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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
-8.4375,
72.59765625,
88.2421875,
63.28125,
-11.25,
78.9631118774414
] |
[
-9.66796875,
75.849609375,
95.888671875,
60.99609375,
-10.634765625,
79.4871826171875
] | 0 | 0 | 0 | 0 | 0 |
[
-7.822265625,
70.13671875,
84.19921875,
65.21484375,
-11.25,
79.3619155883789
] |
[
-9.404296875,
74.35546875,
93.69140625,
61.611328125,
-10.72265625,
79.4871826171875
] | 0.04 | 1 | 0 | 1 | 0 |
[
-7.20703125,
67.939453125,
80.68359375,
66.62109375,
-11.25,
79.3619155883789
] |
[
-9.052734375,
72.509765625,
90.703125,
62.75390625,
-10.8984375,
79.4871826171875
] | 0.08 | 2 | 0 | 2 | 0 |
[
-6.767578125,
65.91796875,
77.607421875,
68.37890625,
-11.689453125,
79.46161651611328
] |
[
-8.61328125,
70.3125,
87.275390625,
63.984375,
-10.986328125,
79.4871826171875
] | 0.12 | 3 | 0 | 3 | 0 |
[
-6.591796875,
64.423828125,
75.322265625,
69.697265625,
-12.12890625,
79.26221466064453
] |
[
-7.998046875,
68.02734375,
84.0234375,
65.7421875,
-10.8984375,
79.4871826171875
] | 0.16 | 4 | 0 | 4 | 0 |
[
-6.591796875,
63.6328125,
74.091796875,
70.576171875,
-12.12890625,
79.06281280517578
] |
[
-7.294921875,
65.91796875,
81.298828125,
67.1484375,
-11.337890625,
79.4871826171875
] | 0.2 | 5 | 0 | 5 | 0 |
[
-6.767578125,
63.28125,
73.564453125,
71.103515625,
-12.48046875,
78.76371002197266
] |
[
-6.943359375,
64.3359375,
79.1015625,
68.37890625,
-11.6015625,
79.89203643798828
] | 0.24 | 6 | 0 | 6 | 0 |
[
-7.119140625,
63.10546875,
73.388671875,
71.71875,
-13.0078125,
59.52143478393555
] |
[
-6.85546875,
63.28125,
77.607421875,
69.2578125,
-11.865234375,
79.89203643798828
] | 0.28 | 7 | 0 | 7 | 0 |
[
-7.20703125,
63.10546875,
73.30078125,
72.421875,
-12.83203125,
48.15553283691406
] |
[
-7.119140625,
62.841796875,
76.81640625,
70.48828125,
-12.12890625,
79.35222625732422
] | 0.32 | 8 | 0 | 8 | 0 |
[
-7.294921875,
63.10546875,
73.388671875,
72.94921875,
-13.0078125,
34.89531326293945
] |
[
-7.294921875,
62.578125,
76.376953125,
70.83984375,
-12.3046875,
76.51821899414062
] | 0.36 | 9 | 0 | 9 | 0 |
[
-7.294921875,
63.10546875,
73.65234375,
73.30078125,
-13.0078125,
22.831504821777344
] |
[
-7.3828125,
62.578125,
76.11328125,
71.455078125,
-12.48046875,
69.90553283691406
] | 0.4 | 10 | 0 | 10 | 0 |
[
-7.119140625,
63.10546875,
73.740234375,
73.916015625,
-13.0078125,
9.272183418273926
] |
[
-7.3828125,
62.578125,
76.11328125,
72.24609375,
-12.48046875,
59.37921905517578
] | 0.44 | 11 | 0 | 11 | 0 |
[
-6.767578125,
63.10546875,
73.740234375,
74.619140625,
-12.568359375,
0.09970089793205261
] |
[
-7.3828125,
62.578125,
75.9375,
72.509765625,
-12.568359375,
46.42375183105469
] | 0.48 | 12 | 0 | 12 | 0 |
[
-6.6796875,
63.193359375,
73.828125,
75.498046875,
-13.095703125,
0.09970089793205261
] |
[
-7.3828125,
62.578125,
75.9375,
73.212890625,
-12.48046875,
33.60323715209961
] | 0.52 | 13 | 0 | 13 | 0 |
[
-6.591796875,
63.28125,
74.00390625,
76.11328125,
-13.88671875,
0.09970089793205261
] |
[
-7.294921875,
62.578125,
75.9375,
73.828125,
-12.65625,
22.132253646850586
] | 0.56 | 14 | 0 | 14 | 0 |
[
-6.416015625,
63.28125,
