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sequence
observation.state
sequence
timestamp
float32
0
9.8
frame_index
int64
0
245
episode_index
int64
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9
index
int64
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2.44k
task_index
int64
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[ 0.615234375, 190.72265625, 174.55078125, 62.841796875, -15.908203125, 0.6747638583183289 ]
2.56
64
0
64
0
[ 1.2578686475753784, 192.02377319335938, 171.7554931640625, 62.37624740600586, -16.536699295043945, -0.16741943359375 ]
[ 0.615234375, 190.72265625, 174.55078125, 62.841796875, -15.99609375, 0.6747638583183289 ]
2.6
65
0
65
0
[ 1.2249983549118042, 192.17462158203125, 171.7460479736328, 62.66908264160156, -16.602710723876953, -0.15135765075683594 ]
[ 0.615234375, 190.72265625, 174.55078125, 62.841796875, -15.99609375, 0.6747638583183289 ]
2.64
66
0
66
0
[ 1.5074321031570435, 192.17135620117188, 171.72708129882812, 62.54060745239258, -16.758140563964844, -0.1624126434326172 ]
[ 0.703125, 190.72265625, 174.55078125, 62.841796875, -15.99609375, 0.6747638583183289 ]
2.68
67
0
67
0
[ 1.5425981283187866, 191.95840454101562, 171.77732849121094, 62.12578201293945, -16.671829223632812, -0.17885208129882812 ]
[ 0.966796875, 190.810546875, 174.55078125, 62.841796875, -16.171875, 0.6747638583183289 ]
2.72
68
0
68
0
[ 1.6197339296340942, 191.99241638183594, 171.64601135253906, 62.19896697998047, -16.752901077270508, -0.18786239624023438 ]
[ 1.142578125, 190.810546875, 174.55078125, 62.841796875, -16.34765625, 0.6747638583183289 ]
2.76
69
0
69
0
[ 1.8294028043746948, 191.689208984375, 171.2880859375, 61.968536376953125, -16.872114181518555, -0.18622207641601562 ]
[ 1.142578125, 190.810546875, 174.55078125, 62.841796875, -16.34765625, 0.6747638583183289 ]
2.8
70
0
70
0
[ 1.8102976083755493, 191.51513671875, 171.36810302734375, 61.680973052978516, -16.769792556762695, -0.22441864013671875 ]
[ 1.23046875, 190.810546875, 174.462890625, 62.841796875, -16.435546875, 0.6747638583183289 ]
2.84
71
0
71
0
[ 1.8372174501419067, 191.17648315429688, 171.1929168701172, 61.47760009765625, -16.805240631103516, -0.20525550842285156 ]
[ 1.40625, 190.810546875, 174.375, 62.75390625, -16.435546875, 0.6747638583183289 ]
2.88
72
0
72
0
[ 1.9951056241989136, 190.94802856445312, 170.9963836669922, 61.446144104003906, -16.84451675415039, -0.18557167053222656 ]
[ 1.494140625, 190.810546875, 174.375, 62.578125, -16.435546875, 0.6747638583183289 ]
2.92
73
0
73
0
[ 1.9949308633804321, 190.41427612304688, 170.822021484375, 61.055477142333984, -16.88172149658203, -0.21171188354492188 ]
[ 1.494140625, 190.810546875, 174.19921875, 62.490234375, -16.435546875, 0.6747638583183289 ]
2.96
74
0
74
0
[ 2.1203184127807617, 189.81040954589844, 170.5607147216797, 60.82371139526367, -16.818214416503906, -0.2014141082763672 ]
[ 1.669921875, 190.634765625, 173.935546875, 62.138671875, -16.435546875, 0.6747638583183289 ]
3
75
0
75
0
[ 2.1341185569763184, 189.54969787597656, 170.48150634765625, 60.75727081298828, -16.855140686035156, -0.18803024291992188 ]
[ 1.669921875, 190.1953125, 173.671875, 61.962890625, -16.435546875, 0.6747638583183289 ]
3.04
76
0
76
0
[ 2.344362258911133, 189.3933868408203, 170.0450897216797, 60.930946350097656, -16.92400360107422, -0.16503524780273438 ]
[ 1.669921875, 190.01953125, 173.49609375, 61.787109375, -16.435546875, 0.6747638583183289 ]
3.08
77
0
77
0
[ 2.3495960235595703, 189.866455078125, 169.97203063964844, 61.02067184448242, -17.028133392333984, -0.17451095581054688 ]
[ 1.669921875, 189.66796875, 173.3203125, 61.69921875, -16.435546875, 0.6747638583183289 ]
3.12
78
0
78
0
[ 2.5239415168762207, 188.8275604248047, 169.89312744140625, 60.854652404785156, -16.92540168762207, -0.10640716552734375 ]
[ 1.93359375, 189.66796875, 172.96875, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.16
79
0
79
0
[ 2.639625072479248, 189.0388946533203, 169.57716369628906, 60.83601760864258, -17.035438537597656, -0.10688018798828125 ]
[ 2.021484375, 189.580078125, 172.79296875, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.2
80
0
80
0
[ 2.4529027938842773, 188.90338134765625, 169.72222900390625, 60.92833709716797, -16.930335998535156, -0.07943534851074219 ]
[ 2.197265625, 189.140625, 172.6171875, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.24
81
0
81
0
[ 2.7501559257507324, 188.36996459960938, 169.17295837402344, 60.953895568847656, -16.9943904876709, -0.00560760498046875 ]
