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action
sequence | observation.state
sequence | timestamp
float32 0
14.9
| frame_index
int64 0
446
| episode_index
int64 0
2
| index
int64 0
1.34k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
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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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[
-7.734375,
190.1953125,
182.63671875,
44.208984375,
4.39453125,
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191.07421875,
181.318359375,
45.263671875,
3.69140625,
0.6164383888244629
] | 2.033333 | 61 | 0 | 61 | 0 |
[
-7.822265625,
189.755859375,
182.548828125,
43.9453125,
4.39453125,
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190.810546875,
181.318359375,
45.263671875,
3.69140625,
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[
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-7.20703125,
190.1953125,
181.318359375,
45.17578125,
3.69140625,
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[
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189.580078125,
181.318359375,
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[
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189.404296875,
181.318359375,
44.6484375,
3.69140625,
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[
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189.228515625,
181.318359375,
44.560546875,
3.69140625,
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[
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189.140625,
181.318359375,
44.560546875,
3.69140625,
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[
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43.41796875,
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-6.6796875,
189.140625,
181.318359375,
44.560546875,
3.69140625,
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] | 2.266667 | 68 | 0 | 68 | 0 |
[
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189.66796875,
182.63671875,
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-6.85546875,
189.140625,
181.318359375,
44.560546875,
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[
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182.63671875,
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189.140625,
181.318359375,
44.560546875,
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189.140625,
181.318359375,
44.560546875,
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189.140625,
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189.140625,
181.318359375,
44.384765625,
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[
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189.052734375,
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43.857421875,
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188.876953125,
181.318359375,
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188.4375,
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188.173828125,
181.318359375,
42.71484375,
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[
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188.173828125,
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188.173828125,
181.318359375,
42.451171875,
3.515625,
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[
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188.173828125,
181.318359375,
42.36328125,
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[
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188.173828125,
181.318359375,
42.36328125,
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[
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188.173828125,
181.318359375,
42.36328125,
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[
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188.173828125,
181.318359375,
42.36328125,
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188.173828125,
181.318359375,
42.36328125,
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[
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182.548828125,
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188.173828125,
181.318359375,
42.36328125,
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[
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182.548828125,
41.30859375,
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187.998046875,
181.318359375,
42.36328125,
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] | 2.866667 | 86 | 0 | 86 | 0 |
[
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187.91015625,
182.548828125,
41.30859375,
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187.646484375,
181.318359375,
42.36328125,
1.93359375,
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[
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187.91015625,
182.548828125,
41.30859375,
1.494140625,
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187.294921875,
181.318359375,
42.36328125,
1.58203125,
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[
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187.119140625,
181.318359375,
42.36328125,
1.318359375,
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[
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182.548828125,
41.220703125,
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187.119140625,
181.318359375,
42.36328125,
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[
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187.646484375,
182.548828125,
41.1328125,
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187.119140625,
181.318359375,
42.36328125,
1.142578125,
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[
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187.3828125,
182.4609375,
41.044921875,
2.548828125,
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187.119140625,
181.318359375,
42.36328125,
1.142578125,
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[
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187.03125,
182.373046875,
40.95703125,
2.8125,
0.0892857164144516
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-8.173828125,
187.119140625,
181.318359375,
42.36328125,
1.494140625,
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[
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186.15234375,
182.109375,
40.693359375,
2.8125,
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-8.0859375,
187.119140625,
181.318359375,
42.1875,
1.58203125,
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[
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184.74609375,
181.58203125,
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187.03125,
181.318359375,
41.748046875,
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[
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180.703125,
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186.50390625,
181.23046875,
41.572265625,
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185.2734375,
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41.1328125,
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[
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177.71484375,
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183.69140625,
180.87890625,
40.78125,
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[
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175.517578125,
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182.021484375,
180,
40.4296875,
1.40625,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 3,
"total_frames": 1339,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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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],
"names": null
},
"episode_index": {
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"shape": [
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],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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