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Datasets:
davidhightown
/
mimic_v5-6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
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action
list
observation.state
list
timestamp
float32
0
16.2
frame_index
int64
0
162
episode_index
int64
0
49
index
int64
0
4.8k
task_index
int64
0
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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0
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
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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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
0
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1.3
13
0
13
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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1.4
14
0
14
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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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
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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1.8
18
0
18
0
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1.9
19
0
19
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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2
20
0
20
0
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[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
2.1
21
0
21
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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2.2
22
0
22
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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2.3
23
0
23
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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2.4
24
0
24
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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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
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.3
33
0
33
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.4
34
0
34
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.5
35
0
35
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.6
36
0
36
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.7
37
0
37
0
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3.8
38
0
38
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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3.9
39
0
39
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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4
40
0
40
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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4.1
41
0
41
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
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4.2
42
0
42
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.3
43
0
43
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.4
44
0
44
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.5
45
0
45
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.6
46
0
46
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.7
47
0
47
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.8
48
0
48
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
4.9
49
0
49
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5
50
0
50
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.1
51
0
51
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.2
52
0
52
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.3
53
0
53
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.4
54
0
54
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.5
55
0
55
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.6
56
0
56
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.7
57
0
57
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.8
58
0
58
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
5.9
59
0
59
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6
60
0
60
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.1
61
0
61
0
[ 4.351648330688477, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.8131866455078125, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.2
62
0
62
0
[ 4.087912082672119, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.725274562835693, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.3
63
0
63
0
[ 4.087912082672119, -102.5054931640625, 96.57142639160156, -98.46154022216797, -6.901098728179932, 0.08424599468708038 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.4
