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action
sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
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197.3309326171875,
172.9808349609375,
72.67481231689453,
2.3369884490966797,
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] |
[
3.33984375,
188.96484375,
170.419921875,
70.048828125,
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0.5567153692245483
] | 0 | 0 | 0 | 0 | 0 |
[
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197.3119659423828,
172.9532928466797,
72.57659912109375,
2.4587631225585938,
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[
3.33984375,
188.96484375,
170.419921875,
70.048828125,
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0.5567153692245483
] | 0.04 | 1 | 0 | 1 | 0 |
[
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173.13436889648438,
72.51232147216797,
2.6427001953125,
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[
3.251953125,
188.96484375,
170.5078125,
70.3125,
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0.5567153692245483
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[
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172.9379119873047,
72.38948822021484,
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[
2.109375,
189.404296875,
170.68359375,
70.48828125,
0,
0.5567153692245483
] | 0.12 | 3 | 0 | 3 | 0 |
[
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197.33021545410156,
172.91183471679688,
72.34172058105469,
2.792490005493164,
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[
0.791015625,
190.01953125,
171.2109375,
70.48828125,
0.615234375,
0.5567153692245483
] | 0.16 | 4 | 0 | 4 | 0 |
[
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172.80950927734375,
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2.821025848388672,
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[
0.3515625,
190.01953125,
171.298828125,
70.48828125,
1.142578125,
0.5567153692245483
] | 0.2 | 5 | 0 | 5 | 0 |
[
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172.81251525878906,
72.1308822631836,
2.8482818603515625,
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[
0.17578125,
190.01953125,
171.298828125,
70.48828125,
1.23046875,
0.5567153692245483
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[
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[
0.17578125,
190.01953125,
171.298828125,
70.48828125,
1.318359375,
0.5567153692245483
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[
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172.4384307861328,
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3.2752933502197266,
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[
0.17578125,
190.01953125,
171.38671875,
70.48828125,
1.318359375,
0.5567153692245483
] | 0.32 | 8 | 0 | 8 | 0 |
[
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196.2403564453125,
171.78369140625,
71.67046356201172,
3.145414352416992,
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[
0.17578125,
190.01953125,
171.38671875,
70.400390625,
1.669921875,
0.5567153692245483
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[
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[
0.17578125,
190.01953125,
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[
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[
0.17578125,
190.01953125,
171.474609375,
70.400390625,
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0.5567153692245483
] | 0.44 | 11 | 0 | 11 | 0 |
[
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[
0.17578125,
190.01953125,
171.474609375,
70.3125,
2.28515625,
0.5567153692245483
] | 0.48 | 12 | 0 | 12 | 0 |
[
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169.22787475585938,
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[
0.17578125,
190.01953125,
171.474609375,
70.3125,
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[
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[
0.17578125,
190.01953125,
171.298828125,
70.224609375,
2.28515625,
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[
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[
0.17578125,
190.01953125,
171.2109375,
70.13671875,
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0.5567153692245483
] | 0.6 | 15 | 0 | 15 | 0 |
[
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190.46139526367188,
165.1081085205078,
70.62932586669922,
3.852132797241211,
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] |
[
0.17578125,
190.01953125,
171.123046875,
70.13671875,
2.373046875,
0.5567153692245483
] | 0.64 | 16 | 0 | 16 | 0 |
[
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189.0458984375,
163.698974609375,
70.28350830078125,
3.791646957397461,
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[
0.17578125,
190.01953125,
170.419921875,
70.224609375,
2.724609375,
0.5567153692245483
] | 0.68 | 17 | 0 | 17 | 0 |
[
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187.91090393066406,
162.33447265625,
70.14729309082031,
3.9661502838134766,
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[
0.17578125,
189.404296875,
169.013671875,
70.400390625,
2.724609375,
0.5567153692245483
] | 0.72 | 18 | 0 | 18 | 0 |
[
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185.52154541015625,
159.7441864013672,
70.06851196289062,
3.8144359588623047,
0.04699134826660156
] |
[
-0.263671875,
188.96484375,
167.6953125,
70.576171875,
2.8125,
0.5567153692245483
] | 0.76 | 19 | 0 | 19 | 0 |
[
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182.49261474609375,
156.67025756835938,
69.7673110961914,
3.5094566345214844,
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] |
[
-0.52734375,
188.701171875,
166.025390625,
70.576171875,
2.8125,
0.5567153692245483
] | 0.8 | 20 | 0 | 20 | 0 |
[
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[
-0.703125,
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164.1796875,
70.48828125,
2.8125,
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] | 0.84 | 21 | 0 | 21 | 0 |
[
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[
-0.615234375,
184.5703125,
161.54296875,
70.13671875,
2.8125,
0.5567153692245483
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[
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[
-0.439453125,
182.548828125,
158.90625,
69.9609375,
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0.5567153692245483
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[
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[
-0.439453125,
179.6484375,
156.357421875,
69.9609375,
2.724609375,
0.5567153692245483
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[
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140.62632751464844,
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[
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175.517578125,
152.75390625,
69.9609375,
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[
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[
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172.705078125,
149.4140625,
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[
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[
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169.892578125,
146.513671875,
69.2578125,
1.318359375,
0.5567153692245483
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[
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[
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[
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[
0,
161.015625,
138.076171875,
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[
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[
0,
156.796875,
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[
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[
0,
152.578125,
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[
0,
148.7109375,
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[
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[
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[
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[
0.3515625,
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[
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0.52734375,
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[
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[
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[
1.142578125,
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[
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[
1.58203125,
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[
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[
1.7578125,
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[
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[
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[
2.021484375,
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[
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1.7578125,
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[
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[
1.494140625,
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[
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[
1.318359375,
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[
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[
0.87890625,
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] | 2.08 | 52 | 0 | 52 | 0 |
[
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[
0.615234375,
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[
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End of preview.
This dataset was created using LeRobot.
Dataset Structure
{
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"robot_type": "so100",
"total_episodes": 10,
"total_frames": 7476,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
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},
"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": {
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6
],
"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
],
"names": [
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"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.hand": {
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"shape": [
480,
640,
3
],
"names": [
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],
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}
},
"observation.images.top": {
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],
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],
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},
"timestamp": {
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}
}
}
Citation
BibTeX:
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