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action
sequence
observation.state
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float32
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int64
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[ 32.77798843383789, 163.10768127441406, 161.17564392089844, 47.27064514160156, -49.485023498535156, -0.5002365112304688 ]
[ 23.115234375, 160.83984375, 156.533203125, 52.822265625, -46.494140625, 8.765957832336426 ]
2.166667
65
0
65
0
[ 33.37016296386719, 161.44366455078125, 161.05874633789062, 46.11653137207031, -49.37562561035156, -0.6439914703369141 ]
[ 24.873046875, 161.806640625, 159.08203125, 51.767578125, -47.28515625, 8.765957832336426 ]
2.2
66
0
66
0
[ 34.73147964477539, 160.0311279296875, 161.4636688232422, 44.4149169921875, -49.56254577636719, -0.7021484375 ]
[ 27.158203125, 161.71875, 160.576171875, 50.2734375, -47.98828125, 8.765957832336426 ]
2.233333
67
0
67
0
[ 35.453941345214844, 157.98944091796875, 161.31387329101562, 43.04013442993164, -49.5672492980957, -0.8639297485351562 ]
[ 29.70703125, 160.927734375, 161.279296875, 48.603515625, -48.427734375, 8.765957832336426 ]
2.266667
68
0
68
0
[ 35.810821533203125, 155.49435424804688, 160.61766052246094, 41.83503723144531, -49.4687385559082, -1.0292396545410156 ]
[ 31.2890625, 160.224609375, 161.455078125, 47.373046875, -48.603515625, 8.765957832336426 ]
2.3
69
0
69
0
[ 36.58110046386719, 152.8938446044922, 159.79905700683594, 40.38911437988281, -49.32511520385742, -1.312509536743164 ]
[ 33.134765625, 158.203125, 161.455078125, 45.703125, -48.69140625, 8.680850982666016 ]
2.333333
70
0
70
0
[ 37.27806091308594, 148.15155029296875, 158.11607360839844, 38.45881271362305, -48.889984130859375, -1.6686077117919922 ]
[ 34.013671875, 155.830078125, 161.455078125, 43.857421875, -48.779296875, 8.595744132995605 ]
2.366667
71
0
71
0
[ 37.353050231933594, 147.79307556152344, 158.11708068847656, 38.258079528808594, -48.929893493652344, -1.6578025817871094 ]
[ 34.189453125, 153.80859375, 161.455078125, 42.626953125, -48.779296875, 8.595744132995605 ]
2.4
72
0
72
0
[ 37.81025695800781, 144.77960205078125, 156.93106079101562, 37.200164794921875, -48.61491394042969, -1.9782886505126953 ]
[ 35.33203125, 150.205078125, 161.3671875, 40.95703125, -48.515625, 8.595744132995605 ]
2.433333
73
0
73
0
[ 38.10005187988281, 142.2177734375, 155.48031616210938, 36.685523986816406, -48.26018142700195, -2.140298843383789 ]
[ 35.859375, 148.53515625, 161.279296875, 39.990234375, -48.251953125, 8.595744132995605 ]
2.466667
74
0
74
0
[ 38.339874267578125, 139.73968505859375, 154.45895385742188, 36.038673400878906, -48.152618408203125, -2.2291336059570312 ]
[ 36.9140625, 145.546875, 160.048828125, 38.935546875, -48.251953125, 8.510638236999512 ]
2.5
75
0
75
0
[ 38.45273208618164, 138.02218627929688, 153.51808166503906, 35.80144119262695, -47.87223815917969, -2.2976131439208984 ]
[ 37.353515625, 143.701171875, 159.2578125, 38.056640625, -48.251953125, 8.340425491333008 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 37.6171875, 139.74609375, 157.32421875, 36.9140625, -48.076171875, 8.340425491333008 ]
2.6
78
0
78
0
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[ 37.705078125, 136.494140625, 155.56640625, 36.123046875, -47.548828125, 8.340425491333008 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 39.65681076049805, 125.83213806152344, 146.2683868408203, 34.13212585449219, -46.63705062866211, -1.2679481506347656 ]
[ 38.232421875, 129.55078125, 151.171875, 34.892578125, -46.494140625, 8.340425491333008 ]
2.7
81
0
81
0
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[ 38.49609375, 127.79296875, 150.205078125, 34.62890625, -46.318359375, 8.340425491333008 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 38.671875, 124.716796875, 148.095703125, 34.365234375, -46.142578125, 8.340425491333008 ]
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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[ 38.935546875, 122.16796875, 146.689453125, 33.75, -46.0546875, 8.680850982666016 ]
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
[ 40.72607421875, 125.1641616821289, 146.7152862548828, 34.00245666503906, -46.7197380065918, 28.635295867919922 ]
[ 39.19921875, 122.080078125, 146.6015625, 33.837890625, -46.0546875, 16.4255313873291 ]
3
90
0
90
0
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[ 39.111328125, 122.34375, 146.689453125, 33.837890625, -46.0546875, 19.063831329345703 ]
3.033333
91
0
91
0
[ 41.49324035644531, 126.62611389160156, 147.5847625732422, 34.16063690185547, -47.08799362182617, 31.904407501220703 ]
[ 39.375, 122.87109375, 146.865234375, 33.837890625, -46.0546875, 22.978723526000977 ]
3.066667
92
0
92
0
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[ 39.638671875, 123.486328125, 147.216796875, 33.837890625, -46.0546875, 26.553192138671875 ]
3.1
93
0
93
0
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[ 40.25390625, 124.365234375, 147.65625, 33.837890625, -46.40625, 29.276594161987305 ]
3.133333
94
0
94
0
[ 41.77033615112305, 129.90072631835938, 148.4473114013672, 35.56885528564453, -47.2088623046875, 34.05579376220703 ]
[ 40.4296875, 125.771484375, 148.18359375, 33.92578125, -46.58203125, 31.574466705322266 ]
3.166667
95
0
95
0
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3.2
96
0
96
0
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[ 41.1328125, 127.001953125, 148.359375, 34.8046875, -46.494140625, 32.76595687866211 ]
3.233333
97
0
97
0
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[ 41.1328125, 127.705078125, 148.359375, 34.8046875, -46.7578125, 32.76595687866211 ]
3.266667
98
0
98
0
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[ 40.869140625, 128.84765625, 148.359375, 35.15625, -46.494140625, 32.8510627746582 ]
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": 2365,
    "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": [
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                3
            ],
            "names": [
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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,
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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.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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