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sequence
observation.state
sequence
timestamp
float32
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29.7
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int64
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892
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[ 16.171875, 86.1328125, 75.498046875, 86.572265625, 22.587890625, 4.9423394203186035 ]
2.2
66
0
66
0
[ 3.63531494140625, 92.9100341796875, 85.8306655883789, 85.3235092163086, 15.0349702835083, 0.11649370193481445 ]
[ 13.18359375, 87.275390625, 77.958984375, 86.30859375, 20.0390625, 4.9423394203186035 ]
2.233333
67
0
67
0
[ 1.811070442199707, 93.323486328125, 87.84513854980469, 84.35794067382812, 13.97760009765625, 0.12990045547485352 ]
[ 10.1953125, 88.330078125, 80.859375, 86.044921875, 18.369140625, 4.9423394203186035 ]
2.266667
68
0
68
0
[ 0.7057032585144043, 93.78695678710938, 88.93269348144531, 83.9699935913086, 13.179040908813477, 0.14322328567504883 ]
[ 6.85546875, 88.681640625, 82.880859375, 85.693359375, 17.138671875, 4.9423394203186035 ]
2.3
69
0
69
0
[ -0.49201440811157227, 93.80754089355469, 90.69204711914062, 82.71980285644531, 12.432519912719727, 0.15652847290039062 ]
[ 4.21875, 89.208984375, 84.638671875, 85.166015625, 15.8203125, 4.9423394203186035 ]
2.333333
70
0
70
0
[ -1.4337801933288574, 94.00028991699219, 91.8489990234375, 81.78099060058594, 12.00307846069336, 0.1477813720703125 ]
[ 2.373046875, 89.82421875, 86.30859375, 84.287109375, 14.58984375, 4.9423394203186035 ]
2.366667
71
0
71
0
[ -2.4730095863342285, 93.79362487792969, 93.47906494140625, 80.44608306884766, 11.248167991638184, 0.14096546173095703 ]
[ 1.40625, 90.17578125, 87.890625, 83.408203125, 13.623046875, 4.9423394203186035 ]
2.4
72
0
72
0
[ -3.5277552604675293, 94.21753692626953, 94.51531219482422, 79.89498138427734, 10.857673645019531, 0.09501171112060547 ]
[ 0.703125, 90.615234375, 89.560546875, 82.529296875, 13.0078125, 4.9423394203186035 ]
2.433333
73
0
73
0
[ -3.886664867401123, 94.22893524169922, 95.68431091308594, 78.88570404052734, 10.415473937988281, 0.09425926208496094 ]
[ 0.17578125, 90.703125, 90.966796875, 81.5625, 12.12890625, 4.9423394203186035 ]
2.466667
74
0
74
0
[ -4.011573314666748, 94.39971923828125, 96.48997497558594, 78.07081604003906, 10.451725959777832, 0.056563377380371094 ]
[ -0.791015625, 91.0546875, 92.548828125, 80.33203125, 10.986328125, 4.9423394203186035 ]
2.5
75
0
75
0
[ -4.62610387802124, 94.59180450439453, 97.02075958251953, 77.44308471679688, 10.552562713623047, 0.01820659637451172 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -3.33984375, 91.494140625, 96.064453125, 78.3984375, 10.37109375, 4.9423394203186035 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ -4.024799823760986, 95.27020263671875, 98.38411712646484, 75.55680847167969, 11.7249174118042, 0.2975621223449707 ]
[ -3.076171875, 91.494140625, 96.767578125, 76.640625, 10.37109375, 4.9423394203186035 ]
2.7
81
0
81
0
[ -3.4586329460144043, 95.04891204833984, 98.40283966064453, 75.01937103271484, 12.060931205749512, 2.1033873558044434 ]
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -3.779296875, 92.109375, 98.0859375, 75.849609375, 11.337890625, 4.9423394203186035 ]
2.8
84
0
84
0
[ -2.464010715484619, 94.73027038574219, 97.95084381103516, 75.23624420166016, 11.63827896118164, 20.68452262878418 ]
[ -3.251953125, 92.28515625, 98.0859375, 75.234375, 11.6015625, 5.518945693969727 ]
2.833333
85
0
85
0
[ -1.930182933807373, 95.27661895751953, 97.87319946289062, 75.37672424316406, 11.721128463745117, 24.62478256225586 ]
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2.866667
86
0
86
0
[ -1.5878691673278809, 96.19232940673828, 97.57954406738281, 76.05958557128906, 11.339618682861328, 28.235862731933594 ]
[ -2.109375, 92.28515625, 97.998046875, 74.970703125, 11.162109375, 9.060955047607422 ]
2.9
87
0
87
0
[ -1.485908031463623, 97.55877685546875, 96.64088439941406, 77.7966079711914, 10.470438003540039, 29.807645797729492 ]
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2.933333
88
0
88
0
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2.966667
89
0
89
0
[ -0.7183055877685547, 100.12813568115234, 96.4940185546875, 78.88063049316406, 10.661406517028809, 32.24435806274414 ]
[ -2.021484375, 94.130859375, 97.822265625, 75.849609375, 10.810546875, 21.993410110473633 ]
3
90
0
90
0
[ -0.10232353210449219, 101.698486328125, 95.49718475341797, 80.16282653808594, 10.2086763381958, 27.08549690246582 ]
[ -1.7578125, 95.009765625, 97.646484375, 76.376953125, 10.458984375, 25.123558044433594 ]
3.033333
91
0
91
0
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[ -1.23046875, 96.240234375, 97.646484375, 77.16796875, 10.283203125, 27.429983139038086 ]
3.066667
92
0
92
0
[ 0.28174734115600586, 105.92628479003906, 96.32273864746094, 81.48535919189453, 9.693779945373535, 22.02040672302246 ]
[ -0.791015625, 97.55859375, 97.294921875, 78.134765625, 10.283203125, 28.830312728881836 ]
3.1
93
0
93
0
[ 0.713292121887207, 108.74700164794922, 97.58903503417969, 81.08363342285156, 9.007962226867676, 8.457887649536133 ]
[ -0.439453125, 98.96484375, 97.03125, 78.3984375, 9.84375, 28.830312728881836 ]
3.133333
94
0
94
0
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[ -0.17578125, 100.72265625, 97.03125, 79.365234375, 9.31640625, 27.100494384765625 ]
3.166667
95
0
95
0
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[ -0.17578125, 102.83203125, 97.55859375, 80.33203125, 9.404296875, 23.64085578918457 ]
3.2
96
0
96
0
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[ -0.17578125, 105.732421875, 98.349609375, 80.068359375, 8.61328125, 18.7808895111084 ]
3.233333
97
0
97
0
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[ -0.263671875, 109.951171875, 100.634765625, 79.189453125, 7.822265625, 13.179572105407715 ]
3.266667
98
0
98
0
[ -2.2505221366882324, 139.60984802246094, 130.83267211914062, 69.40685272216797, 7.500821590423584, -0.5220046043395996 ]
[ -0.52734375, 115.3125, 104.765625, 77.255859375, 7.646484375, 8.319604873657227 ]
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": 10,
    "total_frames": 8917,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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                "main_wrist_flex",
                "main_wrist_roll",
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        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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    }
}

Citation

BibTeX:

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