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Datasets:
davidhightown
/
mimic_v5-2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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action
list
observation.state
list
timestamp
float32
0
24.1
frame_index
int64
0
241
episode_index
int64
0
49
index
int64
0
6.85k
task_index
int64
0
0
[ -5.142857074737549, -102.94505310058594, 96.57142639160156, -98.37362670898438, -2.681318759918213, 0.16849198937416077 ]
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0
0
0
0
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0.1
1
0
1
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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0.5
5
0
5
0
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0.6
6
0
6
0
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0.7
7
0
7
0
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0.8
8
0
8
0
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0.9
9
0
9
0
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1
10
0
10
0
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1.1
11
0
11
0
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1.2
12
0
12
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1.3
13
0
13
0
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1.4
14
0
14
0
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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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1.8
18
0
18
0
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1.9
19
0
19
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2
20
0
20
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2.1
21
0
21
0
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2.2
22
0
22
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2.3
23
0
23
0
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2.4
24
0
24
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2.5
25
0
25
0
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2.6
26
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26
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2.7
27
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27
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2.8
28
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28
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2.9
29
0
29
0
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3
30
0
30
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3.1
31
0
31
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3.2
32
0
32
0
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3.3
33
0
33
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3.4
34
0
34
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3.5
35
0
35
0
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3.6
36
0
36
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3.7
37
0
37
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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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[ -31.296703338623047, -45.626373291015625, 48.131866455078125, 8, -2.5054945945739746, 0.697836697101593 ]
5.2
52
0
52
0
[ -47.78022003173828, -13.186813354492188, 18.681318283081055, 46.241756439208984, -13.494505882263184, 0 ]
[ -38.41758346557617, -33.31867980957031, 37.93406677246094, 26.813186645507812, -4.439560413360596, 0.697836697101593 ]
5.3
53
0
53
0
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5.4
54
0
54
0
[ -53.67033004760742, 4.043956279754639, 2.681318759918213, 57.406593322753906, -24.571428298950195, 0 ]
[ -48.879119873046875, -9.934065818786621, 18.329669952392578, 47.56044006347656, -16.043956756591797, 0.697836697101593 ]
