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2.366667
71
0
71
0
0
[ 55.986328125, 54.580078125, 25.3125, 130.869140625, -15.99609375, 33.38485336303711 ]
[ 57.568359375, 53.96484375, 27.158203125, 128.759765625, -14.4140625, 32.759910583496094 ]
2.4
72
0
72
0
0
[ 55.37109375, 53.61328125, 25.3125, 131.8359375, -16.435546875, 33.15301513671875 ]
[ 56.689453125, 53.525390625, 27.158203125, 128.759765625, -14.4140625, 32.759910583496094 ]
2.433333
73
0
73
0
0
[ 54.931640625, 52.734375, 25.3125, 132.451171875, -16.69921875, 33.15301513671875 ]
[ 55.986328125, 52.822265625, 27.158203125, 129.19921875, -14.4140625, 32.759910583496094 ]
2.466667
74
0
74
0
0
[ 54.580078125, 52.119140625, 25.3125, 132.71484375, -16.787109375, 33.15301513671875 ]
[ 55.283203125, 51.767578125, 27.158203125, 130.25390625, -15.029296875, 32.759910583496094 ]
2.5
75
0
75
0
0
[ 54.228515625, 51.064453125, 25.13671875, 133.681640625, -17.40234375, 33.07573318481445 ]
[ 54.755859375, 50.888671875, 27.158203125, 131.044921875, -15.380859375, 32.759910583496094 ]
2.533333
76
0
76
0
0
[ 53.96484375, 49.74609375, 24.2578125, 135.17578125, -17.666015625, 33.07573318481445 ]
[ 54.4921875, 50.537109375, 27.158203125, 131.30859375, -15.556640625, 32.759910583496094 ]
2.566667
77
0
77
0
0
[ 53.7890625, 48.69140625, 23.994140625, 135.791015625, -17.841796875, 32.99845504760742 ]
[ 54.140625, 49.74609375, 27.158203125, 132.01171875, -15.99609375, 32.759910583496094 ]
2.6
78
0
78
0
0
[ 53.61328125, 48.076171875, 23.994140625, 135.966796875, -17.841796875, 33.15301513671875 ]
[ 53.876953125, 48.515625, 26.982421875, 133.06640625, -16.34765625, 32.759910583496094 ]
2.633333
79
0
79
0
0
[ 53.525390625, 47.373046875, 23.994140625, 135.966796875, -17.841796875, 33.23029327392578 ]
[ 53.701171875, 47.4609375, 26.3671875, 133.857421875, -16.611328125, 32.759910583496094 ]
2.666667
80
0
80
0
0
[ 53.525390625, 46.7578125, 23.994140625, 136.0546875, -17.841796875, 33.15301513671875 ]
[ 53.61328125, 46.7578125, 26.015625, 134.384765625, -16.69921875, 32.759910583496094 ]
2.7
81
0
81
0
0
[ 53.525390625, 45.966796875, 23.994140625, 136.318359375, -17.841796875, 33.15301513671875 ]
[ 53.525390625, 45.703125, 26.015625, 134.6484375, -16.69921875, 32.759910583496094 ]
2.733333
82
0
82
0
0
[ 53.61328125, 44.560546875, 23.90625, 136.40625, -17.841796875, 33.07573318481445 ]
[ 53.349609375, 43.76953125, 25.927734375, 135.615234375, -16.69921875, 32.759910583496094 ]
2.766667
83
0
83
0
0
[ 53.7890625, 43.06640625, 23.5546875, 136.40625, -17.841796875, 33.15301513671875 ]
[ 53.26171875, 43.330078125, 25.927734375, 135.703125, -16.69921875, 32.759910583496094 ]
2.8
84
0
84
0
0
[ 53.7890625, 42.1875, 22.8515625, 136.40625, -18.017578125, 33.15301513671875 ]
[ 53.26171875, 42.626953125, 25.927734375, 135.791015625, -16.69921875, 32.759910583496094 ]
2.833333
85
0
85
0
0
[ 53.876953125, 41.30859375, 22.236328125, 136.40625, -18.193359375, 33.23029327392578 ]
