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Datasets:
davidhightown
/
mimic_v1-1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
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pandas
Polars
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -8.131868362426758, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0 ]
[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
0
0
0
0
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
0.1
1
0
1
0
[ -8.131868362426758, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0 ]
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
4
0
4
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
0.5
5
0
5
0
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0.6
6
0
6
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
0.7
7
0
7
0
[ -8.131868362426758, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0 ]
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0.8
8
0
8
0
[ -8.131868362426758, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0 ]
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0.9
9
0
9
0
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1
10
0
10
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.1
11
0
11
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.2
12
0
12
0
[ -8.131868362426758, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0 ]
[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.3
13
0
13
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.4
14
0
14
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.5
15
0
15
0
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1.6
16
0
16
0
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1.7
17
0
17
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
1.8
18
0
18
0
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1.9
19
0
19
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
2
20
0
20
0
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2.1
21
0
21
0
[ -8.219779968261719, -102.76923370361328, 96.48351287841797, -98.54945373535156, -19.824174880981445, 0.16849198937416077 ]
[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
2.2
22
0
22
0
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2.3
23
0
23
0
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[ -7.912087917327881, -102.32967376708984, 96.83516693115234, -98.19779968261719, -19.560440063476562, 0.27913469076156616 ]
2.4
24
0
24
0
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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
[ -8.307692527770996, -94.5934066772461, 90.32967376708984, -84.57142639160156, -19.824174880981445, 0 ]
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3.3
33
0
33
0
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3.4
34
0
34
0
[ -8.307692527770996, -81.93406677246094, 78.989013671875, -74.46154022216797, -19.824174880981445, 0 ]
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3.5
35
0
35
0
[ -8.307692527770996, -73.84615325927734, 73.0988998413086, -69.80220031738281, -19.824174880981445, 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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[ -10.549450874328613, -63.38461685180664, 66.06593322753906, -63.56044006347656, -19.560440063476562, 0.27913469076156616 ]
3.9
39
0
39
0
[ -17.010988235473633, -41.406593322753906, 41.098899841308594, -46.41758346557617, -19.648351669311523, 0 ]
[ -12.923076629638672, -54.5054931640625, 57.27472686767578, -58.46154022216797, -19.560440063476562, 0.27913469076156616 ]
4
40
0
40
0
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[ -15.472527503967285, -47.120880126953125, 49.4505500793457, -52.39560317993164, -19.560440063476562, 0.27913469076156616 ]
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
[ -26.681318283081055, -24.263736724853516, 17.626373291015625, 4.219780445098877, -19.824174880981445, 0 ]
[ -22.329669952392578, -28.659339904785156, 27.560440063476562, -20.131868362426758, -19.560440063476562, 0.27913469076156616 ]
4.4
44
0
44
0
[ -31.16483497619629, -21.89011001586914, 14.10988998413086, 14.593406677246094, -19.824174880981445, 0.16849198937416077 ]
[ -25.05494499206543, -25.14285659790039, 22.461538314819336, -6.329670429229736, -19.560440063476562, 0.27913469076156616 ]
4.5
45
0
45
0
[ -36.79121017456055, -18.461538314819336, 11.20879077911377, 23.296703338623047, -19.91208839416504, 0 ]
[ -28.571428298950195, -22.41758155822754, 18.329669952392578, 6.857142925262451, -19.560440063476562, 0.27913469076156616 ]
