98.7890625, 92.8125, 92.109375, 37.705078125, 60.14040756225586 ]
2.633333
79
0
79
0
[ 100.458984375, 94.130859375, 86.8359375, 95.09765625, 39.55078125, 66.97531127929688 ]
[ 97.3828125, 97.20703125, 91.40625, 92.98828125, 37.79296875, 62.636505126953125 ]
2.666667
80
0
80
0
[ 100.634765625, 91.93359375, 85.60546875, 94.833984375, 40.166015625, 67.18106842041016 ]
[ 98.173828125, 95.2734375, 89.82421875, 93.8671875, 38.14453125, 64.04055786132812 ]
2.7
81
0
81
0
[ 100.634765625, 90.439453125, 84.814453125, 94.482421875, 40.517578125, 67.07819366455078 ]
[ 98.701171875, 94.130859375, 89.033203125, 94.482421875, 38.3203125, 64.74259185791016 ]
2.733333
82
0
82
0
[ 100.458984375, 88.59375, 83.84765625, 93.8671875, 41.044921875, 66.76954650878906 ]
[ 99.052734375, 92.28515625, 87.890625, 93.955078125, 38.84765625, 65.75662994384766 ]
2.766667
83
0
83
0
[ 100.107421875, 86.66015625, 82.6171875, 93.076171875, 41.923828125, 66.04938507080078 ]
[ 99.228515625, 90.17578125, 86.66015625, 93.69140625, 39.287109375, 65.99063873291016 ]
2.8
84
0
84
0
[ 99.755859375, 85.078125, 81.474609375, 92.548828125, 42.451171875, 65.74073791503906 ]
[ 99.228515625, 88.505859375, 85.95703125, 93.251953125, 39.814453125, 65.99063873291016 ]
2.833333
85
0
85
0
[ 99.31640625, 83.3203125, 80.244140625, 92.109375, 42.978515625, 65.32921600341797 ]
[ 99.31640625, 86.748046875, 84.990234375, 93.251953125, 40.078125, 65.99063873291016 ]
2.866667
86
0
86
0
[ 98.701171875, 81.474609375, 78.92578125, 91.58203125, 43.59375, 64.81481170654297 ]
[ 99.31640625, 85.25390625, 84.111328125, 93.076171875, 40.693359375, 65.52262115478516 ]
2.9
87
0
87
0
[ 98.0859375, 79.453125, 77.51953125, 90.966796875, 44.296875, 64.40328979492188 ]
[ 99.31640625, 83.759765625, 83.056640625, 92.28515625, 41.044921875, 65.21060943603516 ]
2.933333
88
0
88
0
[ 97.470703125, 77.607421875, 76.025390625, 90.3515625, 44.82421875, 64.3004150390625 ]
[ 99.228515625, 81.9140625, 81.650390625, 92.021484375, 41.748046875, 64.82059478759766 ]
2.966667
89
0
89
0
[ 96.767578125, 75.498046875, 74.267578125, 90, 45.52734375, 64.09465026855469 ]
[ 99.140625, 79.892578125, 80.33203125, 90.615234375, 42.451171875, 64.50858306884766 ]
3
90
0
90
0
[ 96.064453125, 73.740234375, 72.685546875, 89.6484375, 46.142578125, 63.88888931274414 ]
[ 98.61328125, 77.783203125, 79.189453125, 90.439453125, 42.890625, 64.35256958007812 ]
3.033333
91
0
91
0
[ 95.2734375, 72.158203125, 71.455078125, 88.9453125, 46.7578125, 63.47736740112305 ]
[ 97.91015625, 75.76171875, 77.783203125, 90.87890625, 43.59375, 64.27457427978516 ]
3.066667
92
0
92
0
[ 94.5703125, 70.751953125, 70.13671875, 88.2421875, 47.109375, 63.2716064453125 ]
[ 96.943359375, 73.828125, 76.025390625, 89.47265625, 44.47265625, 63.57254409790039 ]
3.1
93
0
93
0
[ 93.603515625, 68.73046875, 68.203125, 87.5390625, 47.63671875, 63.06584548950195 ]
[ 95.80078125, 71.71875, 74.091796875, 88.76953125, 45.17578125, 63.33853530883789 ]
3.133333
94
0
94
0
[ 92.98828125, 67.236328125, 66.533203125, 87.451171875, 48.1640625, 62.65432357788086 ]
[ 95.09765625, 70.13671875, 73.037109375, 88.857421875, 45.703125, 63.26053237915039 ]
3.166667
95
0
95
0
[ 92.373046875, 65.830078125, 64.86328125, 87.451171875, 48.69140625, 61.93415451049805 ]
[ 94.5703125, 68.5546875, 71.71875, 87.978515625, 46.0546875, 63.26053237915039 ]
3.2
96
0
96
0
[ 91.58203125, 64.248046875, 63.10546875, 87.36328125, 49.306640625, 61.213993072509766 ]
[ 93.779296875, 66.708984375, 69.609375, 87.099609375, 46.669921875, 62.558502197265625 ]
3.233333
97
0
97
0
[ 91.0546875, 63.193359375, 61.962890625, 87.36328125, 49.5703125, 60.596710205078125 ]
[ 93.251953125, 65.21484375, 67.939453125, 87.5390625, 47.109375, 61.700469970703125 ]
3.266667
98
0
98
0
[ 90.52734375, 62.138671875, 61.259765625, 87.099609375, 49.658203125, 59.87654495239258 ]
[ 92.548828125, 63.984375, 66.533203125, 87.275390625, 47.63671875, 61.388458251953125 ]
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": 26260,
    "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",
                "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",
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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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