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action
sequence
observation.state
sequence
timestamp
float32
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19.7
frame_index
int64
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592
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0
[ -0.19762372970581055, 87.08391571044922, 103.519775390625, 56.45428466796875, 3.934203624725342, 23.721725463867188 ]
[ 0.3515625, 86.1328125, 105.908203125, 55.01953125, 3.33984375, 28.222410202026367 ]
2.233333
67
0
67
0
[ -0.20395421981811523, 87.26499938964844, 103.53822326660156, 56.62714385986328, 3.9219870567321777, 15.961125373840332 ]
[ 0.3515625, 85.693359375, 105.46875, 54.931640625, 3.427734375, 25.77927589416504 ]
2.266667
68
0
68
0
[ -0.3073291778564453, 86.91265869140625, 102.97268676757812, 56.85898971557617, 3.817326545715332, 13.412351608276367 ]
[ 0.3515625, 85.60546875, 105.380859375, 55.8984375, 3.427734375, 24.599830627441406 ]
2.3
69
0
69
0
[ -0.3104376792907715, 87.23808288574219, 102.82807922363281, 57.26408767700195, 3.823838233947754, 12.705129623413086 ]
[ 0.3515625, 85.60546875, 105.380859375, 55.810546875, 3.427734375, 20.134794235229492 ]
2.333333
70
0
70
0
[ -0.18181800842285156, 87.69908905029297, 102.86505126953125, 57.56040954589844, 3.806621551513672, 11.277222633361816 ]
[ 0.3515625, 85.4296875, 105.029296875, 56.07421875, 3.427734375, 17.101938247680664 ]
2.366667
71
0
71
0
[ -0.2689976692199707, 87.53726959228516, 102.49015808105469, 57.712345123291016, 3.767446517944336, 8.990265846252441 ]
[ 0.3515625, 85.341796875, 104.853515625, 56.513671875, 3.427734375, 14.995787620544434 ]
2.4
72
0
72
0
[ -0.39473390579223633, 88.24940490722656, 102.01895141601562, 58.704017639160156, 3.6372175216674805, 2.4466843605041504 ]
[ 0.3515625, 85.341796875, 104.765625, 56.689453125, 3.427734375, 13.142375946044922 ]
2.433333
73
0
73
0
[ -0.4267301559448242, 88.2447280883789, 101.76762390136719, 58.974853515625, 3.6190757751464844, 2.5479297637939453 ]
[ 0.3515625, 85.341796875, 104.765625, 56.77734375, 3.427734375, 10.109519958496094 ]
2.466667
74
0
74
0
[ -0.32187938690185547, 88.42337036132812, 101.48628997802734, 59.32278060913086, 3.6258678436279297, 2.1201834678649902 ]
[ 0.3515625, 85.341796875, 104.677734375, 57.392578125, 3.427734375, 6.992417812347412 ]
2.5
75
0
75
0
[ -0.4976029396057129, 88.89710235595703, 100.865234375, 60.04667282104492, 3.596050262451172, 1.565610408782959 ]
[ 0.3515625, 85.341796875, 104.501953125, 57.568359375, 3.427734375, 6.318449974060059 ]
2.533333
76
0
76
0
[ -0.4405488967895508, 89.7145004272461, 100.64138793945312, 60.99308776855469, 3.6271414756774902, 1.0308995246887207 ]
[ 0.3515625, 85.341796875, 104.150390625, 58.095703125, 3.427734375, 6.065711975097656 ]
2.566667
77
0
77
0
[ -0.45911598205566406, 90.3455581665039, 100.07221984863281, 62.04452896118164, 3.567260265350342, 0.5126352310180664 ]
[ 0.3515625, 85.341796875, 103.7109375, 59.23828125, 3.427734375, 5.812973976135254 ]
2.6
78
0
78
0
[ -0.463162899017334, 90.46751403808594, 100.0645751953125, 62.011138916015625, 3.5607972145080566, 0.5624032020568848 ]
[ 0.3515625, 85.4296875, 103.359375, 59.23828125, 3.427734375, 5.812973976135254 ]
2.633333
79
0
79
0
[ -0.4596748352050781, 91.37328338623047, 99.3319091796875, 63.43373489379883, 3.461554527282715, 0.27613019943237305 ]
[ 0.3515625, 85.95703125, 103.271484375, 60.46875, 3.427734375, 5.7287278175354 ]
2.666667
80
0
80
0
[ -0.3190188407897949, 92.01231384277344, 98.71743774414062, 63.82379150390625, 3.3814358711242676, 0.3393745422363281 ]
[ 0.3515625, 86.484375, 103.18359375, 61.611328125, 3.427734375, 5.7287278175354 ]
2.7
81
0
81
0
[ -0.49567699432373047, 92.76983642578125, 98.55322265625, 65.1183090209961, 3.391449451446533, -0.17020511627197266 ]
[ 0.3515625, 86.923828125, 102.65625, 61.787109375, 3.427734375, 5.7287278175354 ]