4.6
46
0
46
0
[ -40.92307662963867, -13.978021621704102, 9.450549125671387, 31.824174880981445, -19.91208839416504, 0 ]
[ -33.05494689941406, -19.604394912719727, 14.813186645507812, 16.96703338623047, -19.560440063476562, 0.27913469076156616 ]
4.7
47
0
47
0
[ -43.29670333862305, -9.84615421295166, 6.725274562835693, 37.89011001586914, -19.91208839416504, 0 ]
[ -38.241756439208984, -15.736263275146484, 12.527472496032715, 25.670330047607422, -19.560440063476562, 0.27913469076156616 ]
4.8
48
0
48
0
[ -45.230770111083984, -7.208791255950928, 3.8241758346557617, 43.25274658203125, -22.10988998413086, 0 ]
[ -41.758243560791016, -11.340659141540527, 10.241758346557617, 33.846153259277344, -19.560440063476562, 0.27913469076156616 ]
4.9
49
0
49
0
[ -46.901100158691406, -5.274725437164307, 1.4505494832992554, 48.35165023803711, -32.39560317993164, 0 ]
[ -43.9560432434082, -7.824175834655762, 7.516483306884766, 39.912086486816406, -21.230770111083984, 0.27913469076156616 ]
5
50
0
50
0
[ -48.83516311645508, -2.98901104927063, -0.3076923191547394, 51.340660095214844, -40.0439567565918, 0 ]
[ -45.978023529052734, -5.538461685180664, 4.791208744049072, 44.74725341796875, -25.27472496032715, 0.27913469076156616 ]
5.1
51
0
51
0
[ -50.68132019042969, -0.791208803653717, -0.5714285969734192, 51.868133544921875, -42.5054931640625, 0 ]
[ -47.82417678833008, -3.3406593799591064, 2.5934066772460938, 49.4945068359375, -34.85714340209961, 0.27913469076156616 ]
5.2
52
0
52
0
[ -51.736263275146484, 2.373626470565796, -0.48351648449897766, 51.868133544921875, -42.68132019042969, 0 ]
[ -49.67033004760742, -0.9670329689979553, 1.802197813987732, 51.16483688354492, -40.21977996826172, 0.27913469076156616 ]
5.3
53
0
53
0
[ -52, 5.890110015869141, -0.48351648449897766, 51.69230651855469, -42.68132019042969, 0.16849198937416077 ]
[ -51.07692337036133, 1.7582417726516724, 1.5384615659713745, 51.60439682006836, -41.80219650268555, 0.27913469076156616 ]
5.4
54
0
54
0
[ -52, 9.318681716918945, -0.48351648449897766, 51.60439682006836, -42.68132019042969, 0.16849198937416077 ]
[ -51.69230651855469, 5.010989189147949, 1.5384615659713745, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
5.5
55
0
55
0
[ -52, 12.04395580291748, -0.48351648449897766, 51.78022003173828, -42.769229888916016, 0 ]
[ -51.69230651855469, 8.615385055541992, 1.5384615659713745, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
5.6
56
0
56
0
[ -52, 14.417582511901855, -0.21978022158145905, 51.9560432434082, -42.769229888916016, 0 ]
[ -51.78022003173828, 11.692307472229004, 1.5384615659713745, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
5.7
57
0
57
0
[ -52, 15.472527503967285, 1.274725317955017, 51.9560432434082, -42.769229888916016, 0 ]
[ -51.69230651855469, 14.15384578704834, 1.5384615659713745, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
5.8
58
0
58
0
[ -52.087913513183594, 15.472527503967285, 3.6483516693115234, 51.9560432434082, -42.85714340209961, 0 ]
[ -51.78022003173828, 15.824175834655762, 1.9780219793319702, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
5.9
59
0
59
0
[ -53.58241653442383, 15.472527503967285, 4.263736248016357, 52.131866455078125, -46.28571319580078, 0 ]
[ -51.69230651855469, 15.824175834655762, 3.472527503967285, 51.60439682006836, -42.32966995239258, 0.27913469076156616 ]
6
60
0
60
0
[ -55.25274658203125, 15.472527503967285, 3.7362637519836426, 55.64834976196289, -49.36263656616211, 0 ]
[ -52.659339904785156, 15.912087440490723, 4.351648330688477, 51.69230651855469, -44.879119873046875, 0.27913469076156616 ]
6.1
61
0
61
0
[ -55.69230651855469, 15.472527503967285, 3.7362637519836426, 59.78022003173828, -49.4505500793457, 0 ]
[ -54.32966995239258, 15.912087440490723, 4.439560413360596, 54.241756439208984, -47.868133544921875, 0.27913469076156616 ]
6.2
62
0
62
0
[ -55.340660095214844, 15.472527503967285, 2.769230842590332, 63.03296661376953, -49.36263656616211, 0 ]
[ -55.38461685180664, 15.912087440490723, 4.439560413360596, 57.67033004760742, -48.83516311645508, 0.27913469076156616 ]
6.3
63
0
63
0
[ -55.25274658203125, 15.736263275146484, 0.8351648449897766, 68.21977996826172, -49.36263656616211, 0 ]
[ -55.29670333862305, 15.912087440490723, 4.439560413360596, 61.18681335449219, -49.010990142822266, 0.27913469076156616 ]
6.4
64
0
64
0
[ -55.07692337036133, 15.912087440490723, -1.0989011526107788, 73.4945068359375, -49.36263656616211, 0 ]
