Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
24.2
frame_index
int64
0
727
episode_index
int64
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19
index
int64
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14.4k
task_index
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0
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[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.466667
74
0
74
0
[ -1.7578125, 112.939453125, 123.75, 50.44921875, -41.396484375, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.5
75
0
75
0
[ -1.7578125, 112.939453125, 123.57421875, 50.44921875, -41.30859375, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.533333
76
0
76
0
[ -1.7578125, 112.939453125, 123.486328125, 50.537109375, -41.220703125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.566667
77
0
77
0
[ -1.7578125, 112.939453125, 123.3984375, 50.537109375, -41.220703125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.6
78
0
78
0
[ -1.669921875, 112.939453125, 123.310546875, 50.625, -41.220703125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.633333
79
0
79
0
[ -1.669921875, 112.939453125, 123.310546875, 50.712890625, -41.1328125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.666667
80
0
80
0
[ -1.669921875, 112.939453125, 123.310546875, 50.712890625, -41.1328125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.7
81
0
81
0
[ -1.669921875, 112.939453125, 123.3984375, 50.712890625, -41.1328125, 12.664164543151855 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.733333
82
0
82
0
[ -1.845703125, 112.939453125, 123.486328125, 50.80078125, -41.044921875, 12.570355415344238 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.766667
83
0
83
0
[ -2.021484375, 112.939453125, 123.57421875, 50.80078125, -41.044921875, 12.570355415344238 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.8
84
0
84
0
[ -2.021484375, 112.939453125, 123.662109375, 50.80078125, -41.044921875, 12.570355415344238 ]
[ -0.087890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.833333
85
0
85
0
[ -2.109375, 112.939453125, 123.75, 50.80078125, -41.044921875, 12.570355415344238 ]
[ -0.263671875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.866667
86
0
86
0
[ -2.109375, 112.939453125, 123.837890625, 50.80078125, -41.1328125, 12.570355415344238 ]
[ -0.52734375, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.9
87
0
87
0
[ -2.109375, 112.939453125, 123.837890625, 50.80078125, -41.1328125, 12.570355415344238 ]
[ -0.791015625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.933333
88
0
88
0
[ -2.109375, 112.939453125, 123.92578125, 50.80078125, -41.1328125, 12.570355415344238 ]
[ -0.87890625, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
2.966667
89
0
89
0
[ -2.109375, 112.939453125, 124.013671875, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -0.966796875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3
90
0
90
0
[ -2.109375, 112.939453125, 124.013671875, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -0.966796875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.033333
91
0
91
0
[ -2.109375, 112.939453125, 124.013671875, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.066667
92
0
92
0
[ -2.197265625, 112.939453125, 124.013671875, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.1
93
0
93
0
[ -2.197265625, 112.939453125, 124.1015625, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.133333
94
0
94
0
[ -2.28515625, 112.939453125, 124.27734375, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.166667
95
0
95
0
[ -2.373046875, 112.939453125, 124.453125, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.2
96
0
96
0
[ -2.63671875, 112.939453125, 124.62890625, 50.888671875, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.233333
97
0
97
0
[ -2.8125, 112.939453125, 124.8046875, 50.80078125, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
3.266667
98
0
98
0
[ -2.98828125, 112.939453125, 124.892578125, 50.712890625, -41.220703125, 12.570355415344238 ]
[ -1.0546875, 111.4453125, 128.14453125, 50.2734375, -41.1328125, 11.591072082519531 ]
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": 14399,
    "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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