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9
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10
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10.4
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10.6
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10.8
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11
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11.2
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11.4
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57
0
[ 67.52877807617188, -6.281099319458008, 30.76354217529297, 63.21232986450195, -5.482710838317871, 0.18913650512695312 ]
[ 69.31607818603516, -5.102040767669678, 33.06233215332031, 62.83871078491211, -5.728485584259033, 0.7570543885231018 ]
11.6
58
0
58
0
[ 68.37401580810547, -5.390842437744141, 29.18828582763672, 62.83220672607422, -4.73862361907959, 0.5579242706298828 ]
[ 67.7634048461914, -5.102040767669678, 33.06233215332031, 62.752689361572266, -5.728485584259033, 0.7570543885231018 ]
11.8
59
0
59
0
[ 68.18758392333984, -5.821887969970703, 31.23150634765625, 62.23910903930664, -5.502274513244629, 0.9423732757568359 ]
[ 68.13308715820312, -5.102040767669678, 31.707317352294922, 62.32258224487305, -5.309966087341309, 0.7570543885231018 ]
12
60
0
60
0
[ 68.26263427734375, -6.407068252563477, 31.28369903564453, 62.22029495239258, -5.601120948791504, 1.2958946228027344 ]
[ 67.9112777709961, -5.102040767669678, 31.526649475097656, 62.752689361572266, -5.100706100463867, 0.7570543885231018 ]
12.2
61
0
61
0
[ 68.36512756347656, -6.418710708618164, 31.258899688720703, 62.323062896728516, -5.286124229431152, 1.402719497680664 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.752689361572266, -5.309966087341309, 0.7570543885231018 ]
12.4
62
0
62
0
[ 68.16033172607422, -6.307363510131836, 31.326637268066406, 62.128662109375, -4.940403938293457, 1.4064311981201172 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.752689361572266, -5.309966087341309, 0.8947006464004517 ]
12.6
63
0
63
0
[ 68.3240966796875, -6.156648635864258, 31.19900894165039, 62.2461051940918, -5.479250907897949, 1.316904067993164 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.752689361572266, -5.257650852203369, 0.8947006464004517 ]
12.8
64
0
64
0
[ 67.78390502929688, -6.073949813842773, 31.418277740478516, 62.1148567199707, -5.5789289474487305, 1.1928939819335938 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.752689361572266, -5.309966087341309, 0.8947006464004517 ]
13
65
0
65
0
[ 68.03129577636719, -5.721799850463867, 31.40932846069336, 62.1217155456543, -5.959359169006348, 1.443685531616211 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.309966087341309, 0.8947006464004517 ]
13.2
66
0
66
0
[ 68.10592651367188, -5.787195205688477, 31.451229095458984, 62.10670471191406, -5.548251152038574, 1.5175247192382812 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.728485584259033, 0.8947006464004517 ]
13.4
67
0
67
0
[ 68.11282348632812, -5.798412322998047, 31.54418182373047, 62.14790344238281, -5.718222618103027, 1.3526191711425781 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.728485584259033, 0.8947006464004517 ]
13.6
68
0
68
0
[ 68.0516586303711, -5.609838485717773, 31.500598907470703, 62.29063034057617, -4.9266767501831055, 1.2934398651123047 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.728485584259033, 0.8947006464004517 ]
13.8
69
0
69
0
[ 68.11868286132812, -5.94683837890625, 31.074073791503906, 62.31163024902344, -5.15230655670166, 1.8997936248779297 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.309966087341309, 0.8947006464004517 ]
14
70
0
70
0