5.5
55
0
55
0
[ -54.81318664550781, 10.98901081085205, -2.9450550079345703, 61.36263656616211, -26.769229888916016, 0 ]
[ -52.483516693115234, -0.17582418024539948, 10.505494117736816, 53.53845977783203, -21.670330047607422, 0.697836697101593 ]
5.6
56
0
56
0
[ -54.81318664550781, 16.791208267211914, -6.989010810852051, 64.35164642333984, -31.076923370361328, 0 ]
[ -53.89011001586914, 6.94505500793457, 2.857142925262451, 58.81318664550781, -25.186813354492188, 0.697836697101593 ]
5.7
57
0
57
0
[ -54.5494499206543, 21.714284896850586, -9.626373291015625, 66.02198028564453, -38.5494499206543, 0 ]
[ -54.593406677246094, 14.417582511901855, -2.3296704292297363, 62.593406677246094, -28.791208267211914, 0.697836697101593 ]
5.8
58
0
58
0
[ -54.46154022216797, 24.791208267211914, -9.802197456359863, 66.63735961914062, -44, 0 ]
[ -54.41758346557617, 19.78022003173828, -6.109889984130859, 65.05494689941406, -33.626373291015625, 0.697836697101593 ]
5.9
59
0
59
0
[ -53.758243560791016, 25.934066772460938, -9.714285850524902, 70.5054931640625, -44.879119873046875, 0.08424599468708038 ]
[ -54.41758346557617, 24.263736724853516, -7.07692289352417, 66.19779968261719, -40.57143020629883, 0.697836697101593 ]
6
60
0
60
0
[ -52.879119873046875, 26.10988998413086, -9.714285850524902, 75.69230651855469, -44.879119873046875, 0.16849198937416077 ]
[ -54.32966995239258, 26.10988998413086, -7.340659141540527, 68.65933990478516, -43.56044006347656, 0.697836697101593 ]
6.1
61
0
61
0
[ -52, 25.934066772460938, -8.659340858459473, 77.45054626464844, -44.79121017456055, 0.16849198937416077 ]
[ -53.71428680419922, 26.549449920654297, -7.4285712242126465, 72.70330047607422, -44.43955993652344, 0.697836697101593 ]
6.2
62
0
62
0
[ -51.912086486816406, 25.934066772460938, -8.04395580291748, 75.86813354492188, -44.79121017456055, 0.16849198937416077 ]
[ -52.83516311645508, 26.549449920654297, -7.4285712242126465, 76.21977996826172, -44.52747344970703, 0.697836697101593 ]
6.3
63
0
63
0
[ -51.29670333862305, 25.934066772460938, -7.956043720245361, 75.86813354492188, -44.70329666137695, 0 ]
[ -52.39560317993164, 26.549449920654297, -7.340659141540527, 76.13186645507812, -44.52747344970703, 0.697836697101593 ]
6.4
64
0
64
0
[ -50.32966995239258, 25.934066772460938, -7.956043720245361, 76.13186645507812, -40.92307662963867, 0 ]
[ -52.131866455078125, 26.549449920654297, -7.340659141540527, 76.13186645507812, -44.52747344970703, 0.697836697101593 ]
6.5
65
0
65
0
[ -48.659339904785156, 25.846153259277344, -7.956043720245361, 76.13186645507812, -37.846153259277344, 0 ]
[ -51.16483688354492, 26.549449920654297, -7.340659141540527, 76.21977996826172, -42.5054931640625, 0.697836697101593 ]
6.6
66
0
66
0
[ -47.25274658203125, 25.846153259277344, -7.956043720245361, 76.13186645507812, -35.64834976196289, 0 ]
[ -49.93406677246094, 26.549449920654297, -7.340659141540527, 76.13186645507812, -39.60439682006836, 0.697836697101593 ]
6.7
67
0
67
0
[ -45.758243560791016, 25.758241653442383, -7.956043720245361, 77.71428680419922, -33.36263656616211, 0 ]
[ -48.70329666137695, 26.549449920654297, -7.340659141540527, 76.13186645507812, -36.96703338623047, 0.697836697101593 ]
6.8
68
0
68
0
[ -44.35165023803711, 25.758241653442383, -8.04395580291748, 80.17582702636719, -32.57143020629883, 0.16849198937416077 ]
[ -47.120880126953125, 26.549449920654297, -7.340659141540527, 77.0988998413086, -34.5054931640625, 0.697836697101593 ]
6.9
69
0
69
0
[ -43.56044006347656, 25.758241653442383, -7.956043720245361, 80.87911987304688, -32.57143020629883, 0.16849198937416077 ]
[ -45.4505500793457, 26.549449920654297, -7.340659141540527, 79.20879364013672, -33.27472686767578, 0.697836697101593 ]
