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float32
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40.9
frame_index
int64
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818
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int64
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7
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int64
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6.46k
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1.6
32
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1.65
33
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1.7
34
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1.75
35
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1.8
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1.85
37
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1.9
38
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1.95
39
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2
40
0
40
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2.05
41
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2.1
42
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2.15
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2.2
44
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2.25
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2.3
46
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2.35
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2.4
48
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2.45
49
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2.5
50
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2.55
51
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2.6
52
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2.65
53
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2.7
54
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2.75
55
0
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2.8
56
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2.85
57
0
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2.9
58
0
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2.95
59
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3
60
0
60
0
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3.05
61
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3.1
62
0
62
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3.15
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
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4.45
89
0
89
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
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[ 15.120879173278809, -50.63736343383789, 54.94505310058594, 83.51648712158203, -21.58241844177246, 0.8091706037521362, -13.362637519836426, -23.120878219604492, 65.31867980957031, 53.4505500793457, 84.70330047607422, 16.95478630065918 ]
4.8
96
0
96
0
[ 14.696182250976562, -50.335853576660156, 54.02755355834961, 83.64981842041016, -21.403589248657227, 0.3292181193828583, -13.370750427246094, -21.032182693481445, 67.25467681884766, 49.23054885864258, 85.19334411621094, 11.112120628356934 ]
[ 15.120879173278809, -50.63736343383789, 54.94505310058594, 83.51648712158203, -21.58241844177246, 0.8091706037521362, -13.362637519836426, -23.384614944458008, 65.31867980957031, 53.4505500793457, 84.70330047607422, 14.56117057800293 ]
4.85
97
0
97
0
[ 14.42037296295166, -50.20930480957031, 53.9742431640625, 83.9688720703125, -21.670576095581055, 0.3292181193828583, -13.271248817443848, -21.291481018066406, 67.56619262695312, 48.71762466430664, 85.2988510131836, 8.781457901000977 ]
[ 15.120879173278809, -50.46154022216797, 54.94505310058594, 83.51648712158203, -21.58241844177246, 0.8091706037521362, -13.362637519836426, -23.120878219604492, 65.67032623291016, 52.659339904785156, 84.70330047607422, 13.96276569366455 ]
4.9
98
0
98
0
[ 14.35422420501709, -50.08808517456055, 53.94721984863281, 83.99502563476562, -21.53294563293457, 0.3292181193828583, -13.339285850524902, -21.358570098876953, 67.64723205566406, 48.5302848815918, 85.66170501708984, 5.963594913482666 ]
[ 14.94505500793457, -50.46154022216797, 54.94505310058594, 83.51648712158203, -21.58241844177246, 0.8091706037521362, -13.362637519836426, -22.329669952392578, 66.63735961914062, 50.81318664550781, 84.70330047607422, 12.699467658996582 ]
4.95
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-101",
    "total_episodes": 8,
    "total_frames": 6458,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:8"
    },
    "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": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
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                1280,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.top": {
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            "names": [
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            ],
            "info": {
                "video.height": 576,
                "video.width": 1024,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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