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action
sequence | observation.state
sequence | timestamp
float32 0
9.93
| frame_index
int64 0
298
| episode_index
int64 0
1
| index
int64 0
597
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
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[
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[
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[
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179.6484375,
54.404296875,
-2.373046875,
0.6164383888244629
] | 2 | 60 | 0 | 60 | 0 |
[
6.064453125,
192.041015625,
180.3515625,
53.701171875,
-1.669921875,
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] | [
4.5703125,
191.77734375,
179.6484375,
54.404296875,
-2.373046875,
0.6164383888244629
] | 2.033333 | 61 | 0 | 61 | 0 |
[
6.064453125,
192.041015625,
180.3515625,
53.701171875,
-1.669921875,
0.0892857164144516
] | [
4.921875,
191.77734375,
179.6484375,
54.404296875,
-2.021484375,
0.6164383888244629
] | 2.066667 | 62 | 0 | 62 | 0 |
[
6.064453125,
192.041015625,
180.3515625,
53.701171875,
-1.58203125,
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5.2734375,
191.77734375,
179.6484375,
54.404296875,
-1.669921875,
0.6164383888244629
] | 2.1 | 63 | 0 | 63 | 0 |
[
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192.041015625,
180.52734375,
52.998046875,
-1.494140625,
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5.537109375,
191.77734375,
179.6484375,
54.404296875,
-1.494140625,
0.6164383888244629
] | 2.133333 | 64 | 0 | 64 | 0 |
[
6.15234375,
192.041015625,
180.703125,
52.294921875,
-1.494140625,
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5.625,
191.77734375,
179.6484375,
54.404296875,
-1.40625,
0.6164383888244629
] | 2.166667 | 65 | 0 | 65 | 0 |
[
5.9765625,
192.041015625,
180.703125,
52.20703125,
-1.40625,
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5.625,
191.77734375,
179.6484375,
53.96484375,
-1.318359375,
0.6164383888244629
] | 2.2 | 66 | 0 | 66 | 0 |
[
6.064453125,
192.041015625,
180.791015625,
52.03125,
-1.318359375,
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5.625,
191.77734375,
179.6484375,
53.61328125,
-1.318359375,
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] | 2.233333 | 67 | 0 | 67 | 0 |
[
6.50390625,
192.041015625,
180.791015625,
51.943359375,
-0.791015625,
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5.44921875,
191.77734375,
179.6484375,
53.4375,
-1.318359375,
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] | 2.266667 | 68 | 0 | 68 | 0 |
[
7.20703125,
192.041015625,
180.87890625,
51.50390625,
-0.52734375,
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5.361328125,
191.77734375,
179.6484375,
53.26171875,
-1.318359375,
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] | 2.3 | 69 | 0 | 69 | 0 |
[
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192.041015625,
180.966796875,
51.240234375,
0.52734375,
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5.44921875,
191.77734375,
179.6484375,
52.91015625,
-1.0546875,
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] | 2.333333 | 70 | 0 | 70 | 0 |
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192.041015625,
180.966796875,
51.240234375,
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5.9765625,
191.77734375,
179.6484375,
52.55859375,
-0.703125,
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] | 2.366667 | 71 | 0 | 71 | 0 |
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51.416015625,
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6.6796875,
191.77734375,
179.6484375,
52.3828125,
-0.52734375,
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] | 2.4 | 72 | 0 | 72 | 0 |
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180.703125,
52.294921875,
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191.77734375,
179.6484375,
52.3828125,
0.17578125,
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] | 2.433333 | 73 | 0 | 73 | 0 |
[
12.568359375,
192.041015625,
180.263671875,
53.26171875,
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8.7890625,
191.77734375,
179.6484375,
52.294921875,
1.142578125,
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] | 2.466667 | 74 | 0 | 74 | 0 |
[
12.83203125,
192.041015625,
179.736328125,
54.052734375,
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9.66796875,
191.77734375,
179.6484375,
52.3828125,
1.7578125,
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] | 2.5 | 75 | 0 | 75 | 0 |
[
12.919921875,
192.041015625,
179.12109375,
54.66796875,
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191.77734375,
179.6484375,
52.822265625,
2.021484375,
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] | 2.533333 | 76 | 0 | 76 | 0 |
[
12.919921875,
192.041015625,
178.330078125,
55.458984375,
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10.986328125,
191.77734375,
179.6484375,
53.4375,
1.93359375,
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] | 2.566667 | 77 | 0 | 77 | 0 |
[
12.83203125,
192.041015625,
177.626953125,
55.986328125,
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191.77734375,
179.6484375,
53.876953125,
1.93359375,
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[
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192.041015625,
176.66015625,
56.6015625,
1.58203125,
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191.77734375,
179.208984375,
54.404296875,
1.93359375,
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] | 2.633333 | 79 | 0 | 79 | 0 |
[
12.65625,