[ 68.40125274658203, -5.567790985107422, 31.24427032470703, 62.38742446899414, -5.177924156188965, 1.6126060485839844 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.257650852203369, 1.1011699438095093 ]
14.2
71
0
71
0
[ 68.3284912109375, -5.340576171875, 31.26116943359375, 62.4188346862793, -4.6474809646606445, 1.3064765930175781 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.257650852203369, 1.1699931621551514 ]
14.4
72
0
72
0
[ 68.31719970703125, -5.572093963623047, 31.413169860839844, 62.421695709228516, -3.998518943786621, 1.4022502899169922 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -5.048391342163086, 1.1699931621551514 ]
14.6
73
0
73
0
[ 68.2696762084961, -5.754968643188477, 31.54821014404297, 62.068260192871094, -2.6031112670898438, 2.164647102355957 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -4.42061185836792, 1.1699931621551514 ]
14.8
74
0
74
0
[ 68.2281494140625, -5.80735969543457, 31.502700805664062, 61.87839889526367, -2.7738046646118164, 1.7921867370605469 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.66666793823242, -3.0604238510131836, 1.3076393604278564 ]
15
75
0
75
0
[ 67.9847640991211, -5.2022247314453125, 31.781993865966797, 61.97455978393555, -2.834832191467285, 3.3429861068725586 ]
[ 67.9112777709961, -5.102040767669678, 31.887985229492188, 62.40860366821289, -3.0081088542938232, 1.4452855587005615 ]
15.2
76
0
76
0
[ 67.95087432861328, -5.136638641357422, 31.577579498291016, 61.8967170715332, -2.511143684387207, 2.4223737716674805 ]
[ 67.9112777709961, -4.761904716491699, 31.97831916809082, 62.32258224487305, -3.0081088542938232, 2.5464556217193604 ]
15.4
77
0
77
0
[ 67.94379425048828, -5.182802200317383, 31.822479248046875, 62.04231262207031, -2.3729286193847656, 2.033985137939453 ]
[ 67.9112777709961, -4.761904716491699, 31.97831916809082, 62.32258224487305, -2.955793857574463, 2.5464556217193604 ]
15.6
78
0
78
0
[ 67.8045654296875, -5.544948577880859, 31.692584991455078, 62.065826416015625, -2.315566062927246, 2.0168895721435547 ]
[ 67.9112777709961, -4.761904716491699, 31.97831916809082, 62.32258224487305, -2.798849105834961, 2.477632522583008 ]
15.8
79
0
79
0
[ 67.8147964477539, -6.099264144897461, 32.350223541259766, 62.100502014160156, -2.623824119567871, 1.9671516418457031 ]
[ 67.9112777709961, -4.761904716491699, 31.97831916809082, 62.32258224487305, -2.641904354095459, 2.477632522583008 ]
16
80
0
80
0
[ 67.46003723144531, -6.08976936340332, 31.951351165771484, 62.122764587402344, -1.6777420043945312, 1.9312496185302734 ]
[ 67.9112777709961, -4.761904716491699, 31.97831916809082, 62.32258224487305, -2.641904354095459, 2.477632522583008 ]
16.200001
81
0
81
0
[ 67.68170928955078, -5.743099212646484, 31.82370376586914, 62.10261154174805, -2.287236213684082, 1.588338851928711 ]
[ 67.61552429199219, -4.761904716491699, 32.15898895263672, 62.32258224487305, -1.9618101119995117, 2.477632522583008 ]
16.4
82
0
82
0
[ 67.55281066894531, -5.890962600708008, 32.150352478027344, 62.12494659423828, -1.7708396911621094, 1.0724411010742188 ]
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16.6
83
0
83
0
[ 66.474365234375, -5.738349914550781, 32.235877990722656, 61.45976638793945, -1.7921953201293945, 1.502237319946289 ]
[ 67.61552429199219, -4.761904716491699, 32.24932098388672, 62.32258224487305, -1.9618101119995117, 1.6517549753189087 ]
16.799999
84
0
84
0
[ 66.94988250732422, -6.358972549438477, 32.64925003051758, 61.93935012817383, -1.4082574844360352, 1.7497482299804688 ]
[ 66.65434265136719, -4.761904716491699, 32.42999267578125, 61.89247131347656, -1.9618101119995117, 1.6517549753189087 ]
17
85
0
85
0
[ 66.89678192138672, -5.726772308349609, 32.36992645263672, 62.04264831542969, -0.6668252944946289, 1.4797382354736328 ]
