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sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
372
episode_index
int64
0
19
index
int64
0
7.46k
task_index
int64
0
0
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75
0
[ 21.708984375, 76.904296875, 54.4921875, 62.05078125, -27.0703125, 1.1854361295700073 ]
[ 22.763671875, 69.609375, 55.1953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.04
76
0
76
0
[ 21.181640625, 78.046875, 54.4921875, 62.05078125, -27.0703125, 1.1854361295700073 ]
[ 22.587890625, 71.19140625, 55.1953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.08
77
0
77
0
[ 20.478515625, 79.189453125, 54.4921875, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 22.32421875, 72.333984375, 55.1953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.12
78
0
78
0
[ 19.775390625, 80.33203125, 54.580078125, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 21.97265625, 73.564453125, 55.1953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.16
79
0
79
0
[ 19.072265625, 81.474609375, 55.107421875, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 21.357421875, 74.70703125, 55.1953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.2
80
0
80
0
[ 18.45703125, 82.705078125, 55.986328125, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 20.654296875, 75.849609375, 55.283203125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.24
81
0
81
0
[ 17.75390625, 84.111328125, 57.12890625, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 19.951171875, 77.16796875, 55.72265625, 61.69921875, -27.509765625, 17.9324893951416 ]
3.28
82
0
82
0
[ 17.05078125, 85.693359375, 58.798828125, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 19.248046875, 78.310546875, 56.337890625, 61.69921875, -27.509765625, 17.9324893951416 ]
3.32
83
0
83
0
[ 16.259765625, 87.5390625, 60.64453125, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 18.544921875, 79.8046875, 57.3046875, 61.69921875, -27.509765625, 17.9324893951416 ]
3.36
84
0
84
0
[ 15.46875, 89.384765625, 62.666015625, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 17.9296875, 81.298828125, 58.7109375, 61.69921875, -27.509765625, 17.9324893951416 ]
3.4
85
0
85
0
[ 14.58984375, 91.23046875, 64.951171875, 62.138671875, -27.0703125, 1.1854361295700073 ]
[ 17.138671875, 82.96875, 60.205078125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.44
86
0
86
0
[ 13.88671875, 92.98828125, 67.32421875, 62.05078125, -27.0703125, 1.1854361295700073 ]
[ 16.435546875, 84.814453125, 61.875, 61.69921875, -27.509765625, 17.9324893951416 ]
3.48
87
0
87
0
[ 13.359375, 94.5703125, 69.78515625, 62.05078125, -27.0703125, 1.1854361295700073 ]
[ 15.556640625, 86.66015625, 63.984375, 61.69921875, -27.509765625, 17.9324893951416 ]
3.52
88
0
88
0
[ 12.919921875, 96.15234375, 71.982421875, 62.05078125, -27.0703125, 1.1854361295700073 ]
[ 14.765625, 88.59375, 66.09375, 61.69921875, -27.509765625, 17.9324893951416 ]
3.56
89
0
89
0
[ 12.392578125, 97.646484375, 74.091796875, 61.962890625, -27.0703125, 1.1854361295700073 ]
[ 14.0625, 90.263671875, 68.466796875, 61.69921875, -27.509765625, 17.9324893951416 ]
3.6
90
0
90
0
[ 11.77734375, 99.140625, 75.9375, 61.787109375, -27.0703125, 1.1854361295700073 ]
[ 13.53515625, 92.021484375, 70.751953125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.64
91
0
91
0
[ 10.986328125, 100.458984375, 77.51953125, 61.5234375, -27.0703125, 1.1854361295700073 ]
[ 13.0078125, 93.515625, 72.94921875, 61.69921875, -27.509765625, 17.9324893951416 ]
3.68
92
0
92
0
[ 10.283203125, 101.513671875, 78.92578125, 61.34765625, -27.0703125, 1.1854361295700073 ]
[ 12.48046875, 95.009765625, 74.8828125, 61.69921875, -27.509765625, 17.9324893951416 ]
3.72
93
0
93
0
[ 9.580078125, 101.953125, 80.244140625, 61.083984375, -27.0703125, 1.270110011100769 ]
[ 11.77734375, 96.416015625, 76.728515625, 61.69921875, -27.509765625, 17.9324893951416 ]
3.76
94
0
94
0
[ 9.052734375, 102.12890625, 81.2109375, 60.99609375, -27.158203125, 1.270110011100769 ]
[ 10.986328125, 97.822265625, 78.3984375, 61.69921875, -27.509765625, 17.9324893951416 ]
3.8
95
0
95
0
[ 8.701171875, 102.12890625, 81.9140625, 60.99609375, -27.158203125, 1.270110011100769 ]
[ 10.37109375, 98.701171875, 79.8046875, 61.69921875, -27.509765625, 18.213783264160156 ]
3.84
96
0
96
0
[ 8.4375, 102.12890625, 82.353515625, 60.99609375, -27.158203125, 1.270110011100769 ]
[ 9.755859375, 99.228515625, 81.03515625, 61.69921875, -27.509765625, 18.284107208251953 ]
3.88
97
0
97
0
[ 8.173828125, 102.12890625, 82.353515625, 60.99609375, -27.158203125, 1.270110011100769 ]
[ 9.228515625, 99.404296875, 81.9140625, 61.69921875, -27.509765625, 18.284107208251953 ]
3.92
98
0
98
0
[ 7.822265625, 101.865234375, 82.353515625, 60.908203125, -27.158203125, 1.270110011100769 ]
[ 8.876953125, 99.404296875, 82.44140625, 61.69921875, -27.509765625, 18.284107208251953 ]
3.96
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": 20,
    "total_frames": 7460,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:20"
    },
    "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.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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