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action
sequence | observation.state
sequence | timestamp
float32 0
16.9
| frame_index
int64 0
508
| episode_index
int64 0
150
| index
int64 0
39.1k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
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192.48046875,
172.177734375,
77.255859375,
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-22.939453125,
191.953125,
175.166015625,
76.201171875,
-0.52734375,
0.25795355439186096
] | 0 | 0 | 0 | 0 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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] | 0.033333 | 1 | 0 | 1 | 0 |
[
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191.953125,
175.166015625,
76.201171875,
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] | 0.066667 | 2 | 0 | 2 | 0 |
[
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191.953125,
175.166015625,
76.201171875,
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[
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[
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191.953125,
175.166015625,
76.201171875,
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] | 0.166667 | 5 | 0 | 5 | 0 |
[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
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[
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
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[
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191.953125,
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[
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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191.953125,
175.166015625,
76.201171875,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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[
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191.953125,
175.166015625,
76.201171875,
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[
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 0.866667 | 26 | 0 | 26 | 0 |
[
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191.953125,
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[
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[
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175.166015625,
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[
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191.953125,
175.166015625,
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[
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191.953125,
175.166015625,
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[
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[
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[
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[
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[
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[
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] | [
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[
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] | [
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175.166015625,
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[
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191.953125,
175.166015625,
76.201171875,
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[
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175.166015625,
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[
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[
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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[
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] | [
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191.953125,
175.166015625,
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
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191.953125,
175.166015625,
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[
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] | [
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191.953125,
175.166015625,
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-0.52734375,
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] | 1.5 | 45 | 0 | 45 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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] | 1.533333 | 46 | 0 | 46 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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] | 1.566667 | 47 | 0 | 47 | 0 |
[
-23.02734375,
192.48046875,
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 1.6 | 48 | 0 | 48 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
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[
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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[
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192.48046875,
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] | [
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191.953125,
175.166015625,
76.201171875,
-0.52734375,
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[
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] | [
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[
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] | 1.766667 | 53 | 0 | 53 | 0 |
[
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] | [
-22.939453125,
191.953125,
175.166015625,
76.201171875,
-0.52734375,
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] | 1.8 | 54 | 0 | 54 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 1.833333 | 55 | 0 | 55 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 1.866667 | 56 | 0 | 56 | 0 |
[
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] | [
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191.953125,
175.166015625,
76.201171875,
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] | 1.9 | 57 | 0 | 57 | 0 |
[
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] | [
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] | 1.933333 | 58 | 0 | 58 | 0 |
[
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191.953125,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 293,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.top": {
"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
}
},
"observation.images.hand": {
"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",
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"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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