2.733333
82
0
82
0
[ -0.37865734100341797, 92.98393249511719, 98.05796813964844, 65.45166778564453, 3.3341126441955566, -0.12076902389526367 ]
[ 0.3515625, 87.36328125, 101.953125, 62.75390625, 3.427734375, 5.7287278175354 ]
2.766667
83
0
83
0
[ -0.0003542900085449219, 94.0577392578125, 96.98502349853516, 66.8678970336914, 3.117276668548584, -0.25939083099365234 ]
[ 0.3515625, 87.978515625, 101.42578125, 63.544921875, 3.427734375, 5.7287278175354 ]
2.8
84
0
84
0
[ -0.044953346252441406, 94.05348205566406, 97.28255462646484, 66.67623138427734, 3.2102866172790527, -0.2826094627380371 ]
[ 0.3515625, 88.505859375, 101.07421875, 64.3359375, 3.427734375, 5.7287278175354 ]
2.833333
85
0
85
0
[ 0.1379241943359375, 95.16663360595703, 96.49555969238281, 68.10969543457031, 3.035378932952881, -0.4315176010131836 ]
[ 0.3515625, 89.033203125, 100.458984375, 65.126953125, 3.427734375, 5.7287278175354 ]
2.866667
86
0
86
0
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[ 0.263671875, 89.47265625, 99.755859375, 65.654296875, 3.427734375, 5.7287278175354 ]
2.9
87
0
87
0
[ 0.6995840072631836, 96.01356506347656, 95.53776550292969, 68.87429809570312, 2.764185905456543, -0.4129300117492676 ]
[ 0.3515625, 90.439453125, 99.404296875, 66.533203125, 3.427734375, 5.7287278175354 ]
2.933333
88
0
88
0
[ 0.665278434753418, 95.96280670166016, 95.38414001464844, 69.06192016601562, 2.7355904579162598, -0.4002814292907715 ]
[ 0.3515625, 91.142578125, 99.140625, 66.884765625, 2.900390625, 5.7287278175354 ]
2.966667
89
0
89
0
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[ 0.3515625, 91.669921875, 98.525390625, 67.5, 2.548828125, 5.7287278175354 ]
3
90
0
90
0
[ 1.1908235549926758, 97.44203186035156, 94.28669738769531, 70.83273315429688, 2.2768568992614746, -0.42841196060180664 ]
[ 0.3515625, 91.93359375, 98.26171875, 68.203125, 2.373046875, 5.7287278175354 ]
3.033333
91
0
91
0
[ 1.2966866493225098, 97.10175323486328, 93.94413757324219, 70.83968353271484, 2.1875226497650146, -0.4966163635253906 ]
[ 0.3515625, 92.197265625, 97.646484375, 68.642578125, 2.373046875, 5.7287278175354 ]
3.066667
92
0
92
0
[ 1.6146585941314697, 97.02271270751953, 93.90776824951172, 70.61332702636719, 2.0480453968048096, -0.40872907638549805 ]
[ 0.3515625, 92.8125, 97.3828125, 69.2578125, 2.373046875, 5.7287278175354 ]
3.1
93
0
93
0
[ 1.9998574256896973, 96.57410430908203, 92.78515625, 71.37765502929688, 1.6800658702850342, -0.3600749969482422 ]
[ 0.52734375, 93.076171875, 97.119140625, 69.521484375, 2.373046875, 5.7287278175354 ]
3.133333
94
0
94
0
[ 2.755195379257202, 97.24200439453125, 92.70407104492188, 71.33146667480469, 1.401036024093628, -0.2590970993041992 ]
[ 0.703125, 93.33984375, 96.50390625, 69.345703125, 2.373046875, 5.7287278175354 ]
3.166667
95
0
95
0
[ 3.5502681732177734, 96.81602478027344, 91.5751953125, 71.82868957519531, 0.7632949352264404, -0.3261394500732422 ]
[ 0.87890625, 93.33984375, 95.80078125, 70.400390625, 1.93359375, 5.7287278175354 ]
3.2
96
0
96
0
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[ 1.23046875, 93.515625, 95.537109375, 70.576171875, 1.23046875, 5.7287278175354 ]
3.233333
97
0
97
0
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[ 1.7578125, 93.515625, 95.009765625, 70.6640625, 0.791015625, 5.7287278175354 ]
3.266667
98
0
98
0
[ 5.522197246551514, 96.7337646484375, 89.65054321289062, 73.1998291015625, -0.5202218294143677, -0.33730459213256836 ]
[ 2.548828125, 93.515625, 94.482421875, 71.3671875, 0.87890625, 5.7287278175354 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 2957,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "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.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": [
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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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