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[ -24, -105.93406677246094, 97.010986328125, 78.10989379882812, 62.19780349731445, 11.816720008850098 ]
[ 53.36263656616211, -108.48351287841797, 94.85713958740234, 60.43955993652344, 87.6043930053711, 2.3199024200439453 ]
0
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0.1
1
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1
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0.2
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0.3
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0
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0.4
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0.5
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0.6
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0.7
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0
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0.8
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0
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0.9
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0
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1
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1.1
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0
11
0
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1.2
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0
12
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1.3
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0
13
0
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1.4
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0
14
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1.5
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0
15
0
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1.6
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0
16
0
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1.7
17
0
17
0
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1.8
18
0
18
0
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1.9
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0
19
0
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2
20
0
20
0
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2.1
21
0
21
0
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2.2
22
0
22
0
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2.3
23
0
23
0
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2.4
24
0
24
0
[ -24, -105.93406677246094, 97.010986328125, 78.10989379882812, 62.19780349731445, 11.816720008850098 ]
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
[ -21.098901748657227, -105.93406677246094, 96.30769348144531, 78.02198028564453, 65.97801971435547, 11.816720008850098 ]
[ -24.439559936523438, -106.19779968261719, 96.43955993652344, 77.93406677246094, 62.989009857177734, 11.477411270141602 ]
6.3
63
0
63
0
[ -23.296703338623047, -105.93406677246094, 96.30769348144531, 78.02198028564453, 64.30769348144531, 11.816720008850098 ]
[ -22.85714340209961, -106.19779968261719, 96.43955993652344, 77.93406677246094, 64.48351287841797, 11.477411270141602 ]
6.4
64
0
64
0
[ -23.91208839416504, -105.93406677246094, 96.30769348144531, 78.02198028564453, 59.82417678833008, 11.816720008850098 ]
[ -22.94505500793457, -106.19779968261719, 96.43955993652344, 77.93406677246094, 64.65933990478516, 11.477411270141602 ]
6.5
65
0
65
0
[ -24.351648330688477, -105.5824203491211, 96.30769348144531, 78.10989379882812, 56.0439567565918, 2.4115755558013916 ]
[ -23.03296661376953, -106.19779968261719, 96.43955993652344, 77.93406677246094, 62.28571319580078, 11.477411270141602 ]
6.6
66
0
66
0
[ -21.9780216217041, -105.93406677246094, 96.3956069946289, 78.10989379882812, 52.52747344970703, 0.24115756154060364 ]
[ -23.824174880981445, -105.93406677246094, 96.43955993652344, 77.93406677246094, 58.5054931640625, 9.951159477233887 ]
6.7
67
0
67
0
[ -20.30769157409668, -105.93406677246094, 96.3956069946289, 78.10989379882812, 52.52747344970703, 0.24115756154060364 ]
[ -22.85714340209961, -106.02198028564453, 96.43955993652344, 77.93406677246094, 54.81318664550781, 3.2356531620025635 ]