[ 53.26171875, 41.923828125, 25.927734375, 135.791015625, -16.69921875, 32.759910583496094 ]
2.866667
86
0
86
0
0
[ 53.876953125, 40.4296875, 21.533203125, 136.494140625, -18.28125, 33.15301513671875 ]
[ 53.26171875, 40.95703125, 25.48828125, 135.791015625, -16.962890625, 32.759910583496094 ]
2.9
87
0
87
0
0
[ 53.701171875, 39.111328125, 20.0390625, 137.197265625, -18.45703125, 33.07573318481445 ]
[ 53.26171875, 39.90234375, 25.048828125, 135.791015625, -17.314453125, 32.759910583496094 ]
2.933333
88
0
88
0
0
[ 53.701171875, 37.265625, 17.75390625, 138.427734375, -18.45703125, 33.07573318481445 ]
[ 53.26171875, 38.759765625, 24.609375, 135.791015625, -17.578125, 32.759910583496094 ]
2.966667
89
0
89
0
0
[ 53.876953125, 35.244140625, 14.94140625, 139.921875, -18.45703125, 32.921173095703125 ]
[ 53.26171875, 37.79296875, 23.90625, 136.23046875, -17.578125, 32.759910583496094 ]
3
90
0
90
0
0
[ 54.140625, 32.51953125, 10.72265625, 142.119140625, -18.6328125, 32.689334869384766 ]
[ 53.26171875, 36.650390625, 22.8515625, 136.93359375, -17.75390625, 32.759910583496094 ]
3.033333
91
0
91
0
0
[ 54.404296875, 28.4765625, 4.21875, 145.458984375, -18.720703125, 32.612056732177734 ]
[ 53.26171875, 34.8046875, 20.7421875, 137.8125, -17.75390625, 32.759910583496094 ]
3.066667
92
0
92
0
0
[ 54.755859375, 22.32421875, -7.646484375, 150.46875, -19.072265625, 32.457496643066406 ]
[ 53.26171875, 32.6953125, 18.28125, 138.8671875, -17.75390625, 32.535526275634766 ]
3.1
93
0
93
0
0
[ 55.107421875, 14.0625, -23.994140625, 156.4453125, -19.951171875, 32.30293655395508 ]
[ 53.349609375, 30.146484375, 15.29296875, 140.712890625, -17.75390625, 32.3111457824707 ]
3.133333
94
0
94
0
0
[ 55.1953125, 6.6796875, -37.08984375, 161.279296875, -22.236328125, 31.839258193969727 ]
[ 53.4375, 27.0703125, 11.42578125, 143.173828125, -18.45703125, 32.236351013183594 ]
3.166667
95
0
95
0
0
[ 54.755859375, 2.8125, -42.978515625, 164.8828125, -22.763671875, 31.761978149414062 ]
[ 53.701171875, 23.02734375, 6.064453125, 146.513671875, -18.720703125, 32.161556243896484 ]
3.2
96
0
96
0
0
[ 54.4921875, 0.3515625, -47.197265625, 166.640625, -22.236328125, 32.22565841674805 ]
[ 53.96484375, 18.28125, 0.17578125, 149.853515625, -19.3359375, 31.78758430480957 ]
3.233333
97
0
97
0
0
[ 54.580078125, -1.669921875, -51.591796875, 167.080078125, -21.4453125, 32.22565841674805 ]
[ 54.404296875, 13.0078125, -6.240234375, 153.45703125, -20.390625, 30.815258026123047 ]
3.266667
98
0
98
0
0
[ 54.66796875, -2.63671875, -53.96484375, 167.34375, -21.09375, 31.993818283081055 ]
[ 54.755859375, 7.91015625, -12.744140625, 158.37890625, -21.005859375, 31.039640426635742 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 15,
    "total_frames": 6601,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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": {
        "next.reward": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "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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