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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
0.52734375,
77.080078125,
105.46875,
23.642578125,
-88.41796875,
32.675045013427734
] |
[
0.087890625,
78.134765625,
109.6875,
26.806640625,
-87.71484375,
32.39634704589844
] | 0 | 0 | 0 | 0 | 0 |
[
0.3515625,
76.376953125,
105.46875,
23.203125,
-88.41796875,
32.675045013427734
] |
[
0.17578125,
77.255859375,
109.6875,
26.279296875,
-87.71484375,
32.39634704589844
] | 0.033333 | 1 | 0 | 1 | 0 |
[
0.087890625,
75.9375,
105.46875,
22.8515625,
-88.330078125,
32.58527755737305
] |
[
0.263671875,
76.2890625,
109.6875,
25.6640625,
-87.71484375,
32.39634704589844
] | 0.066667 | 2 | 0 | 2 | 0 |
[
-0.087890625,
75.5859375,
105.46875,
22.67578125,
-88.154296875,
32.31597900390625
] |
[
0.263671875,
75.322265625,
109.6875,
25.048828125,
-87.71484375,
32.39634704589844
] | 0.1 | 3 | 0 | 3 | 0 |
[
-0.263671875,
75.234375,
105.46875,
22.5,
-88.06640625,
32.22621154785156
] |
[
0.263671875,
74.8828125,
109.6875,
24.521484375,
-87.978515625,
32.39634704589844
] | 0.133333 | 4 | 0 | 4 | 0 |
[
-0.439453125,
75.05859375,
105.46875,
22.412109375,
-88.06640625,
29.89228057861328
] |
[
0.263671875,
74.619140625,
109.6875,
24.08203125,
-87.978515625,
32.39634704589844
] | 0.166667 | 5 | 0 | 5 | 0 |
[
-0.439453125,
74.8828125,
105.46875,
22.412109375,
-88.06640625,
27.917415618896484
] |
[
0.263671875,
74.443359375,
109.6875,
23.73046875,
-87.802734375,
32.39634704589844
] | 0.2 | 6 | 0 | 6 | 0 |
[
-0.439453125,
74.70703125,
105.556640625,
22.412109375,
-88.06640625,
23.1597843170166
] |
[
0.263671875,
74.35546875,
109.6875,
23.37890625,
-87.802734375,
31.974700927734375
] | 0.233333 | 7 | 0 | 7 | 0 |
[
-0.439453125,
74.619140625,
105.556640625,
22.412109375,
-88.06640625,
17.594255447387695
] |
[
0.263671875,
74.267578125,
109.6875,
23.203125,
-87.802734375,
30.780040740966797
] | 0.266667 | 8 | 0 | 8 | 0 |
[
-0.439453125,
74.53125,
105.732421875,
22.412109375,
-88.06640625,
13.375224113464355
] |
[
0.263671875,
74.1796875,
109.6875,
23.115234375,
-87.802734375,
28.74209213256836
] | 0.3 | 9 | 0 | 9 | 0 |
[
-0.263671875,
74.53125,
105.8203125,
22.412109375,
-88.06640625,
11.041292190551758
] |
[
0.263671875,
74.091796875,
109.599609375,
23.02734375,
-87.802734375,
26.141952514648438
] | 0.333333 | 10 | 0 | 10 | 0 |
[
-0.17578125,
74.53125,
105.99609375,
22.412109375,
-88.06640625,
7.719927787780762
] |
[
0.087890625,
74.091796875,
109.599609375,
23.02734375,
-87.802734375,
22.909345626831055
] | 0.366667 | 11 | 0 | 11 | 0 |
[
-0.087890625,
74.53125,
106.083984375,
22.412109375,
-88.06640625,
5.475762844085693
] |
[
-0.263671875,
74.091796875,
109.599609375,
22.8515625,
-87.802734375,
19.536191940307617
] | 0.4 | 12 | 0 | 12 | 0 |
[
0,
74.619140625,
106.083984375,
22.412109375,
-88.06640625,
3.411130905151367
] |
[
-0.439453125,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
16.3035831451416
] | 0.433333 | 13 | 0 | 13 | 0 |
[
0,
74.794921875,
106.083984375,
22.412109375,
-88.06640625,
1.4362657070159912
] |
[
-0.439453125,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.687280654907227
] | 0.466667 | 14 | 0 | 14 | 0 |
[
0.087890625,
74.970703125,
106.083984375,
22.412109375,
-88.06640625,
-0.3590664267539978