6.8
68
0
68
0
[ -18.0219783782959, -105.93406677246094, 96.3956069946289, 78.10989379882812, 52.70329666137695, 1.0450160503387451 ]
[ -21.538461685180664, -106.02198028564453, 96.43955993652344, 77.93406677246094, 53.230770111083984, 1.9536019563674927 ]
6.9
69
0
69
0
[ -18.10988998413086, -105.93406677246094, 96.3956069946289, 78.10989379882812, 52.879119873046875, 1.2057877779006958 ]
[ -19.428571701049805, -106.02198028564453, 96.43955993652344, 77.93406677246094, 52.96703338623047, 1.9536019563674927 ]
7
70
0
70
0
[ -18.10988998413086, -105.93406677246094, 96.3956069946289, 78.10989379882812, 53.67033004760742, 0 ]
[ -19.076923370361328, -106.02198028564453, 96.43955993652344, 77.93406677246094, 52.96703338623047, 1.9536019563674927 ]
7.1
71
0
71
0
[ -18.813186645507812, -105.93406677246094, 96.3956069946289, 75.12088012695312, 50.94505310058594, 1.1254019737243652 ]
[ -18.549449920654297, -106.02198028564453, 96.43955993652344, 77.93406677246094, 53.14285659790039, 1.7704517841339111 ]
7.2
72
0
72
0
[ -8, -105.93406677246094, 91.38461303710938, 65.97801971435547, 41.098899841308594, 16.318328857421875 ]
[ -18.72527503967285, -106.02198028564453, 96.43955993652344, 76.52747344970703, 51.912086486816406, 1.831501841545105 ]
7.3
73
0
73
0
[ 6.4175825119018555, -105.93406677246094, 78.54945373535156, 56.659339904785156, 29.14285659790039, 28.456592559814453 ]
[ -16.351648330688477, -105.67032623291016, 94.76923370361328, 72.83516693115234, 48.39560317993164, 3.113553047180176 ]
7.4
74
0
74
0
[ 11.252747535705566, -95.73626708984375, 59.29670333862305, 52.17582321166992, 25.186813354492188, 32.07395553588867 ]
[ -5.626373767852783, -105.4065933227539, 91.78022003173828, 63.69230651855469, 38.46154022216797, 11.538461685180664 ]
7.5
75
0
75
0
[ 12.219779968261719, -74.989013671875, 29.05494499206543, 58.241756439208984, 19.296703338623047, 34.2443733215332 ]
[ 6.4175825119018555, -103.64835357666016, 78.76923370361328, 56.74725341796875, 29.05494499206543, 20.757020950317383 ]
7.6
76
0
76
0
[ 12.659340858459473, -56.087913513183594, 0.21978022158145905, 63.516483306884766, 17.36263656616211, 34.2443733215332 ]
[ 10.637362480163574, -94.4175796508789, 59.9560432434082, 56.30769348144531, 23.868131637573242, 29.60927963256836 ]
7.7
77
0
77
0
[ 12.219779968261719, -36.21977996826172, -28.175825119018555, 70.63735961914062, 15.252747535705566, 34.08360290527344 ]
[ 12.04395580291748, -75.16483306884766, 35.25274658203125, 60.52747344970703, 19.384614944458008, 32.96703338623047 ]
7.8
78
0
78
0
[ 15.736263275146484, -13.714285850524902, -61.67033004760742, 81.53845977783203, 12.087912559509277, 34.56591796875 ]
[ 12.04395580291748, -55.29670333862305, 8.879120826721191, 65.89010620117188, 16.74725341796875, 33.516483306884766 ]
7.9
79
0
79
0
[ 19.428571701049805, -6.241758346557617, -66.4175796508789, 82.15384674072266, 11.824175834655762, 35.289390563964844 ]
[ 13.714285850524902, -35.868133544921875, -18.0219783782959, 73.45054626464844, 13.934065818786621, 33.882781982421875 ]
8
80
0
80
0
[ 23.736263275146484, -3.780219793319702, -62.28571319580078, 82.15384674072266, 9.186813354492188, 36.25402069091797 ]
[ 17.05494499206543, -15.912087440490723, -45.27472686767578, 80.04395294189453, 12.527472496032715, 34.61538314819336 ]
8.1
81
0
81
0
[ 27.604394912719727, -1.6703296899795532, -57.36263656616211, 81.45054626464844, 7.252747058868408, 36.73633575439453 ]
[ 20.571428298950195, -4.835165023803711, -59.9560432434082, 81.62637329101562, 10.417582511901855, 35.47008514404297 ]
8.2
82
0
82
0
[ 30.153846740722656, 1.2307692766189575, -55.516483306884766, 81.53845977783203, 6.02197790145874, 36.73633575439453 ]
[ 24.175825119018555, -2.0219781398773193, -57.758243560791016, 81.80220031738281, 8.395604133605957, 36.08058547973633 ]
8.3
83
0
83
0
[ 30.94505500793457, 1.9340659379959106, -54.021976470947266, 82.06593322753906, 4.879120826721191, 36.81671905517578 ]
[ 28.131868362426758, 0, -56.17582321166992, 81.80220031738281, 6.901098728179932, 36.38583755493164 ]
8.4
84
0
84
0
