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action sequence | observation.state sequence | timestamp float32 0 2.37 | frame_index int64 0 71 | episode_index int64 0 0 | index int64 0 71 | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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23.115234375,
16.008316040039062
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124.365234375,
127.880859375,
54.404296875,
24.345703125,
1.6393442153930664
] | 2.033333 | 61 | 0 | 61 | 0 |
[
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22.5,
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124.365234375,
127.880859375,
54.404296875,
24.345703125,
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[
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124.365234375,
127.880859375,
54.404296875,
23.90625,
4.215456485748291
] | 2.1 | 63 | 0 | 63 | 0 |
[
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126.03515625,
54.580078125,
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28.794178009033203
] | [
-3.69140625,
124.365234375,
127.880859375,
54.404296875,
23.37890625,
8.196721076965332
] | 2.133333 | 64 | 0 | 64 | 0 |
[
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31.28898048400879
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124.365234375,
127.880859375,
54.404296875,
22.939453125,
13.192817687988281
] | 2.166667 | 65 | 0 | 65 | 0 |
[
-3.427734375,
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125.5078125,
55.72265625,
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31.912681579589844
] | [
-3.69140625,
124.365234375,
127.880859375,
54.404296875,
22.587890625,
18.423107147216797
] | 2.2 | 66 | 0 | 66 | 0 |
[
-3.427734375,
124.013671875,
125.5078125,
55.72265625,
20.91796875,
31.600831985473633
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-3.69140625,
124.1015625,
127.880859375,
54.931640625,
22.1484375,
23.10694694519043
] | 2.233333 | 67 | 0 | 67 | 0 |
[
-3.33984375,
124.013671875,
125.5078125,
55.72265625,
21.005859375,
29.62578010559082
] | [
-3.69140625,
123.837890625,
127.880859375,
55.283203125,
21.796875,
26.619829177856445
] | 2.266667 | 68 | 0 | 68 | 0 |
[
-3.33984375,
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] | [
-3.69140625,
123.75,
127.880859375,
55.37109375,
21.62109375,
28.415300369262695
] | 2.3 | 69 | 0 | 69 | 0 |
[
-3.251953125,
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125.5078125,
55.546875,
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16.7359676361084
] | [
-3.603515625,
123.75,
127.880859375,
55.458984375,
21.62109375,
28.415300369262695
] | 2.333333 | 70 | 0 | 70 | 0 |
[
-3.1640625,
124.189453125,
125.68359375,
55.283203125,
22.8515625,
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] | [
-3.603515625,
123.75,
127.880859375,
55.458984375,
21.62109375,
27.244340896606445
] | 2.366667 | 71 | 0 | 71 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 72,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"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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