[ 2.197265625, 189.31640625, 172.44140625, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.28
82
0
82
0
[ 2.625699520111084, 189.0614471435547, 169.52175903320312, 61.12133026123047, -16.96815299987793, -0.04304695129394531 ]
[ 2.197265625, 188.701171875, 172.265625, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.32
83
0
83
0
[ 2.9083008766174316, 188.78579711914062, 169.03866577148438, 61.077388763427734, -17.040203094482422, 0.0342254638671875 ]
[ 2.28515625, 188.701171875, 172.177734375, 61.611328125, -16.435546875, 0.6747638583183289 ]
3.36
84
0
84
0
[ 2.855652332305908, 187.9794158935547, 168.71810913085938, 61.19209289550781, -17.068593978881836, 0.068267822265625 ]
[ 2.373046875, 188.7890625, 171.9140625, 61.611328125, -16.5234375, 0.6747638583183289 ]
3.4
85
0
85
0
[ 3.0291194915771484, 188.2703094482422, 168.49298095703125, 61.19685745239258, -17.106548309326172, 0.06616401672363281 ]
[ 2.548828125, 188.701171875, 171.73828125, 61.611328125, -16.611328125, 0.6747638583183289 ]
3.44
86
0
86
0
[ 3.0894227027893066, 188.5166015625, 168.31309509277344, 61.43886184692383, -17.255023956298828, 0.08003616333007812 ]
[ 2.548828125, 188.349609375, 171.474609375, 61.611328125, -16.69921875, 0.6747638583183289 ]
3.48
87
0
87
0
[ 3.234666347503662, 188.327392578125, 168.4705810546875, 60.99669647216797, -17.151172637939453, 0.057781219482421875 ]
[ 2.548828125, 188.26171875, 171.38671875, 61.611328125, -16.69921875, 0.6747638583183289 ]
3.52
88
0
88
0
[ 3.456925868988037, 187.60177612304688, 168.00425720214844, 61.10496520996094, -17.215417861938477, 0.1004791259765625 ]
[ 2.548828125, 188.26171875, 171.298828125, 61.611328125, -16.875, 0.6747638583183289 ]
3.56
89
0
89
0
[ 3.42840576171875, 188.07025146484375, 168.21481323242188, 61.147037506103516, -17.18377113342285, 0.09731483459472656 ]
[ 2.8125, 188.173828125, 171.2109375, 61.611328125, -16.875, 0.6747638583183289 ]
3.6
90
0
90
0
[ 3.6085853576660156, 187.77044677734375, 167.7386474609375, 61.27664566040039, -17.304203033447266, 0.0771484375 ]
[ 2.98828125, 187.91015625, 171.03515625, 61.611328125, -16.875, 0.6747638583183289 ]
3.64
91
0
91
0
[ 3.787266254425049, 187.40280151367188, 167.74864196777344, 61.14624786376953, -17.283533096313477, 0.10635948181152344 ]
[ 3.1640625, 187.822265625, 170.859375, 61.611328125, -16.875, 0.6747638583183289 ]
3.68
92
0
92
0
[ 3.562225341796875, 187.59539794921875, 167.89642333984375, 61.44853591918945, -17.24227523803711, 0.10609054565429688 ]
[ 3.1640625, 187.822265625, 170.68359375, 61.611328125, -16.875, 0.6747638583183289 ]
3.72
93
0
93
0
[ 3.6909403800964355, 187.52520751953125, 167.9254150390625, 61.534549713134766, -17.23006820678711, 0.112274169921875 ]
[ 3.33984375, 187.822265625, 170.595703125, 61.611328125, -16.875, 0.6747638583183289 ]
3.76
94
0
94
0
[ 3.850576877593994, 187.24644470214844, 167.78359985351562, 61.46821594238281, -17.248416900634766, 0.09031295776367188 ]
[ 3.33984375, 187.646484375, 170.595703125, 61.611328125, -16.875, 0.6747638583183289 ]
3.8
95
0
95
0
[ 4.170497417449951, 186.66001892089844, 167.61351013183594, 61.39873123168945, -17.20423698425293, 0.05536842346191406 ]
[ 3.251953125, 187.646484375, 170.595703125, 61.611328125, -16.875, 0.6747638583183289 ]
3.84
96
0
96
0
[ 4.12873649597168, 187.1100311279297, 167.7189178466797, 61.75987243652344, -17.22031021118164, 0.04075813293457031 ]
[ 3.515625, 187.470703125, 170.595703125, 61.611328125, -16.875, 0.6747638583183289 ]
3.88
97
0
97
0
[ 4.296328067779541, 186.48553466796875, 167.45956420898438, 61.74604034423828, -17.162324905395508, 0.049861907958984375 ]
[ 3.779296875, 187.119140625, 170.595703125, 61.69921875, -16.875, 0.6747638583183289 ]
3.92
98
0
98
0
[ 4.4217400550842285, 187.18557739257812, 167.82191467285156, 62.064483642578125, -17.22628402709961, 0.018602371215820312 ]
[ 3.779296875, 186.943359375, 170.5078125, 61.69921875, -16.875, 0.6747638583183289 ]
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": 10,
    "total_frames": 2442,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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": {
            "dtype": "float32",
            "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": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "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": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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