[ 29.538461685180664, -0.2637362778186798, -53.58241653442383, 85.05494689941406, 3.472527503967285, 36.81671905517578 ]
[ 29.80219841003418, 2.9010989665985107, -53.89011001586914, 81.97801971435547, 5.5824174880981445, 36.38583755493164 ]
8.5
85
0
85
0
[ 26.285715103149414, -8.263736724853516, -50.32966995239258, 88.92308044433594, 1.274725317955017, 36.73633575439453 ]
[ 30.065933227539062, 2.6373627185821533, -53.27472686767578, 84, 4.175824165344238, 36.38583755493164 ]
8.6
86
0
86
0
[ 20.571428298950195, -27.868131637573242, -35.120880126953125, 87.6043930053711, 0.21978022158145905, 36.655948638916016 ]
[ 28.30769157409668, -1.1428571939468384, -51.07692337036133, 87.16483306884766, 2.3296704292297363, 36.38583755493164 ]
8.7
87
0
87
0
[ 14.065934181213379, -51.340660095214844, -14.725275039672852, 81.71428680419922, 1.186813235282898, 33.76205825805664 ]
[ 24.96703338623047, -8.879120826721191, -46.85714340209961, 87.78022003173828, 0.9230769276618958, 36.38583755493164 ]
8.8
88
0
88
0
[ 14.241758346557617, -67.6043930053711, -3.384615421295166, 78.81318664550781, 2.769230842590332, 33.19935607910156 ]
[ 19.076923370361328, -27.78022003173828, -31.91208839416504, 85.31867980957031, 0.8351648449897766, 35.28693389892578 ]
8.9
89
0
89
0
[ 14.769230842590332, -82.9011001586914, 11.736263275146484, 73.89010620117188, 7.516483306884766, 34.08360290527344 ]
[ 15.20879077911377, -50.989009857177734, -14.15384578704834, 81.36264038085938, 1.6263736486434937, 34.0048828125 ]
9
90
0
90
0
[ 16.52747344970703, -96, 27.120878219604492, 69.4065933227539, 9.362637519836426, 33.76205825805664 ]
[ 14.94505500793457, -70.68132019042969, -0.6153846383094788, 77.67032623291016, 4.087912082672119, 33.882781982421875 ]
9.1
91
0
91
0
[ 17.846153259277344, -100.83516693115234, 39.60439682006836, 65.62637329101562, 9.802197456359863, 33.76205825805664 ]
[ 15.912087440490723, -86.4175796508789, 12.747252464294434, 72.65933990478516, 7.516483306884766, 34.06593322753906 ]
9.2
92
0
92
0
[ 18.19780158996582, -104.61538696289062, 51.03296661376953, 60.52747344970703, 11.472527503967285, 33.52090072631836 ]
[ 16.791208267211914, -101.45054626464844, 29.450550079345703, 69.05494689941406, 8.747252464294434, 34.06593322753906 ]
9.3
93
0
93
0
[ 18.285715103149414, -105.5824203491211, 59.736263275146484, 58.241756439208984, 12.879120826721191, 33.52090072631836 ]
[ 17.494504928588867, -103.03296661376953, 41.758243560791016, 64.21977996826172, 10.417582511901855, 34.0048828125 ]
9.4
94
0
94
0
[ 18.19780158996582, -105.67032623291016, 67.38461303710938, 56.659339904785156, 14.10988998413086, 33.360130310058594 ]
[ 17.846153259277344, -104.0879135131836, 53.978023529052734, 60.61538314819336, 12, 33.69963455200195 ]
9.5
95
0
95
0
[ 16.615385055541992, -105.67032623291016, 74.94505310058594, 55.868133544921875, 15.692307472229004, 32.95819854736328 ]
[ 17.846153259277344, -106.10989379882812, 62.5054931640625, 58.32966995239258, 13.230769157409668, 33.69963455200195 ]
9.6
96
0
96
0
[ 14.505494117736816, -105.75823974609375, 82.85713958740234, 54.021976470947266, 16.395605087280273, 32.47588348388672 ]
[ 17.14285659790039, -105.93406677246094, 69.71428680419922, 57.010990142822266, 14.725275039672852, 33.4554328918457 ]
9.7
97
0
97
0
[ 12.659340858459473, -105.75823974609375, 91.73626708984375, 50.241756439208984, 16.571428298950195, 31.672025680541992 ]
[ 15.560439109802246, -105.84615325927734, 78.5054931640625, 55.42856979370117, 15.604395866394043, 33.02808380126953 ]
9.8
98
0
98
0
[ 11.692307472229004, -105.84615325927734, 96.30769348144531, 49.27472686767578, 17.098901748657227, 29.180065155029297 ]
[ 13.978021621704102, -105.67032623291016, 85.53845977783203, 52.61538314819336, 16.043956756591797, 32.29548263549805 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 10,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
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    },
    "total_episodes": 2,
    "total_frames": 1198,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:2"
    }
}

Citation

BibTeX:

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