] |
[
-0.3515625,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.5 | 15 | 0 | 15 | 0 |
[
0.087890625,
75.322265625,
106.083984375,
22.412109375,
-88.06640625,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.533333 | 16 | 0 | 16 | 0 |
[
0.087890625,
75.76171875,
106.083984375,
22.412109375,
-88.06640625,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.566667 | 17 | 0 | 17 | 0 |
[
0.087890625,
76.201171875,
106.083984375,
22.412109375,
-87.978515625,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.6 | 18 | 0 | 18 | 0 |
[
0.087890625,
76.904296875,
106.083984375,
22.412109375,
-87.978515625,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.633333 | 19 | 0 | 19 | 0 |
[
0,
77.87109375,
106.083984375,
22.5,
-87.5390625,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.666667 | 20 | 0 | 20 | 0 |
[
-0.263671875,
79.013671875,
106.083984375,
22.587890625,
-86.923828125,
-0.8078994154930115
] |
[
-0.263671875,
74.091796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.7 | 21 | 0 | 21 | 0 |
[
-0.439453125,
80.419921875,
106.083984375,
23.02734375,
-86.396484375,
-0.8078994154930115
] |
[
-0.263671875,
74.1796875,
109.51171875,
22.67578125,
-87.802734375,
14.476458549499512
] | 0.733333 | 22 | 0 | 22 | 0 |
[
-0.87890625,
81.826171875,
106.083984375,
23.5546875,
-85.95703125,
-0.8078994154930115
] |
[
-0.263671875,
74.35546875,
109.51171875,
22.67578125,
-87.71484375,
14.476458549499512
] | 0.766667 | 23 | 0 | 23 | 0 |
[
-1.40625,
83.14453125,
106.083984375,
23.818359375,
-85.60546875,
-0.8078994154930115
] |
[
-0.263671875,
74.619140625,
109.51171875,
23.02734375,
-87.275390625,
14.476458549499512
] | 0.8 | 24 | 0 | 24 | 0 |
[
-2.021484375,
84.462890625,
106.083984375,
23.994140625,
-85.166015625,
-0.8078994154930115
] |
[
-0.263671875,
74.970703125,
109.599609375,
23.115234375,
-86.8359375,
14.476458549499512
] | 0.833333 | 25 | 0 | 25 | 0 |
[
-2.548828125,
85.78125,
106.083984375,
24.169921875,
-84.814453125,
-0.8078994154930115
] |
[
-0.263671875,
75.322265625,
109.599609375,
23.37890625,
-86.484375,
14.476458549499512
] | 0.866667 | 26 | 0 | 26 | 0 |
[
-3.1640625,
87.1875,
106.083984375,
24.345703125,
-84.462890625,
-0.8078994154930115
] |
[
-0.52734375,
75.849609375,
109.599609375,
23.642578125,
-86.044921875,
14.476458549499512
] | 0.9 | 27 | 0 | 27 | 0 |
[
-3.8671875,
88.505859375,
105.99609375,
24.609375,
-83.935546875,
-0.8078994154930115
] |
[
-0.966796875,
76.728515625,
109.599609375,
23.818359375,
-85.693359375,
14.476458549499512
] | 0.933333 | 28 | 0 | 28 | 0 |
[
-4.5703125,
89.82421875,
105.908203125,
25.3125,
-83.671875,
-0.8078994154930115
] |
[
-1.669921875,
77.6953125,
109.599609375,
24.08203125,
-85.341796875,
14.476458549499512
] | 0.966667 | 29 | 0 | 29 | 0 |
[
-5.2734375,
91.23046875,
105.8203125,
25.83984375,
-83.232421875,
-0.8078994154930115
] |
[
-2.373046875,
78.75,
109.599609375,
24.345703125,
-84.90234375,
14.476458549499512
] | 1 | 30 | 0 | 30 | 0 |
[
-5.888671875,
92.724609375,
105.8203125,
26.279296875,
-82.880859375,
-0.8078994154930115
] |
[
-3.076171875,
79.98046875,
109.599609375,
24.697265625,
-84.638671875,
14.476458549499512
] | 1.033333 | 31 | 0 | 31 | 0 |
[
-6.591796875,
94.130859375,
105.732421875,
26.89453125,
-82.529296875,
-0.8078994154930115
