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sequence
observation.state
sequence
timestamp
float32
0
6.4
frame_index
int64
0
192
episode_index
int64
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49
index
int64
0
9.48k
task_index
int64
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[ -2.724609375, 112.5, 120.322265625, 64.86328125, -86.572265625, 2.7573530673980713 ]
2.433333
73
0
73
0
[ -12.3046875, 132.36328125, 113.466796875, 80.068359375, -83.056640625, 0.10373444855213165 ]
[ -5.80078125, 117.685546875, 119.267578125, 68.994140625, -85.517578125, 2.7573530673980713 ]
2.466667
74
0
74
0
[ -14.853515625, 134.912109375, 111.796875, 83.232421875, -81.9140625, 0.10373444855213165 ]
[ -8.4375, 121.81640625, 118.30078125, 72.0703125, -84.55078125, 2.6654410362243652 ]
2.5
75
0
75
0
[ -17.841796875, 137.373046875, 109.6875, 87.01171875, -80.5078125, 0.10373444855213165 ]
[ -11.162109375, 125.419921875, 117.0703125, 75.41015625, -83.583984375, 2.5735294818878174 ]
2.533333
76
0
76
0
[ -20.654296875, 139.482421875, 107.666015625, 90.3515625, -79.189453125, 0.10373444855213165 ]
[ -13.53515625, 128.759765625, 115.3125, 78.662109375, -82.705078125, 2.5735294818878174 ]
2.566667
77
0
77
0
[ -23.291015625, 141.50390625, 105.908203125, 93.603515625, -77.87109375, 0.10373444855213165 ]
[ -16.787109375, 132.802734375, 113.02734375, 83.232421875, -80.771484375, 2.5735294818878174 ]
2.6
78
0
78
0
[ -25.13671875, 142.822265625, 104.765625, 95.625, -77.080078125, 0.10373444855213165 ]
[ -19.423828125, 135.439453125, 111.181640625, 86.748046875, -79.62890625, 2.5735294818878174 ]
2.633333
79
0
79
0
[ -26.455078125, 143.7890625, 104.23828125, 97.294921875, -76.552734375, 0.10373444855213165 ]
[ -21.533203125, 137.4609375, 109.775390625, 89.296875, -78.662109375, 2.5735294818878174 ]
2.666667
80
0
80
0
[ -27.7734375, 144.755859375, 104.150390625, 98.525390625, -76.201171875, 0.10373444855213165 ]
[ -23.5546875, 139.658203125, 108.193359375, 92.4609375, -77.87109375, 2.4816176891326904 ]
2.7
81
0
81
0
[ -28.828125, 145.283203125, 104.677734375, 99.228515625, -75.849609375, 0.10373444855213165 ]
[ -25.224609375, 141.50390625, 107.2265625, 94.833984375, -77.255859375, 2.4816176891326904 ]
2.733333
82
0
82
0
[ -30.146484375, 145.72265625, 105.908203125, 99.66796875, -75.41015625, 0.10373444855213165 ]
[ -26.71875, 142.998046875, 106.875, 96.767578125, -76.552734375, 2.3897058963775635 ]
2.766667
83
0
83
0
[ -31.81640625, 146.25, 107.75390625, 99.931640625, -74.8828125, 0.10373444855213165 ]
[ -27.861328125, 143.876953125, 106.875, 97.91015625, -76.11328125, 2.2977941036224365 ]
2.8
84
0
84
0
[ -34.013671875, 146.77734375, 110.0390625, 100.01953125, -74.091796875, 0.10373444855213165 ]
[ -28.740234375, 144.404296875, 106.875, 98.61328125, -75.76171875, 2.2977941036224365 ]
2.833333
85
0
85
0
[ -36.03515625, 147.392578125, 112.32421875, 99.84375, -73.30078125, 0.10373444855213165 ]
[ -31.640625, 145.458984375, 108.10546875, 99.31640625, -74.794921875, 2.2058823108673096 ]
2.866667
86
0
86
0
[ -38.408203125, 148.18359375, 114.873046875, 99.580078125, -72.24609375, 0.10373444855213165 ]
[ -32.958984375, 145.8984375, 109.3359375, 99.580078125, -74.443359375, 2.2058823108673096 ]
2.9
87
0
87
0
[ -40.4296875, 148.798828125, 116.71875, 99.580078125, -71.3671875, 0.10373444855213165 ]
[ -35.5078125, 146.513671875, 111.09375, 99.4921875, -73.388671875, 2.2058823108673096 ]
2.933333
88
0
88
0
[ -42.36328125, 149.58984375, 118.4765625, 99.580078125, -70.576171875, 0.10373444855213165 ]
[ -36.9140625, 147.216796875, 113.466796875, 99.4921875, -72.59765625, 2.2058823108673096 ]
2.966667
89
0
89
0
[ -44.208984375, 150.29296875, 120.146484375, 99.580078125, -69.873046875, 0.10373444855213165 ]
[ -39.19921875, 148.0078125, 115.927734375, 99.4921875, -71.630859375, 2.2058823108673096 ]
3
90
0
90
0
[ -45.263671875, 150.64453125, 121.376953125, 99.404296875, -69.609375, 0.10373444855213165 ]
[ -40.95703125, 148.53515625, 117.59765625, 99.4921875, -71.015625, 2.2058823108673096 ]
3.033333
91
0
91
0
[ -45.615234375, 150.908203125, 122.34375, 99.140625, -69.78515625, 0.10373444855213165 ]
[ -43.857421875, 149.58984375, 120.05859375, 99.4921875, -70.224609375, 2.2058823108673096 ]
3.066667
92
0
92
0
[ -45.3515625, 150.99609375, 122.87109375, 98.701171875, -70.3125, 0.8298755884170532 ]
[ -44.384765625, 149.853515625, 120.9375, 99.4921875, -70.13671875, 2.2058823108673096 ]
3.1
93
0
93
0
[ -44.384765625, 151.34765625, 123.310546875, 98.4375, -71.455078125, 3.423236608505249 ]
[ -44.6484375, 150.1171875, 121.728515625, 99.4921875, -70.13671875, 2.2058823108673096 ]
3.133333
94
0
94
0
[ -43.505859375, 151.875, 124.013671875, 98.0859375, -72.685546875, 7.0539422035217285 ]
[ -44.12109375, 150.46875, 122.87109375, 99.228515625, -70.751953125, 2.2058823108673096 ]
3.166667
95
0
95
0
[ -42.5390625, 152.490234375, 124.62890625, 97.470703125, -73.65234375, 12.033195495605469 ]
[ -43.76953125, 150.64453125, 123.310546875, 99.140625, -71.279296875, 2.6654410362243652 ]
3.2
96
0
96
0
[ -41.484375, 153.193359375, 125.068359375, 97.294921875, -75.146484375, 15.663901329040527 ]
[ -43.505859375, 151.171875, 123.92578125, 98.701171875, -72.158203125, 4.136029243469238 ]
3.233333
97
0
97
0
[ -40.166015625, 153.896484375, 125.244140625, 96.328125, -76.11328125, 17.94605827331543 ]
[ -43.06640625, 151.875, 124.8046875, 98.26171875, -73.30078125, 7.904411792755127 ]
3.266667
98
0
98
0
[ -38.583984375, 154.6875, 125.068359375, 95.009765625, -76.640625, 21.265560150146484 ]
[ -42.099609375, 152.490234375, 125.15625, 97.91015625, -74.53125, 11.85661792755127 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 165,
    "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": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on Micksavioz/so100_test