74.1796875,
76.11328125,
-14.501953125,
0.09970089793205261
] |
[
-7.20703125,
62.578125,
75.849609375,
74.619140625,
-13.095703125,
15.114709854125977
] | 0.6 | 15 | 0 | 15 | 0 |
[
-5.888671875,
63.193359375,
74.35546875,
76.11328125,
-14.58984375,
0.09970089793205261
] |
[
-7.20703125,
62.578125,
75.76171875,
75.05859375,
-13.623046875,
12.550607681274414
] | 0.64 | 16 | 0 | 16 | 0 |
[
-5.625,
63.28125,
74.794921875,
75.849609375,
-14.58984375,
0.09970089793205261
] |
[
-7.03125,
62.578125,
75.673828125,
75.234375,
-13.974609375,
12.010796546936035
] | 0.68 | 17 | 0 | 17 | 0 |
[
-5.44921875,
63.80859375,
75.5859375,
75.498046875,
-14.58984375,
0.09970089793205261
] |
[
-6.767578125,
62.578125,
75.673828125,
75.322265625,
-14.0625,
11.740890502929688
] | 0.72 | 18 | 0 | 18 | 0 |
[
-5.44921875,
64.6875,
76.640625,
75.234375,
-14.677734375,
0.09970089793205261
] |
[
-6.50390625,
62.666015625,
75.849609375,
75.322265625,
-14.0625,
11.740890502929688
] | 0.76 | 19 | 0 | 19 | 0 |
[
-5.625,
65.91796875,
77.958984375,
75.05859375,
-14.765625,
0.09970089793205261
] |
[
-6.328125,
62.666015625,
76.11328125,
75.322265625,
-14.0625,
11.740890502929688
] | 0.8 | 20 | 0 | 20 | 0 |
[
-5.888671875,
67.763671875,
79.189453125,
75.05859375,
-14.853515625,
0.09970089793205261
] |
[
-6.328125,
63.017578125,
76.904296875,
75.234375,
-14.0625,
11.740890502929688
] | 0.84 | 21 | 0 | 21 | 0 |
[
-6.064453125,
69.9609375,
80.33203125,
75.146484375,
-14.853515625,
0.09970089793205261
] |
[
-6.240234375,
63.720703125,
77.87109375,
75.234375,
-14.0625,
11.740890502929688
] | 0.88 | 22 | 0 | 22 | 0 |
[
-6.064453125,
72.7734375,
81.38671875,
75.41015625,
-14.853515625,
0.09970089793205261
] |
[
-6.240234375,
64.86328125,
79.1015625,
75.234375,
-14.0625,
11.740890502929688
] | 0.92 | 23 | 0 | 23 | 0 |
[
-6.064453125,
75.849609375,
82.353515625,
76.025390625,
-14.853515625,
0.09970089793205261
] |
[
-6.240234375,
66.181640625,
80.419921875,
75.322265625,
-14.0625,
11.605937957763672
] | 0.96 | 24 | 0 | 24 | 0 |
[
-5.888671875,
79.365234375,
83.671875,
76.728515625,
-14.853515625,
0.09970089793205261
] |
[
-6.240234375,
67.8515625,
81.650390625,
75.76171875,
-14.0625,
11.605937957763672
] | 1 | 25 | 0 | 25 | 0 |
[
-5.80078125,
83.408203125,
85.78125,
76.728515625,
-14.853515625,
0.09970089793205261
] |
[
-6.15234375,
69.9609375,
82.96875,
75.9375,
-14.0625,
11.605937957763672
] | 1.04 | 26 | 0 | 26 | 0 |
[
-5.625,
87.71484375,
88.2421875,
76.728515625,
-14.853515625,
0.09970089793205261
] |
[
-6.15234375,
72.7734375,
84.462890625,
75.9375,
-14.0625,
11.605937957763672
] | 1.08 | 27 | 0 | 27 | 0 |
[
-5.625,
91.669921875,
90.615234375,
76.728515625,
-14.853515625,
0.09970089793205261
] |
[
-6.15234375,
76.201171875,
86.484375,
76.46484375,
-14.0625,
11.605937957763672
] | 1.12 | 28 | 0 | 28 | 0 |
[
-5.625,
95.44921875,
92.98828125,
76.728515625,
-14.853515625,
0.09970089793205261
] |
[
-6.15234375,
80.15625,
88.76953125,
76.640625,
-13.974609375,
11.605937957763672
] | 1.16 | 29 | 0 | 29 | 0 |
[
-5.625,
99.052734375,
95.44921875,
76.728515625,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
84.0234375,
90.966796875,