7
70
0
70
0
[ -42.85714340209961, 25.758241653442383, -7.4285712242126465, 80.87911987304688, -32.57143020629883, 0.16849198937416077 ]
[ -44.30769348144531, 26.549449920654297, -7.340659141540527, 80.35164642333984, -33.098899841308594, 0.697836697101593 ]
7.1
71
0
71
0
[ -42.06593322753906, 24.615385055541992, -5.406593322753906, 80.79120635986328, -32.57143020629883, 0.16849198937416077 ]
[ -43.69230651855469, 26.549449920654297, -7.164834976196289, 80.70330047607422, -33.098899841308594, 0.697836697101593 ]
7.2
72
0
72
0
[ -40.659339904785156, 21.098901748657227, -0.48351648449897766, 80.35164642333984, -32.57143020629883, 0.16849198937416077 ]
[ -42.81318664550781, 26.461538314819336, -5.5824174880981445, 80.70330047607422, -33.098899841308594, 0.697836697101593 ]
7.3
73
0
73
0
[ -38.72527313232422, 16.791208267211914, 5.318681240081787, 80.35164642333984, -32.57143020629883, 0.16849198937416077 ]
[ -41.758243560791016, 25.05494499206543, -2.5054945945739746, 80.61538696289062, -33.098899841308594, 0.697836697101593 ]
7.4
74
0
74
0
[ -36.96703338623047, 13.274724960327148, 10.329669952392578, 77.97801971435547, -32.57143020629883, 0.16849198937416077 ]
[ -40.087913513183594, 22.153846740722656, 2.5934066772460938, 80.43955993652344, -33.098899841308594, 0.697836697101593 ]
7.5
75
0
75
0
[ -35.20878982543945, 10.461538314819336, 15.516483306884766, 73.67032623291016, -30.549449920654297, 0 ]
[ -38.241756439208984, 18.10988998413086, 7.868131637573242, 78.85713958740234, -33.098899841308594, 0.697836697101593 ]
7.6
76
0
76
0
[ -33.098899841308594, 7.824175834655762, 20.263736724853516, 70.76923370361328, -25.714284896850586, 0 ]
[ -36.483516693115234, 14.681318283081055, 13.142857551574707, 76.13186645507812, -31.516483306884766, 0.697836697101593 ]
7.7
77
0
77
0
[ -30.989011764526367, 5.362637519836426, 23.78022003173828, 68.57142639160156, -24.483516693115234, 0 ]
[ -34.46154022216797, 11.868131637573242, 18.153846740722656, 72.35164642333984, -28.263736724853516, 0.697836697101593 ]
7.8
78
0
78
0
[ -28.96703338623047, 3.692307710647583, 26.681318283081055, 66.54945373535156, -24.395605087280273, 0 ]
[ -32.43955993652344, 9.05494499206543, 22.549449920654297, 70.06593322753906, -25.538461685180664, 0.697836697101593 ]
7.9
79
0
79
0
[ -26.681318283081055, 2.2857143878936768, 29.14285659790039, 65.14286041259766, -22.373626708984375, 0 ]
[ -30.329669952392578, 6.94505500793457, 25.80219841003418, 67.86813354492188, -24.83516502380371, 0.697836697101593 ]
8
80
0
80
0
[ -24.131868362426758, 0.5274725556373596, 31.16483497619629, 64.61538696289062, -19.208791732788086, 0 ]
[ -28.30769157409668, 5.1868133544921875, 28.439559936523438, 66.02198028564453, -23.340660095214844, 0.697836697101593 ]
8.1
81
0
81
0
[ -21.58241844177246, -1.494505524635315, 32.92307662963867, 64.70330047607422, -17.098901748657227, 0 ]
[ -25.846153259277344, 3.5164835453033447, 30.813186645507812, 65.4065933227539, -20.791208267211914, 0.697836697101593 ]
8.2
82
0
82
0
[ -18.85714340209961, -3.692307710647583, 34.769229888916016, 64.70330047607422, -14.98901081085205, 0 ]
[ -23.208791732788086, 1.582417607307434, 32.659339904785156, 65.23076629638672, -18.241758346557617, 0.697836697101593 ]
8.3
83
0
83
0
[ -15.516483306884766, -5.362637519836426, 36.17582321166992, 64.70330047607422, -11.472527503967285, 0 ]
[ -20.659339904785156, -0.5274725556373596, 34.5054931640625, 65.23076629638672, -16.131868362426758, 0.697836697101593 ]
8.4
84
0
84
0
[ -11.648351669311523, -6.4175825119018555, 36.96703338623047, 64.70330047607422, -6.8131866455078125, 0 ]
