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sequence
observation.state
sequence
timestamp
float32
0
25.9
frame_index
int64
0
776
episode_index
int64
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209
index
int64
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76.1k
task_index
int64
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[ -21.97265625, 191.337890625, 160.927734375, 76.9921875, 31.728515625, 13.4995698928833 ]
2.4
72
0
72
0
[ -24.9609375, 192.041015625, 154.3359375, 75.849609375, 29.00390625, 14.606741905212402 ]
[ -22.763671875, 191.42578125, 159.697265625, 76.81640625, 31.46484375, 13.4995698928833 ]
2.433333
73
0
73
0
[ -24.609375, 191.42578125, 153.544921875, 76.11328125, 28.4765625, 15.643906593322754 ]
[ -23.203125, 191.513671875, 158.5546875, 76.2890625, 30.5859375, 13.413585662841797 ]
2.466667
74
0
74
0
[ -24.169921875, 190.01953125, 152.666015625, 76.552734375, 28.125, 16.335350036621094 ]
[ -23.37890625, 191.513671875, 157.236328125, 76.11328125, 29.619140625, 13.757523536682129 ]
2.5
75
0
75
0
[ -23.73046875, 187.91015625, 151.611328125, 76.81640625, 28.037109375, 17.372514724731445 ]
[ -23.5546875, 191.337890625, 156.357421875, 76.201171875, 29.091796875, 14.273430824279785 ]
2.533333
76
0
76
0
[ -23.203125, 184.921875, 150.1171875, 76.9921875, 28.037109375, 17.54537582397461 ]
[ -23.466796875, 191.162109375, 155.390625, 76.2890625, 28.740234375, 15.133275985717773 ]
2.566667
77
0
77
0
[ -22.67578125, 181.23046875, 148.359375, 76.904296875, 28.037109375, 17.54537582397461 ]
[ -23.115234375, 189.404296875, 154.248046875, 76.2890625, 28.4765625, 15.907136917114258 ]
2.6
78
0
78
0
[ -22.587890625, 176.923828125, 146.162109375, 76.640625, 27.7734375, 17.631807327270508 ]
[ -23.115234375, 187.20703125, 153.193359375, 76.2890625, 28.388671875, 16.165090560913086 ]
2.633333
79
0
79
0
[ -22.587890625, 172.001953125, 143.349609375, 76.552734375, 27.7734375, 18.150388717651367 ]
[ -23.02734375, 184.5703125, 151.875, 76.2890625, 28.30078125, 16.423044204711914 ]
2.666667
80
0
80
0
[ -22.5, 166.728515625, 140.2734375, 76.9921875, 27.861328125, 18.66897201538086 ]
[ -22.587890625, 181.58203125, 150.1171875, 76.2890625, 27.861328125, 16.595012664794922 ]
2.7
81
0
81
0
[ -22.8515625, 161.71875, 136.93359375, 77.34375, 27.685546875, 18.841833114624023 ]
[ -22.1484375, 177.978515625, 148.0078125, 76.2890625, 27.509765625, 17.1969051361084 ]
2.733333
82
0
82
0
[ -23.203125, 156.884765625, 133.505859375, 77.6953125, 27.24609375, 19.273984909057617 ]
[ -22.060546875, 173.84765625, 145.546875, 76.2890625, 27.333984375, 17.454858779907227 ]
2.766667
83
0
83
0
[ -23.291015625, 152.490234375, 130.078125, 78.22265625, 26.982421875, 19.533275604248047 ]
[ -22.060546875, 169.27734375, 142.734375, 76.728515625, 27.333984375, 17.540842056274414 ]
2.8
84
0
84
0
[ -23.291015625, 148.447265625, 127.177734375, 78.75, 26.806640625, 20.224720001220703 ]
[ -22.236328125, 164.443359375, 139.5703125, 76.728515625, 27.333984375, 18.14273452758789 ]
2.833333
85
0
85
0
[ -23.203125, 145.01953125, 124.365234375, 79.541015625, 26.71875, 20.656871795654297 ]
[ -22.412109375, 159.609375, 136.494140625, 77.255859375, 26.806640625, 18.486671447753906 ]
2.866667