[ 66.65434265136719, -4.761904716491699, 32.700992584228516, 61.80644989013672, -1.8048652410507202, 1.6517549753189087 ]
17.200001
86
0
86
0
[ 67.5490951538086, -6.094644546508789, 32.231590270996094, 62.186012268066406, -1.241537094116211, 1.3625469207763672 ]
[ 66.65434265136719, -4.761904716491699, 32.700992584228516, 61.80644989013672, -1.1770861148834229, 1.6517549753189087 ]
17.4
87
0
87
0
[ 67.55410766601562, -5.9813232421875, 32.30128860473633, 61.6834716796875, 0.7424774169921875, 1.3383808135986328 ]
[ 67.02403259277344, -4.761904716491699, 32.700992584228516, 61.80644989013672, -1.1247711181640625, 1.6517549753189087 ]
17.6
88
0
88
0
[ 67.39179229736328, -5.946840286254883, 32.613677978515625, 62.01264572143555, -0.2135610580444336, 1.7576885223388672 ]
[ 67.02403259277344, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.2354172170162201, 1.6517549753189087 ]
17.799999
89
0
89
0
[ 67.16947937011719, -5.932636260986328, 32.69108963012695, 61.885135650634766, -0.5904989242553711, 1.4579238891601562 ]
[ 67.02403259277344, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.07847240567207336, 1.6517549753189087 ]
18
90
0
90
0
[ 67.21968078613281, -5.89616584777832, 32.56809997558594, 61.989559173583984, 1.0049304962158203, 1.9118366241455078 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, -0.18310227990150452, 1.6517549753189087 ]
18.200001
91
0
91
0
[ 67.31622314453125, -5.71522331237793, 32.750736236572266, 61.948028564453125, 1.0479402542114258, 1.5414962768554688 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.5493068099021912, 1.6517549753189087 ]
18.4
92
0
92
0
[ 67.20277404785156, -5.453393936157227, 32.84143829345703, 61.825828552246094, 0.5748977661132812, 2.3159360885620117 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.5493068099021912, 1.6517549753189087 ]
18.6
93
0
93
0
[ 67.12837219238281, -5.610385894775391, 32.27167510986328, 62.13700866699219, 0.3694877624511719, 1.15179443359375 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.5493068099021912, 1.6517549753189087 ]
18.799999
94
0
94
0
[ 67.08272552490234, -5.6230010986328125, 32.154319763183594, 62.2369270324707, 0.7820205688476562, 1.5222511291503906 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.5493068099021912, 1.5141087770462036 ]
19
95
0
95
0
[ 65.81298828125, -6.345256805419922, 32.4955940246582, 62.47480773925781, 0.709895133972168, 1.4589099884033203 ]
[ 66.9500961303711, -4.761904716491699, 32.700992584228516, 61.80644989013672, 0.5493068099021912, 1.5141087770462036 ]
19.200001
96
0
96
0
[ 65.25946044921875, -6.500114440917969, 31.524593353271484, 62.87224197387695, 2.398932456970215, 1.9090652465820312 ]
[ 65.91497039794922, -4.761904716491699, 32.700992584228516, 61.89247131347656, 0.6539366841316223, 1.5141087770462036 ]
19.4
97
0
97
0
[ 65.0848617553711, -6.195350646972656, 31.494781494140625, 62.691062927246094, 3.0187788009643555, 1.3764076232910156 ]
[ 65.39741516113281, -4.761904716491699, 32.700992584228516, 61.89247131347656, 1.8571802377700806, 1.5141087770462036 ]
19.6
98
0
98
0
[ 66.44693756103516, -5.828020095825195, 31.44748306274414, 62.41666793823242, 1.2658987045288086, 1.8250350952148438 ]
[ 65.2495346069336, -4.761904716491699, 32.700992584228516, 61.89247131347656, 2.5895893573760986, 1.5141087770462036 ]
19.799999
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",
    "robot_type": "so101_follower",
    "total_episodes": 1,
    "total_frames": 897,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 5,
    "splits": {
        "train": "0:1"
    },
    "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",
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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