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action
sequence
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float32
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38.1
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int64
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[ -38.84765625, 112.32421875, 121.904296875, 70.400390625, -16.435546875, 15.631848335266113 ]
2.133333
64
0
64
0
[ -40.50714111328125, 113.10366821289062, 119.40768432617188, 70.9413070678711, -18.00162696838379, 27.185901641845703 ]
[ -39.0234375, 112.32421875, 121.81640625, 70.576171875, -16.611328125, 17.75018310546875 ]
2.166667
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0
65
0
[ -40.76270294189453, 112.93206787109375, 118.72236633300781, 71.25312042236328, -18.24003791809082, 28.548809051513672 ]
[ -39.19921875, 112.32421875, 121.81640625, 70.576171875, -16.787109375, 19.284149169921875 ]
2.2
66
0
66
0
[ -40.95927429199219, 112.84246063232422, 118.85600280761719, 71.03137969970703, -18.327499389648438, 29.24188995361328 ]
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2.233333
67
0
67
0
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2.266667
68
0
68
0
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[ -39.462890625, 111.708984375, 121.640625, 70.751953125, -17.314453125, 24.981739044189453 ]
2.3
69
0
69
0
[ -41.948184967041016, 111.74922943115234, 118.26835632324219, 70.29021453857422, -18.6427059173584, 30.87753677368164 ]
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2.333333
70
0
70
0
[ -42.182212829589844, 110.39085388183594, 118.20470428466797, 69.18330383300781, -18.872697830200195, 30.73696517944336 ]
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2.366667
71
0
71
0
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[ -40.693359375, 111.181640625, 121.46484375, 70.6640625, -17.666015625, 28.268810272216797 ]
2.4
72
0
72
0
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2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -41.748046875, 108.80859375, 121.46484375, 69.08203125, -17.666015625, 29.364500045776367 ]
2.5
75
0
75
0
[ -42.4860954284668, 107.32450103759766, 118.78553771972656, 66.20964050292969, -19.02306365966797, 30.601970672607422 ]
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2.533333
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0
76
0
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2.566667
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0
77
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2.6
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0
78
0
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2.633333
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0
79
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2.666667
80
0
80
0
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2.7
81
0
81
0
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2.733333
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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
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0
86
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2.9
87
0
87
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2.933333
88
0
88
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2.966667
89
0
89
0
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[ -43.06640625, 100.107421875, 122.080078125, 59.0625, -18.369140625, 29.583637237548828 ]
3
90
0
90
0
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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[ -42.275390625, 100.107421875, 123.486328125, 57.568359375, -18.544921875, 28.560993194580078 ]
3.1
93
0
93
0
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[ -41.8359375, 100.107421875, 124.189453125, 57.65625, -18.984375, 27.100072860717773 ]
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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[ -39.990234375, 100.107421875, 126.73828125, 55.986328125, -20.654296875, 18.7728271484375 ]
3.266667
98
0
98
0
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[ -39.375, 100.1953125, 127.44140625, 55.283203125, -20.56640625, 16.508399963378906 ]
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": 8602,
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "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.images.laptop": {
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            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "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
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        },
        "observation.images.phone": {
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            "shape": [
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            "names": [
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            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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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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