] |
[
-3.779296875,
81.2109375,
109.599609375,
25.13671875,
-84.19921875,
14.476458549499512
] | 1.066667 | 32 | 0 | 32 | 0 |
[
-7.294921875,
95.44921875,
105.46875,
27.861328125,
-82.08984375,
-0.8078994154930115
] |
[
-4.482421875,
82.529296875,
109.599609375,
25.576171875,
-83.84765625,
14.476458549499512
] | 1.1 | 33 | 0 | 33 | 0 |
[
-7.91015625,
96.6796875,
105.1171875,
29.091796875,
-81.73828125,
-0.8078994154930115
] |
[
-5.2734375,
83.935546875,
109.599609375,
26.103515625,
-83.408203125,
14.476458549499512
] | 1.133333 | 34 | 0 | 34 | 0 |
[
-8.701171875,
97.734375,
104.677734375,
30.146484375,
-81.03515625,
-0.8078994154930115
] |
[
-5.888671875,
85.25390625,
109.599609375,
26.71875,
-83.056640625,
14.476458549499512
] | 1.166667 | 35 | 0 | 35 | 0 |
[
-9.31640625,
98.876953125,
104.326171875,
31.11328125,
-80.595703125,
-0.8078994154930115
] |
[
-6.591796875,
86.748046875,
109.599609375,
27.59765625,
-82.6171875,
14.476458549499512
] | 1.2 | 36 | 0 | 36 | 0 |
[
-9.931640625,
99.84375,
103.974609375,
32.080078125,
-80.15625,
-0.8078994154930115
] |
[
-7.294921875,
88.154296875,
109.599609375,
28.4765625,
-82.177734375,
14.476458549499512
] | 1.233333 | 37 | 0 | 37 | 0 |
[
-10.546875,
100.72265625,
103.623046875,
32.958984375,
-79.892578125,
-0.8078994154930115
] |
[
-7.998046875,
89.384765625,
109.599609375,
29.35546875,
-81.73828125,
14.476458549499512
] | 1.266667 | 38 | 0 | 38 | 0 |
[
-10.986328125,
101.42578125,
103.359375,
33.486328125,
-79.541015625,
-0.7181328535079956
] |
[
-8.61328125,
90.615234375,
109.599609375,
30.322265625,
-81.298828125,
14.476458549499512
] | 1.3 | 39 | 0 | 39 | 0 |
[
-11.25,
102.041015625,
103.0078125,
34.27734375,
-79.1015625,
-0.628366231918335
] |
[
-9.228515625,
91.669921875,
109.599609375,
31.201171875,
-80.947265625,
14.476458549499512
] | 1.333333 | 40 | 0 | 40 | 0 |
[
-11.513671875,
102.48046875,
102.83203125,
34.98046875,
-78.837890625,
-0.628366231918335
] |
[
-9.755859375,
92.724609375,
109.599609375,
32.080078125,
-80.5078125,
14.476458549499512
] | 1.366667 | 41 | 0 | 41 | 0 |
[
-11.689453125,
102.83203125,
102.83203125,
35.5078125,
-78.75,
-0.5385996103286743
] |
[
-10.283203125,
93.69140625,
109.599609375,
32.783203125,
-80.068359375,
14.476458549499512
] | 1.4 | 42 | 0 | 42 | 0 |
[
-11.689453125,
103.271484375,
102.83203125,
36.03515625,
-78.75,
-0.5385996103286743
] |
[
-10.72265625,
94.5703125,
109.599609375,
33.57421875,
-79.716796875,
14.476458549499512
] | 1.433333 | 43 | 0 | 43 | 0 |
[
-11.689453125,
103.7109375,
102.83203125,
36.5625,
-78.57421875,
-0.628366231918335
] |
[
-10.986328125,
95.2734375,
109.599609375,
34.27734375,
-79.541015625,
14.476458549499512
] | 1.466667 | 44 | 0 | 44 | 0 |
[
-11.689453125,
104.23828125,
102.83203125,
37.08984375,
-78.3984375,
-0.628366231918335
] |
[
-11.25,
95.80078125,
109.51171875,
34.8046875,
-79.365234375,
14.476458549499512
] | 1.5 | 45 | 0 | 45 | 0 |
[
-11.689453125,
104.94140625,
102.83203125,
37.79296875,
-78.310546875,
-0.628366231918335
] |
[
-11.337890625,
96.328125,
109.51171875,
35.419921875,
-79.1015625,
14.476458549499512
] | 1.533333 | 46 | 0 | 46 | 0 |
[
-11.689453125,
105.732421875,
102.83203125,
38.49609375,
-78.134765625,
-0.628366231918335
] |
[
-11.337890625,
96.943359375,
