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float32
0
45.5
frame_index
int64
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910
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int64
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3
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int64
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3.63k
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int64
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1.6
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1.65
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1.7
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1.75
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
58
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2.95
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3
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3.05
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3.1
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3.15
63
0
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
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4.4
88
0
88
0
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4.45
89
0
89
0
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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
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4.65
93
0
93
0
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4.7
94
0
94
0
[ 18.20699691772461, 1.5153459310531616, 2.711869478225708, 12.026657104492188, 7.05082368850708, 0.6585165858268738, -8.757726669311523, -18.450721740722656, 12.745535850524902, 84.9835205078125, 92.90830993652344, 36.90061569213867 ]
[ 18.989011764526367, 3.692307710647583, 1.9340659379959106, 11.164834976196289, 7.4285712242126465, 0.6743088364601135, -7.208791255950928, -17.846153259277344, 12.04395580291748, 86.76923370361328, 94.989013671875, 36.303192138671875 ]
4.75
95
0
95
0
[ 18.11160659790039, 3.9827446937561035, 2.6298933029174805, 9.8967866897583, 6.287773609161377, 0.659099280834198, -9.029533386230469, -15.401528358459473, 7.400409698486328, 85.0018081665039, 94.82349395751953, 36.747886657714844 ]
[ 18.72527503967285, 3.4285714626312256, 1.9340659379959106, 11.604395866394043, 7.4285712242126465, 0.6743088364601135, -7.384615421295166, -17.58241844177246, 12.04395580291748, 86.5934066772461, 94.9011001586914, 36.303192138671875 ]
4.8
96
0
96
0
[ 17.9945068359375, 4.066621780395508, 3.3654704093933105, 9.331731796264648, 5.89727783203125, 0.6592550277709961, -9.401098251342773, -14.864869117736816, 7.271032333374023, 85.11581420898438, 95.13143920898438, 36.595157623291016 ]
[ 18.549449920654297, 2.98901104927063, 2.6373627185821533, 11.604395866394043, 7.4285712242126465, 0.6743088364601135, -8.175824165344238, -17.58241844177246, 13.274724960327148, 85.80220031738281, 93.31867980957031, 36.303192138671875 ]
4.85
97
0
97
0
[ 17.97278594970703, 4.118905544281006, 3.7238571643829346, 9.243131637573242, 5.667753219604492, 0.6592299342155457, -9.468491554260254, -14.013910293579102, 7.142618656158447, 85.45836639404297, 95.153076171875, 36.34061050415039 ]
[ 18.549449920654297, 3.164835214614868, 2.6373627185821533, 11.340659141540527, 6.901098728179932, 0.6743088364601135, -8.351648330688477, -17.14285659790039, 13.09890079498291, 85.80220031738281, 93.5824203491211, 36.303192138671875 ]
4.9
98
0
98
0
[ 17.83997344970703, 4.205186367034912, 3.9024734497070312, 9.23969841003418, 5.197715759277344, 0.6592600345611572, -9.55245590209961, -13.266281127929688, 6.923011779785156, 84.73231506347656, 95.24347686767578, 36.49333953857422 ]
[ 18.549449920654297, 3.8681318759918213, 2.8131868839263916, 9.934065818786621, 6.373626232147217, 0.6743088364601135, -8.703296661376953, -15.296703338623047, 11.076923370361328, 85.71428680419922, 94.37362670898438, 36.303192138671875 ]
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": 4,
    "total_frames": 3631,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:4"
    },
    "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": [
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        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            ],
            "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,
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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,
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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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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