86
0
86
0
[ -23.115234375, 142.03125, 121.904296875, 80.15625, 26.455078125, 20.82973289489746 ]
[ -22.587890625, 154.775390625, 133.505859375, 77.607421875, 26.54296875, 19.088563919067383 ]
2.9
87
0
87
0
[ -23.02734375, 139.658203125, 119.970703125, 80.5078125, 26.279296875, 21.002592086791992 ]
[ -22.587890625, 150.556640625, 130.4296875, 78.310546875, 26.3671875, 19.43250274658203 ]
2.933333
88
0
88
0
[ -22.939453125, 137.8125, 118.4765625, 80.595703125, 26.103515625, 21.261884689331055 ]
[ -22.587890625, 146.953125, 127.529296875, 79.1015625, 26.279296875, 19.60447120666504 ]
2.966667
89
0
89
0
[ -22.587890625, 136.23046875, 117.421875, 80.33203125, 26.279296875, 21.43474578857422 ]
[ -22.587890625, 143.525390625, 124.8046875, 79.365234375, 26.279296875, 20.206363677978516 ]
3
90
0
90
0
[ -22.236328125, 134.912109375, 116.806640625, 79.8046875, 26.71875, 21.43474578857422 ]
[ -22.412109375, 140.625, 122.783203125, 79.541015625, 26.279296875, 20.464317321777344 ]
3.033333
91
0
91
0
[ -21.708984375, 133.76953125, 116.19140625, 79.189453125, 27.158203125, 21.43474578857422 ]
[ -22.1484375, 138.603515625, 121.376953125, 79.62890625, 26.279296875, 20.464317321777344 ]
3.066667
92
0
92
0
[ -21.181640625, 132.802734375, 115.6640625, 78.662109375, 27.685546875, 21.43474578857422 ]
[ -22.1484375, 136.58203125, 120.146484375, 79.541015625, 26.279296875, 20.63628578186035 ]
3.1
93
0
93
0
[ -20.478515625, 131.66015625, 115.13671875, 78.22265625, 28.4765625, 21.43474578857422 ]
[ -21.884765625, 134.912109375, 119.35546875, 79.453125, 26.630859375, 20.63628578186035 ]
3.133333
94
0
94
0
[ -19.6875, 130.341796875, 114.43359375, 78.22265625, 29.53125, 21.43474578857422 ]
[ -21.708984375, 133.41796875, 118.564453125, 79.013671875, 26.630859375, 20.63628578186035 ]
3.166667
95
0
95
0
[ -19.16015625, 128.84765625, 113.466796875, 78.134765625, 30.05859375, 21.43474578857422 ]
[ -20.91796875, 132.01171875, 117.94921875, 78.75, 27.509765625, 20.63628578186035 ]
3.2
96
0
96
0
[ -18.720703125, 127.265625, 112.412109375, 78.134765625, 30.76171875, 21.43474578857422 ]
[ -20.302734375, 131.044921875, 117.24609375, 78.662109375, 28.037109375, 20.63628578186035 ]
3.233333
97
0
97
0
[ -18.28125, 125.5078125, 111.533203125, 78.134765625, 31.904296875, 21.34831428527832 ]
[ -19.248046875, 129.7265625, 116.279296875, 78.57421875, 28.828125, 20.63628578186035 ]
3.266667
98
0
98
0
[ -17.9296875, 123.92578125, 110.91796875, 77.6953125, 32.783203125, 21.34831428527832 ]
[ -18.720703125, 128.232421875, 115.13671875, 78.57421875, 29.267578125, 20.63628578186035 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 11,
    "total_frames": 5478,
    "total_tasks": 1,
    "total_videos": 22,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:11"
    },
    "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": [
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                640,
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            ],
            "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": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
            ],
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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