109.51171875,
36.03515625,
-78.92578125,
14.476458549499512
] | 1.566667 | 47 | 0 | 47 | 0 |
[
-11.689453125,
106.611328125,
102.83203125,
39.287109375,
-77.958984375,
-0.7181328535079956
] |
[
-11.337890625,
97.470703125,
109.51171875,
36.73828125,
-78.837890625,
14.476458549499512
] | 1.6 | 48 | 0 | 48 | 0 |
[
-11.6015625,
107.578125,
102.83203125,
40.078125,
-77.607421875,
-0.7181328535079956
] |
[
-11.25,
98.173828125,
109.51171875,
37.353515625,
-78.75,
14.476458549499512
] | 1.633333 | 49 | 0 | 49 | 0 |
[
-11.513671875,
108.544921875,
102.83203125,
40.95703125,
-77.607421875,
-0.7181328535079956
] |
[
-11.07421875,
98.876953125,
109.51171875,
38.056640625,
-78.57421875,
14.476458549499512
] | 1.666667 | 50 | 0 | 50 | 0 |
[
-11.42578125,
109.51171875,
102.83203125,
41.66015625,
-77.431640625,
-0.8078994154930115
] |
[
-11.07421875,
99.66796875,
109.51171875,
38.759765625,
-78.310546875,
14.476458549499512
] | 1.7 | 51 | 0 | 51 | 0 |
[
-11.25,
110.56640625,
102.83203125,
42.275390625,
-77.34375,
-0.8078994154930115
] |
[
-11.07421875,
100.546875,
109.51171875,
39.55078125,
-78.134765625,
14.476458549499512
] | 1.733333 | 52 | 0 | 52 | 0 |
[
-11.162109375,
111.533203125,
102.83203125,
42.978515625,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
101.6015625,
109.51171875,
40.341796875,
-77.958984375,
14.476458549499512
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-11.07421875,
112.587890625,
102.83203125,
43.76953125,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
102.65625,
109.51171875,
41.044921875,
-77.87109375,
14.476458549499512
] | 1.8 | 54 | 0 | 54 | 0 |
[
-10.8984375,
113.5546875,
102.83203125,
44.6484375,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
103.623046875,
109.51171875,
41.748046875,
-77.783203125,
14.476458549499512
] | 1.833333 | 55 | 0 | 55 | 0 |
[
-10.72265625,
114.521484375,
102.83203125,
45.263671875,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
104.765625,
109.51171875,
42.451171875,
-77.783203125,
14.476458549499512
] | 1.866667 | 56 | 0 | 56 | 0 |
[
-10.546875,
115.576171875,
102.83203125,
45.615234375,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
105.8203125,
109.51171875,
43.2421875,
-77.783203125,
14.476458549499512
] | 1.9 | 57 | 0 | 57 | 0 |
[
-10.283203125,
116.54296875,
102.83203125,
46.0546875,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
106.875,
109.51171875,
43.9453125,
-77.783203125,
14.476458549499512
] | 1.933333 | 58 | 0 | 58 | 0 |
[
-10.01953125,
117.421875,
102.83203125,
46.318359375,
-77.255859375,
-0.8078994154930115
] |
[
-11.07421875,
107.841796875,
109.51171875,
44.560546875,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1796,
"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.arm": {
"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.wide": {
"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": {
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"shape": [
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],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
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],
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},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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