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175.60546875,
56.953125,
0.703125,
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11.513671875,
191.77734375,
178.857421875,
54.84375,
1.93359375,
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[
12.65625,
192.041015625,
174.55078125,
57.48046875,
0.087890625,
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11.689453125,
191.77734375,
178.59375,
55.458984375,
1.58203125,
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191.77734375,
178.41796875,
55.8984375,
0.966796875,
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[
12.12890625,
192.041015625,
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58.88671875,
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11.689453125,
191.77734375,
178.2421875,
56.513671875,
0.52734375,
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[
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192.041015625,
171.474609375,
59.765625,
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11.689453125,
191.77734375,
177.890625,
57.3046875,
0.3515625,
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[
11.25,
192.041015625,
170.419921875,
60.380859375,
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11.6015625,
191.77734375,
177.36328125,
57.744140625,
0.087890625,
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] | 2.833333 | 85 | 0 | 85 | 0 |
[
10.72265625,
192.041015625,
169.62890625,
60.908203125,
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11.42578125,
191.77734375,
176.66015625,
58.359375,
-0.3515625,
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] | 2.866667 | 86 | 0 | 86 | 0 |
[
10.1953125,
192.041015625,
169.1015625,
61.34765625,
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11.162109375,
191.953125,
175.78125,
59.150390625,
-0.615234375,
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[
9.66796875,
192.041015625,
168.92578125,
61.611328125,
-3.779296875,
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191.953125,
174.990234375,
59.677734375,
-1.23046875,
0.6164383888244629
] | 2.933333 | 88 | 0 | 88 | 0 |
[
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192.041015625,
168.92578125,
61.787109375,
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10.283203125,
192.216796875,
174.375,
60.380859375,
-1.93359375,
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] | 2.966667 | 89 | 0 | 89 | 0 |
[
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192.041015625,
168.92578125,
61.875,
-4.482421875,
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192.216796875,
173.759765625,
60.732421875,
-2.373046875,
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] | 3 | 90 | 0 | 90 | 0 |
[
8.173828125,
192.041015625,
169.013671875,
61.875,
-5.009765625,
0.0892857164144516
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9.404296875,
192.216796875,
173.3203125,
60.8203125,
-2.98828125,
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] | 3.033333 | 91 | 0 | 91 | 0 |
[
7.646484375,
192.041015625,
169.189453125,
61.69921875,
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8.96484375,
192.3046875,
173.14453125,
60.8203125,
-3.33984375,
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] | 3.066667 | 92 | 0 | 92 | 0 |
[
7.20703125,
192.041015625,
169.27734375,
61.611328125,
-5.537109375,
0.0892857164144516
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8.525390625,
192.3046875,
173.056640625,
60.8203125,
-3.955078125,
0.6164383888244629
] | 3.1 | 93 | 0 | 93 | 0 |
[
6.6796875,
192.041015625,
169.27734375,
61.5234375,
-5.625,
0.0892857164144516
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7.998046875,
192.3046875,
173.056640625,
60.8203125,
-4.39453125,
0.6164383888244629
] | 3.133333 | 94 | 0 | 94 | 0 |
[
6.328125,
192.041015625,
169.189453125,
61.34765625,
-5.80078125,
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7.55859375,
192.392578125,
173.056640625,
60.8203125,
-4.5703125,
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[
6.15234375,
192.041015625,
169.189453125,
61.171875,
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6.943359375,
192.392578125,
173.056640625,
60.8203125,
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[
5.9765625,
192.041015625,
169.189453125,
60.99609375,
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6.591796875,
192.392578125,
173.056640625,
60.8203125,
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] | 3.233333 | 97 | 0 | 97 | 0 |
[
5.888671875,
192.041015625,
169.1015625,
60.908203125,
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192.392578125,
173.056640625,
60.8203125,
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[
5.537109375,
192.041015625,
168.92578125,
60.8203125,
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5.9765625,
192.392578125,
173.056640625,
60.8203125,
-4.74609375,
0.6164383888244629
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 598,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.laptop": {
"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.phone": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
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"has_audio": false
}
},
"timestamp": {
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"shape": [
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"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
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],
"names": null
}
}
}
Citation
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