[ -17.670330047607422, -2.2857143878936768, 36, 65.23076629638672, -13.318681716918945, 0.697836697101593 ]
8.5
85
0
85
0
[ -7.4285712242126465, -6.593406677246094, 36.96703338623047, 64.70330047607422, -2.3296704292297363, 0 ]
[ -14.241758346557617, -3.780219793319702, 36.96703338623047, 65.05494689941406, -9.362637519836426, 0.697836697101593 ]
8.6
86
0
86
0
[ -3.384615421295166, -6.593406677246094, 36.879119873046875, 64.70330047607422, 1.9780219793319702, 0 ]
[ -10.461538314819336, -4.219780445098877, 36.96703338623047, 65.05494689941406, -5.05494499206543, 0.697836697101593 ]
8.7
87
0
87
0
[ 0.7472527623176575, -6.593406677246094, 36.70329666137695, 64.70330047607422, 5.934065818786621, 0 ]
[ -6.241758346557617, -4.219780445098877, 37.14285659790039, 64.96703338623047, -0.6593406796455383, 0.697836697101593 ]
8.8
88
0
88
0
[ 4.351648330688477, -6.593406677246094, 36.61538314819336, 64.70330047607422, 9.450549125671387, 0 ]
[ -2.1978023052215576, -4.395604610443115, 37.14285659790039, 64.96703338623047, 3.5604395866394043, 0.697836697101593 ]
8.9
89
0
89
0
[ 7.252747058868408, -6.593406677246094, 36.61538314819336, 64.70330047607422, 12, 0 ]
[ 1.7582417726516724, -4.395604610443115, 37.14285659790039, 64.96703338623047, 7.4285712242126465, 0.697836697101593 ]
9
90
0
90
0
[ 10.065934181213379, -6.593406677246094, 36.61538314819336, 64.70330047607422, 14.461538314819336, 0 ]
[ 5.1868133544921875, -4.395604610443115, 37.14285659790039, 64.96703338623047, 10.417582511901855, 0.697836697101593 ]
9.1
91
0
91
0
[ 12.79120922088623, -6.593406677246094, 36.52747344970703, 64.61538696289062, 16.923076629638672, 0 ]
[ 8.087912559509277, -4.395604610443115, 37.14285659790039, 64.96703338623047, 13.142857551574707, 0.697836697101593 ]
9.2
92
0
92
0
[ 15.340659141540527, -6.593406677246094, 36.52747344970703, 63.03296661376953, 18.769229888916016, 0 ]
[ 10.90109920501709, -4.395604610443115, 37.14285659790039, 64.96703338623047, 15.692307472229004, 0.697836697101593 ]
9.3
93
0
93
0
[ 17.450550079345703, -6.593406677246094, 36.52747344970703, 60.131866455078125, 20.263736724853516, 0 ]
[ 13.538461685180664, -4.395604610443115, 37.14285659790039, 63.736263275146484, 17.80219841003418, 0.697836697101593 ]
9.4
94
0
94
0
[ 19.208791732788086, -6.593406677246094, 36.43955993652344, 57.4945068359375, 21.406593322753906, 0 ]
[ 15.912087440490723, -4.395604610443115, 37.14285659790039, 61.53845977783203, 19.384614944458008, 0.697836697101593 ]
9.5
95
0
95
0
[ 20.879121780395508, -6.593406677246094, 36.43955993652344, 56, 22.19780158996582, 0 ]
[ 17.934066772460938, -4.395604610443115, 37.14285659790039, 58.989009857177734, 20.703296661376953, 0.697836697101593 ]
9.6
96
0
96
0
[ 22.285715103149414, -6.593406677246094, 35.64834976196289, 55.912086486816406, 23.604394912719727, 0 ]
[ 19.69230842590332, -4.395604610443115, 37.14285659790039, 57.05494689941406, 21.758241653442383, 0.697836697101593 ]
9.7
97
0
97
0
[ 22.10988998413086, -6.769230842590332, 35.56044006347656, 55.912086486816406, 23.956043243408203, 0 ]
[ 21.186813354492188, -4.395604610443115, 37.14285659790039, 56.43955993652344, 22.989011764526367, 0.697836697101593 ]
9.8
98
0
98
0
[ 19.03296661376953, -8.439560890197754, 36.087913513183594, 55.912086486816406, 23.868131637573242, 0 ]
[ 21.80219841003418, -4.395604610443115, 37.14285659790039, 56.263736724853516, 23.604394912719727, 0.697836697101593 ]
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": 50,
    "total_frames": 6855,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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.front": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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