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action
sequence
observation.state
sequence
timestamp
float32
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38.2
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int64
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[ -31.025390625, 86.923828125, 79.189453125, 94.482421875, -13.447265625, 0.43827611207962036 ]
2.133333
64
0
64
0
[ -37.2724723815918, 90.13706970214844, 87.16700744628906, 87.37047576904297, -17.13966941833496, 5.15660285949707 ]
[ -32.16796875, 86.923828125, 79.98046875, 93.779296875, -13.7109375, 0.43827611207962036 ]
2.166667
65
0
65
0
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[ -32.6953125, 86.8359375, 80.68359375, 92.63671875, -13.974609375, 0.43827611207962036 ]
2.2
66
0
66
0
[ -36.75096130371094, 89.79678344726562, 85.19081115722656, 88.85958099365234, -16.288970947265625, 3.1922874450683594 ]
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2.233333
67
0
67
0
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[ -34.1015625, 87.01171875, 83.935546875, 91.142578125, -15.1171875, 1.5339664220809937 ]
2.266667
68
0
68
0
[ -38.258968353271484, 91.61814880371094, 91.9931869506836, 83.92284393310547, -19.146221160888672, 12.388019561767578 ]
[ -34.8046875, 86.8359375, 85.517578125, 89.560546875, -15.205078125, 2.2644264698028564 ]
2.3
69
0
69
0
[ -38.565975189208984, 92.58888244628906, 94.79510498046875, 81.89698028564453, -20.306241989135742, 18.271602630615234 ]
[ -35.68359375, 86.66015625, 86.484375, 88.41796875, -15.64453125, 2.702702760696411 ]
2.333333
70
0
70
0
[ -38.66353988647461, 92.3200912475586, 94.79989624023438, 81.68733215332031, -20.41042709350586, 18.103914260864258 ]
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2.366667
71
0
71
0
[ -38.07402038574219, 93.5807876586914, 96.26708221435547, 81.08183288574219, -20.82111358642578, 21.41678237915039 ]
[ -37.08984375, 87.5390625, 89.6484375, 85.78125, -17.578125, 5.478451251983643 ]
2.4
72
0
72
0
[ -37.370059967041016, 93.83399963378906, 99.05229949951172, 78.76878356933594, -22.087915420532227, 27.571598052978516 ]
[ -37.44140625, 87.626953125, 91.7578125, 84.19921875, -18.28125, 8.254199981689453 ]
2.433333
73
0
73
0
[ -38.429012298583984, 92.8838882446289, 96.66755676269531, 80.22035217285156, -21.126680374145508, 23.08362579345703 ]
[ -37.6171875, 87.626953125, 93.427734375, 83.3203125, -18.80859375, 11.46822452545166 ]
2.466667
74
0
74
0
[ -37.719749450683594, 94.02613830566406, 98.85724639892578, 78.98357391357422, -22.021406173706055, 26.259063720703125 ]
[ -37.6171875, 87.890625, 95.2734375, 82.177734375, -19.3359375, 14.682250022888184 ]
2.5
75
0
75
0
[ -36.78511047363281, 94.69296264648438, 101.40489196777344, 77.06288146972656, -22.91897964477539, 31.888717651367188 ]
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2.533333
76
0
76
0
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2.566667
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0
77
0
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2.6
78
0
78
0
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2.633333
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0
79
0
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2.666667
80
0
80
0
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[ -36.9140625, 88.41796875, 100.810546875, 77.255859375, -21.62109375, 27.392257690429688 ]
2.7
81
0
81
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -37.353515625, 88.59375, 102.48046875, 74.53125, -22.587890625, 35.42731857299805 ]
3
90
0
90
0
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[ -37.265625, 88.681640625, 102.83203125, 74.1796875, -22.587890625, 35.64645767211914 ]
3.033333
91
0
91
0
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[ -37.001953125, 88.681640625, 103.359375, 74.267578125, -22.763671875, 35.71950149536133 ]
3.066667
92
0
92
0
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[ -36.73828125, 88.59375, 103.447265625, 74.267578125, -23.291015625, 36.011688232421875 ]
3.1
93
0
93
0
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[ -36.5625, 88.59375, 103.447265625, 73.4765625, -22.8515625, 36.08473205566406 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
97
0
97
0
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[ -36.9140625, 88.59375, 103.798828125, 72.685546875, -23.73046875, 37.61869812011719 ]
3.266667
98
0
98
0
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[ -37.001953125, 88.59375, 103.798828125, 72.509765625, -23.5546875, 38.27611541748047 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 7459,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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            "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": [
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                640,
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            ],
            "names": [
                "height",
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                "channels"
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            "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",
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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