[ -55.29670333862305, 16.263736724853516, 3.384615421295166, 65.31867980957031, -49.010990142822266, 0.27913469076156616 ]
6.5
65
0
65
0
[ -53.93406677246094, 16, -1.5384615659713745, 75.07691955566406, -49.18681335449219, 0 ]
[ -55.29670333862305, 16.439559936523438, 1.7142857313156128, 69.89010620117188, -49.010990142822266, 0.27913469076156616 ]
6.6
66
0
66
0
[ -53.31867980957031, 17.406593322753906, -1.7142857313156128, 75.16483306884766, -49.18681335449219, 0 ]
[ -54.85714340209961, 16.439559936523438, 0.9230769276618958, 73.75823974609375, -49.010990142822266, 0.27913469076156616 ]
6.7
67
0
67
0
[ -53.230770111083984, 19.868131637573242, -4.087912082672119, 75.16483306884766, -49.18681335449219, 0 ]
[ -53.978023529052734, 17.58241844177246, 0.3076923191547394, 74.63735961914062, -49.010990142822266, 0.27913469076156616 ]
6.8
68
0
68
0
[ -53.4945068359375, 22.94505500793457, -8.307692527770996, 75.34066009521484, -49.18681335449219, 0 ]
[ -53.80219650268555, 19.69230842590332, -1.4505494832992554, 74.72527313232422, -49.010990142822266, 0.27913469076156616 ]
6.9
69
0
69
0
[ -53.67033004760742, 26.10988998413086, -12.527472496032715, 75.34066009521484, -49.18681335449219, 0 ]
[ -53.978023529052734, 22.505495071411133, -4.263736248016357, 74.9011001586914, -49.010990142822266, 0.27913469076156616 ]
7
70
0
70
0
[ -54.19780349731445, 29.36263656616211, -16.83516502380371, 75.42857360839844, -49.18681335449219, 0 ]
[ -53.89011001586914, 25.670330047607422, -8.571428298950195, 74.81318664550781, -49.010990142822266, 0.27913469076156616 ]
7.1
71
0
71
0
[ -54.63736343383789, 32, -19.824174880981445, 75.6043930053711, -49.18681335449219, 0 ]
[ -53.978023529052734, 28.83516502380371, -12.527472496032715, 74.9011001586914, -49.010990142822266, 0.27913469076156616 ]
7.2
72
0
72
0
[ -54.373626708984375, 33.05494689941406, -20.879121780395508, 75.6043930053711, -49.18681335449219, 0 ]
[ -54.153846740722656, 31.736263275146484, -16.395605087280273, 75.34066009521484, -49.010990142822266, 0.27913469076156616 ]
7.3
73
0
73
0
[ -53.846153259277344, 33.05494689941406, -20.703296661376953, 75.69230651855469, -48.21977996826172, 0 ]
[ -54.32966995239258, 33.406593322753906, -18.153846740722656, 75.42857360839844, -49.010990142822266, 0.27913469076156616 ]
7.4
74
0
74
0
[ -52.79121017456055, 33.14285659790039, -20.615385055541992, 75.69230651855469, -43.736263275146484, 0 ]
[ -54.32966995239258, 33.406593322753906, -18.329669952392578, 75.51648712158203, -48.57143020629883, 0.27913469076156616 ]
7.5
75
0
75
0
[ -51.38461685180664, 33.230770111083984, -20.615385055541992, 75.69230651855469, -41.978023529052734, 0 ]
[ -53.71428680419922, 33.406593322753906, -18.329669952392578, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
7.6
76
0
76
0
[ -51.03296661376953, 33.230770111083984, -20.615385055541992, 75.51648712158203, -42.153846740722656, 0 ]
[ -52.483516693115234, 33.58241653442383, -18.329669952392578, 75.51648712158203, -43.120880126953125, 0.27913469076156616 ]
7.7
77
0
77
0
[ -50.94505310058594, 33.230770111083984, -20.615385055541992, 75.42857360839844, -42.241756439208984, 0 ]
[ -51.516483306884766, 33.58241653442383, -18.329669952392578, 75.51648712158203, -42.593406677246094, 0.27913469076156616 ]
7.8
78
0
78
0
[ -50.241756439208984, 33.230770111083984, -20.615385055541992, 75.69230651855469, -42.32966995239258, 0 ]
[ -51.516483306884766, 33.58241653442383, -18.329669952392578, 75.51648712158203, -42.593406677246094, 0.27913469076156616 ]
7.9
79
0
79
0
[ -49.53845977783203, 33.230770111083984, -20.615385055541992, 75.69230651855469, -42.41758346557617, 0 ]
[ -50.989009857177734, 33.58241653442383, -18.329669952392578, 75.51648712158203, -42.593406677246094, 0.27913469076156616 ]
8
80
0
80
0
[ -49.36263656616211, 33.230770111083984, -20.615385055541992, 75.69230651855469, -45.4945068359375, 0 ]
[ -50.373626708984375, 33.58241653442383, -18.329669952392578, 75.51648712158203, -42.593406677246094, 0.27913469076156616 ]
8.1
81
0
81
0
[ -49.53845977783203, 33.230770111083984, -20.52747344970703, 75.69230651855469, -46.28571319580078, 0 ]
[ -49.93406677246094, 33.58241653442383, -18.329669952392578, 75.51648712158203, -44.35165023803711, 0.27913469076156616 ]
8.2
82
0
82
0
[ -49.978023529052734, 33.31867980957031, -20.439559936523438, 75.69230651855469, -46.19780349731445, 0 ]
[ -49.93406677246094, 33.58241653442383, -18.329669952392578, 75.51648712158203, -45.67033004760742, 0.27913469076156616 ]