64
0
64
0
[ 4.087912082672119, -102.5054931640625, 96.57142639160156, -98.46154022216797, -6.725274562835693, 0.16849198937416077 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.5
65
0
65
0
[ 4.263736248016357, -102.5054931640625, 96.57142639160156, -98.37362670898438, -6.549450397491455, 0 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.6
66
0
66
0
[ 4.351648330688477, -102.06593322753906, 96.57142639160156, -97.75823974609375, -6.549450397491455, 0 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.10989379882812, -6.725274562835693, 0.697836697101593 ]
6.7
67
0
67
0
[ 4.351648330688477, -102.06593322753906, 96.57142639160156, -87.20879364013672, -6.725274562835693, 0 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -98.02198028564453, -6.725274562835693, 0.697836697101593 ]
6.8
68
0
68
0
[ 4.175824165344238, -102.06593322753906, 96.57142639160156, -68.92308044433594, -6.901098728179932, 0 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -94.85713958740234, -6.725274562835693, 0.697836697101593 ]
6.9
69
0
69
0
[ 1.274725317955017, -100.3956069946289, 96.57142639160156, -48.43955993652344, -6.901098728179932, 0.16849198937416077 ]
[ 4.483516693115234, -102.32967376708984, 96.74725341796875, -83.42857360839844, -6.725274562835693, 0.697836697101593 ]
7
70
0
70
0
[ -5.05494499206543, -93.97801971435547, 94.54945373535156, -30.065933227539062, -6.901098728179932, 0 ]
[ 2.549450635910034, -101.36264038085938, 96.74725341796875, -66.54945373535156, -6.725274562835693, 0.697836697101593 ]
7.1
71
0
71
0
[ -11.824175834655762, -81.75823974609375, 83.73626708984375, -11.868131637573242, -6.901098728179932, 0 ]
[ -1.1428571939468384, -98.10989379882812, 96.04395294189453, -47.56044006347656, -6.725274562835693, 0.697836697101593 ]
7.2
72
0
72
0
[ -18.065933227539062, -66.46154022216797, 67.82417297363281, 8.263736724853516, -6.901098728179932, 0 ]
[ -6.769230842590332, -91.42857360839844, 93.4945068359375, -28.395605087280273, -6.725274562835693, 0.697836697101593 ]
7.3
73
0
73
0
[ -25.89011001586914, -50.373626708984375, 49.80219650268555, 29.010988235473633, -6.989010810852051, 0 ]
[ -13.274724960327148, -78.15384674072266, 81.89010620117188, -9.670330047607422, -6.725274562835693, 0.697836697101593 ]
7.4
74
0
74
0
[ -34.769229888916016, -35.16483688354492, 31.340660095214844, 45.80219650268555, -7.164834976196289, 0.16849198937416077 ]
[ -19.78022003173828, -63.56044006347656, 67.29669952392578, 10.021978378295898, -6.725274562835693, 0.697836697101593 ]
7.5
75
0
75
0
[ -41.27472686767578, -20.131868362426758, 14.461538314819336, 57.230770111083984, -14.98901081085205, 0 ]
[ -28.483516693115234, -47.47252655029297, 49.89011001586914, 29.80219841003418, -6.725274562835693, 0.697836697101593 ]
7.6
76
0
76
0
[ -47.516483306884766, -5.450549602508545, 0.1318681389093399, 64.43955993652344, -26.241758346557617, 0 ]
[ -36.483516693115234, -32, 31.956043243408203, 46.94505310058594, -10.15384578704834, 0.697836697101593 ]
7.7
77
0
77
0
[ -51.20878982543945, 8.087912559509277, -11.120879173278809, 68.92308044433594, -34.769229888916016, 0 ]
[ -42.81318664550781, -16.791208267211914, 14.725275039672852, 58.5494499206543, -18.329669952392578, 0.697836697101593 ]
7.8
78
0
78
0
[ -52.61538314819336, 19.340660095214844, -18.593406677246094, 72.43955993652344, -40.659339904785156, 0 ]
[ -48.43955993652344, -2.1098902225494385, 0.1318681389093399, 65.4945068359375, -28.791208267211914, 0.697836697101593 ]
7.9
79
0
79
0
[ -52.61538314819336, 27.076923370361328, -21.58241844177246, 74.37362670898438, -43.82417678833008, 0.08424599468708038 ]
[ -51.60439682006836, 11.95604419708252, -10.94505500793457, 69.89010620117188, -36, 0.697836697101593 ]
8
80
0
80
0
[ -52.17582321166992, 31.560440063476562, -21.494504928588867, 74.46154022216797, -46.19780349731445, 0.16849198937416077 ]
[ -52.131866455078125, 22.85714340209961, -17.098901748657227, 73.14286041259766, -41.4505500793457, 0.697836697101593 ]
8.1
81
0
81
0
[ -51.120880126953125, 32.96703338623047, -20.263736724853516, 75.34066009521484, -46.989009857177734, 0.16849198937416077 ]
[ -52.131866455078125, 29.714284896850586, -18.769229888916016, 74.02198028564453, -44.70329666137695, 0.697836697101593 ]
8.2
82
0
82
0
[ -50.06593322753906, 32.96703338623047, -19.736263275146484, 77.71428680419922, -46.989009857177734, 0.16849198937416077 ]
[ -52.0439567565918, 33.14285659790039, -18.94505500793457, 74.989013671875, -46.373626708984375, 0.697836697101593 ]
