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action
sequence
observation.state
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float32
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int64
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0
67
0
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2.266667
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0
68
0
[ -4.170347213745117, 85.23674011230469, 99.61862182617188, 71.93043518066406, 90.26238250732422, -9.356197357177734 ]
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2.3
69
0
69
0
[ -4.129064083099365, 84.98539733886719, 99.52719116210938, 71.9481430053711, 90.6662826538086, -9.397907257080078 ]
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2.333333
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0
70
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2.366667
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71
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2.4
72
0
72
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2.433333
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73
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2.466667
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74
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2.5
75
0
75
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2.533333
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2.6
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2.633333
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2.7
81
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2.733333
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2.8
84
0
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2.833333
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2.866667
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2.9
87
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2.933333
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2.966667
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3
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0
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3.033333
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3.066667
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3.1
93
0
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3.133333
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3.166667
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3.2
96
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3.233333
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3.266667
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[ -1.23046875, 85.078125, 94.130859375, 72.7734375, 128.14453125, -2.109375 ]
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": 17,
    "total_frames": 9769,
    "total_tasks": 1,
    "total_videos": 17,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:17"
    },
    "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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