8.3
83
0
83
0
[ -50.06593322753906, 33.05494689941406, -18.85714340209961, 75.6043930053711, -46.021976470947266, 0 ]
[ -49.93406677246094, 33.58241653442383, -18.329669952392578, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.4
84
0
84
0
[ -50.06593322753906, 32.96703338623047, -18.153846740722656, 75.34066009521484, -46.021976470947266, 0 ]
[ -49.93406677246094, 33.58241653442383, -18.065933227539062, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.5
85
0
85
0
[ -50.06593322753906, 33.14285659790039, -18.329669952392578, 75.16483306884766, -46.021976470947266, 0 ]
[ -49.93406677246094, 33.58241653442383, -17.80219841003418, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.6
86
0
86
0
[ -50.06593322753906, 33.230770111083984, -18.065933227539062, 75.25274658203125, -46.021976470947266, 0 ]
[ -49.93406677246094, 33.58241653442383, -17.80219841003418, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.7
87
0
87
0
[ -50.06593322753906, 33.31867980957031, -17.538461685180664, 75.25274658203125, -46.021976470947266, 0 ]
[ -49.93406677246094, 33.58241653442383, -17.80219841003418, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.8
88
0
88
0
[ -50.06593322753906, 33.31867980957031, -16.395605087280273, 75.16483306884766, -45.93406677246094, 0.08424599468708038 ]
[ -49.93406677246094, 33.58241653442383, -17.450550079345703, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
8.9
89
0
89
0
[ -50.153846740722656, 33.31867980957031, -15.868131637573242, 75.16483306884766, -45.93406677246094, 0 ]
[ -49.93406677246094, 33.58241653442383, -16.571428298950195, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
9
90
0
90
0
[ -50.153846740722656, 33.31867980957031, -15.428571701049805, 75.16483306884766, -45.93406677246094, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -15.868131637573242, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
9.1
91
0
91
0
[ -50.153846740722656, 33.31867980957031, -14.90109920501709, 75.16483306884766, -45.93406677246094, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -15.516483306884766, 75.51648712158203, -45.846153259277344, 0.27913469076156616 ]
9.2
92
0
92
0
[ -50.153846740722656, 33.31867980957031, -14.90109920501709, 75.16483306884766, -45.93406677246094, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -14.813186645507812, 75.42857360839844, -45.846153259277344, 0.27913469076156616 ]
9.3
93
0
93
0
[ -50.153846740722656, 33.31867980957031, -14.90109920501709, 75.16483306884766, -45.93406677246094, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -14.725275039672852, 75.42857360839844, -45.846153259277344, 0.27913469076156616 ]
9.4
94
0
94
0
[ -50.153846740722656, 33.31867980957031, -14.90109920501709, 75.16483306884766, -45.93406677246094, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -14.725275039672852, 75.42857360839844, -45.846153259277344, 0.27913469076156616 ]
9.5
95
0
95
0
[ -49.89011001586914, 33.230770111083984, -14.90109920501709, 75.25274658203125, -44, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -14.725275039672852, 75.42857360839844, -45.846153259277344, 0.27913469076156616 ]
9.6
96
0
96
0
[ -49.27472686767578, 33.05494689941406, -14.90109920501709, 75.34066009521484, -43.64834976196289, 0.16849198937416077 ]
[ -49.93406677246094, 33.758243560791016, -14.725275039672852, 75.42857360839844, -44.70329666137695, 0.27913469076156616 ]
9.7
97
0
97
0
[ -48.83516311645508, 32.96703338623047, -14.90109920501709, 75.42857360839844, -43.64834976196289, 0.16849198937416077 ]
[ -49.846153259277344, 33.758243560791016, -14.725275039672852, 75.51648712158203, -44.087913513183594, 0.27913469076156616 ]
9.8
98
0
98
0
[ -48.483516693115234, 32.96703338623047, -14.90109920501709, 75.69230651855469, -43.64834976196289, 0.16849198937416077 ]
[ -49.4945068359375, 33.758243560791016, -14.725275039672852, 75.51648712158203, -44, 0.27913469076156616 ]
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",
    "robot_type": "so_follower",
    "total_episodes": 2,
    "total_frames": 402,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:2"
    },
    "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": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
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                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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