Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
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597
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19
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[ -11.865234375, 153.720703125, 157.8515625, 46.318359375, 6.591796875, 13.138686180114746 ]
2.466667
74
0
74
0
[ -14.4140625, 148.447265625, 145.8984375, 47.98828125, 9.404296875, 18.2230281829834 ]
[ -12.216796875, 152.2265625, 156.09375, 46.494140625, 7.119140625, 14.111922264099121 ]
2.5
75
0
75
0
[ -14.853515625, 146.77734375, 143.96484375, 48.955078125, 10.01953125, 19.038984298706055 ]
[ -12.48046875, 150.732421875, 154.3359375, 46.7578125, 7.470703125, 15.085158348083496 ]
2.533333
76
0
76
0
[ -15.46875, 144.931640625, 142.03125, 49.833984375, 10.458984375, 20.217588424682617 ]
[ -12.65625, 149.326171875, 152.841796875, 46.845703125, 7.998046875, 16.058393478393555 ]
2.566667
77
0
77
0
[ -16.083984375, 142.734375, 139.921875, 50.537109375, 11.07421875, 20.580236434936523 ]
[ -13.095703125, 147.744140625, 150.99609375, 47.28515625, 8.701171875, 16.95052719116211 ]
2.6
78
0
78
0
[ -16.69921875, 140.44921875, 137.8125, 51.064453125, 11.513671875, 21.12420654296875 ]
[ -13.7109375, 145.986328125, 149.23828125, 47.98828125, 9.140625, 18.004865646362305 ]
2.633333
79
0
79
0
[ -17.2265625, 137.900390625, 135.87890625, 51.591796875, 12.041015625, 21.758838653564453 ]
[ -14.4140625, 144.052734375, 147.568359375, 48.779296875, 9.755859375, 18.653690338134766 ]
2.666667
80
0
80
0
[ -17.841796875, 135.615234375, 134.033203125, 51.767578125, 12.48046875, 22.030824661254883 ]
[ -15.1171875, 141.943359375, 145.634765625, 49.5703125, 10.1953125, 19.302515029907227 ]
2.7
81
0
81
0
[ -18.369140625, 133.41796875, 132.275390625, 51.767578125, 12.83203125, 22.212148666381836 ]
[ -15.8203125, 139.74609375, 143.525390625, 50.185546875, 10.72265625, 19.870235443115234 ]
2.733333
82
0
82
0
[ -18.80859375, 131.484375, 130.517578125, 52.03125, 13.18359375, 22.302810668945312 ]
[ -16.34765625, 137.4609375, 141.591796875, 50.537109375, 11.162109375, 20.519060134887695 ]
2.766667
83
0
83
0
[ -19.16015625, 129.990234375, 129.0234375, 52.03125, 13.53515625, 22.302810668945312 ]
[ -16.69921875, 135.439453125, 139.921875, 50.80078125, 11.42578125, 21.00567626953125 ]
2.8
84
0
84
0
[ -19.599609375, 128.3203125, 127.265625, 52.294921875, 13.88671875, 22.39347267150879 ]
[ -16.962890625, 133.330078125, 138.076171875, 51.240234375, 11.953125, 21.330089569091797 ]
2.833333
85
0
85
0
[ -19.951171875, 126.474609375, 125.419921875, 52.734375, 13.88671875, 22.39347267150879 ]
[ -17.490234375, 131.30859375, 136.318359375, 51.591796875, 12.216796875, 21.492294311523438 ]
2.866667
86
0
86
0
[ -20.21484375, 124.98046875, 123.75, 52.998046875, 13.88671875, 22.484134674072266 ]
[ -17.841796875, 129.638671875, 134.82421875, 51.6796875, 12.48046875, 21.65450096130371 ]
2.9
87
0
87
0
[ -20.478515625, 123.310546875, 122.080078125, 53.173828125, 13.974609375, 22.484134674072266 ]
[ -18.28125, 127.79296875, 132.978515625, 51.85546875, 12.568359375, 21.73560333251953 ]
2.933333
88
0
88
0
[ -20.830078125, 121.376953125, 120.234375, 53.525390625, 13.447265625, 22.484134674072266 ]
[ -18.80859375, 126.03515625, 131.044921875, 51.85546875, 12.65625, 21.73560333251953 ]
2.966667
89
0
89
0
[ -21.09375, 119.443359375, 118.388671875, 53.7890625, 13.18359375, 22.484134674072266 ]
[ -19.248046875, 124.27734375, 129.287109375, 52.119140625, 12.744140625, 21.73560333251953 ]
3
90
0
90
0
[ -21.357421875, 117.861328125, 117.24609375, 53.7890625, 13.0078125, 22.484134674072266 ]
[ -19.51171875, 122.51953125, 127.705078125, 52.470703125, 12.744140625, 21.73560333251953 ]
3.033333
91
0
91
0
[ -21.533203125, 116.54296875, 116.3671875, 53.61328125, 13.0078125, 22.484134674072266 ]
[ -19.86328125, 120.498046875, 125.859375, 52.734375, 12.744140625, 21.73560333251953 ]
3.066667
92
0
92
0
[ -21.796875, 115.048828125, 115.400390625, 53.61328125, 13.095703125, 22.484134674072266 ]
[ -20.126953125, 118.65234375, 124.189453125, 52.822265625, 12.744140625, 21.73560333251953 ]
3.1
93
0
93
0
[ -21.97265625, 113.642578125, 114.521484375, 53.61328125, 13.095703125, 22.484134674072266 ]
[ -20.390625, 117.158203125, 122.783203125, 52.822265625, 12.744140625, 21.73560333251953 ]
3.133333
94
0
94
0
[ -22.412109375, 112.32421875, 113.73046875, 53.61328125, 13.0078125, 22.484134674072266 ]
[ -20.654296875, 115.576171875, 121.46484375, 52.822265625, 12.744140625, 21.73560333251953 ]
3.166667
95
0
95
0
[ -22.67578125, 111.181640625, 113.115234375, 53.349609375, 13.0078125, 22.574796676635742 ]
[ -20.654296875, 113.994140625, 120.234375, 52.822265625, 12.744140625, 21.73560333251953 ]
3.2
96
0
96
0
[ -22.939453125, 110.390625, 112.763671875, 52.998046875, 13.18359375, 22.574796676635742 ]
[ -20.7421875, 112.587890625, 119.1796875, 52.822265625, 12.744140625, 21.73560333251953 ]
3.233333
97
0
97
0
[ -23.115234375, 109.599609375, 112.412109375, 52.646484375, 13.18359375, 22.574796676635742 ]
[ -21.09375, 111.357421875, 118.388671875, 52.822265625, 12.744140625, 21.73560333251953 ]
3.266667
98
0
98
0
[ -23.37890625, 108.45703125, 111.708984375, 52.646484375, 13.18359375, 22.574796676635742 ]
[ -21.26953125, 110.21484375, 117.685546875, 52.822265625, 12.744140625, 21.73560333251953 ]
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": 20,
    "total_frames": 11897,
    "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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