8.3
83
0
83
0
[ -48.92307662963867, 31.824174880981445, -20.791208267211914, 81.14286041259766, -46.901100158691406, 0.16849198937416077 ]
[ -51.16483688354492, 33.406593322753906, -18.94505500793457, 76.83516693115234, -46.72527313232422, 0.697836697101593 ]
8.4
84
0
84
0
[ -47.42856979370117, 28.74725341796875, -20.52747344970703, 85.45054626464844, -46.63736343383789, 0.16849198937416077 ]
[ -50.021976470947266, 33.406593322753906, -18.94505500793457, 79.56044006347656, -46.72527313232422, 0.697836697101593 ]
8.5
85
0
85
0
[ -44.879119873046875, 25.05494499206543, -20.52747344970703, 92.83516693115234, -41.27472686767578, 0.16849198937416077 ]
[ -48.70329666137695, 32.70329666137695, -19.03296661376953, 82.989013671875, -46.81318664550781, 0.697836697101593 ]
8.6
86
0
86
0
[ -41.71428680419922, 21.098901748657227, -20.879121780395508, 98.46154022216797, -35.56044006347656, 0.16849198937416077 ]
[ -46.85714340209961, 30.241758346557617, -19.03296661376953, 87.73626708984375, -44, 0.697836697101593 ]
8.7
87
0
87
0
[ -40.83516311645508, 18.0219783782959, -20.879121780395508, 97.84615325927734, -34.241756439208984, 0.16849198937416077 ]
[ -43.9560432434082, 26.461538314819336, -19.120878219604492, 95.12088012695312, -39.340660095214844, 0.697836697101593 ]
8.8
88
0
88
0
[ -41.18681335449219, 17.05494499206543, -20.615385055541992, 94.85713958740234, -35.120880126953125, 0 ]
[ -41.58241653442383, 22.681318283081055, -19.208791732788086, 96.87911987304688, -35.64834976196289, 0.697836697101593 ]
8.9
89
0
89
0
[ -41.978023529052734, 17.14285659790039, -20.351648330688477, 94.15384674072266, -36.17582321166992, 0 ]
[ -41.67033004760742, 20.483516693115234, -19.208791732788086, 95.73626708984375, -35.38461685180664, 0.697836697101593 ]
9
90
0
90
0
[ -41.71428680419922, 16.791208267211914, -16.131868362426758, 93.62637329101562, -36, 0.16849198937416077 ]
[ -41.758243560791016, 20.21977996826172, -19.208791732788086, 94.76923370361328, -35.912086486816406, 0.697836697101593 ]
9.1
91
0
91
0
[ -40.131866455078125, 16.615385055541992, -10.15384578704834, 92.3956069946289, -35.912086486816406, 0.16849198937416077 ]
[ -41.758243560791016, 19.78022003173828, -17.010988235473633, 94.15384674072266, -35.912086486816406, 0.697836697101593 ]
9.2
92
0
92
0
[ -37.67033004760742, 16.52747344970703, -3.912087917327881, 89.23076629638672, -35.82417678833008, 0.16849198937416077 ]
[ -41.05494689941406, 19.340660095214844, -13.05494499206543, 93.010986328125, -35.912086486816406, 0.697836697101593 ]
9.3
93
0
93
0
[ -35.20878982543945, 15.296703338623047, 1.7142857313156128, 84.65933990478516, -32.659339904785156, 0.16849198937416077 ]
[ -39.29670333862305, 19.076923370361328, -7.252747058868408, 90.46154022216797, -35.912086486816406, 0.697836697101593 ]
9.4
94
0
94
0
[ -32.0439567565918, 11.340659141540527, 8.395604133605957, 80.96703338623047, -26.41758155822754, 0 ]
[ -36.83516311645508, 18.549449920654297, -1.0989011526107788, 87.03296661376953, -33.978023529052734, 0.697836697101593 ]
9.5
95
0
95
0
[ -28.791208267211914, 6.593406677246094, 14.461538314819336, 79.47252655029297, -22.813186645507812, 0 ]
[ -34.10988998413086, 16.08791160583496, 4.703296661376953, 83.07691955566406, -30.19780158996582, 0.697836697101593 ]
9.6
96
0
96
0
[ -25.626373291015625, 2.7252748012542725, 19.47252655029297, 78.32967376708984, -20.351648330688477, 0 ]
[ -31.03296661376953, 12.04395580291748, 11.560439109802246, 80.61538696289062, -25.27472496032715, 0.697836697101593 ]
9.7
97
0
97
0
[ -22.72527503967285, -0.35164836049079895, 23.16483497619629, 77.53845977783203, -18.065933227539062, 0 ]
[ -27.78022003173828, 7.384615421295166, 17.010988235473633, 79.29669952392578, -21.934066772460938, 0.697836697101593 ]
9.8
98
0
98
0
[ -19.736263275146484, -2.549450635910034, 25.450550079345703, 77.45054626464844, -14.90109920501709, 0 ]
[ -24.615385055541992, 3.692307710647583, 21.934066772460938, 78.4175796508789, -19.296703338623047, 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": 4804,
    "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": {
            "dtype": "int64",
            "shape": [
                1
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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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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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