76.640625,
-14.150390625,
11.605937957763672
] | 1.2 | 30 | 0 | 30 | 0 |
[
-5.625,
102.744140625,
98.173828125,
76.376953125,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
88.06640625,
93.33984375,
76.640625,
-14.23828125,
11.605937957763672
] | 1.24 | 31 | 0 | 31 | 0 |
[
-5.537109375,
106.69921875,
101.42578125,
75.76171875,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
92.021484375,
95.80078125,
76.640625,
-14.23828125,
11.605937957763672
] | 1.28 | 32 | 0 | 32 | 0 |
[
-5.537109375,
110.126953125,
104.23828125,
75.41015625,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
95.9765625,
98.525390625,
76.640625,
-14.23828125,
11.605937957763672
] | 1.32 | 33 | 0 | 33 | 0 |
[
-5.537109375,
112.939453125,
106.69921875,
75.41015625,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
99.931640625,
101.513671875,
76.2890625,
-14.0625,
11.605937957763672
] | 1.36 | 34 | 0 | 34 | 0 |
[
-5.537109375,
115.3125,
108.896484375,
75.234375,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
103.798828125,
104.23828125,
76.11328125,
-14.150390625,
11.605937957763672
] | 1.4 | 35 | 0 | 35 | 0 |
[
-5.44921875,
117.24609375,
111.62109375,
73.916015625,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
107.314453125,
106.69921875,
76.11328125,
-14.326171875,
11.605937957763672
] | 1.44 | 36 | 0 | 36 | 0 |
[
-5.44921875,
117.7734375,
113.818359375,
72.0703125,
-14.765625,
0.09970089793205261
] |
[
-6.15234375,
110.390625,
109.16015625,
75.849609375,
-14.326171875,
11.605937957763672
] | 1.48 | 37 | 0 | 37 | 0 |
[
-5.2734375,
116.89453125,
115.751953125,
69.873046875,
-14.765625,
0
] |
[
-6.15234375,
112.8515625,
111.708984375,
74.8828125,
-14.150390625,
11.605937957763672
] | 1.52 | 38 | 0 | 38 | 0 |
[
-5.361328125,
113.994140625,
116.806640625,
67.8515625,
-14.765625,
0
] |
[
-6.15234375,
114.08203125,
113.90625,
73.30078125,
-14.150390625,
11.605937957763672
] | 1.56 | 39 | 0 | 39 | 0 |
[
-5.44921875,
110.302734375,
117.0703125,
66.4453125,
-14.677734375,
0
] |
[
-5.9765625,
114.2578125,
115.576171875,
71.630859375,
-14.150390625,
11.605937957763672
] | 1.6 | 40 | 0 | 40 | 0 |
[
-5.44921875,
106.962890625,
117.158203125,
65.478515625,
-14.501953125,
0
] |
[
-5.712890625,
113.37890625,
116.71875,
69.873046875,
-14.23828125,
11.605937957763672
] | 1.64 | 41 | 0 | 41 | 0 |
[
-5.537109375,
106.083984375,
118.564453125,
63.369140625,
-14.4140625,
0
] |
[
-5.537109375,
111.181640625,
116.982421875,
68.115234375,
-14.23828125,
11.605937957763672
] | 1.68 | 42 | 0 | 42 | 0 |
[
-5.888671875,
106.5234375,
120.234375,
61.611328125,
-14.4140625,
0
] |
[
-5.44921875,
108.544921875,
118.037109375,
66.97265625,
-14.4140625,
11.470985412597656
] | 1.72 | 43 | 0 | 43 | 0 |
[
-6.416015625,
106.611328125,
120.322265625,
61.5234375,
-14.326171875,
0
] |
[
-5.712890625,
106.962890625,
119.619140625,
65.21484375,
-14.326171875,
11.470985412597656
] | 1.76 | 44 | 0 | 44 | 0 |
[
-7.3828125,
106.611328125,
120.05859375,
61.611328125,
-14.23828125,
3.3898305892944336
] |
[
-5.80078125,
106.69921875,
120.322265625,
63.80859375,
-14.23828125,
11.470985412597656
] | 1.8 | 45 | 0 | 45 | 0 |
[
-8.4375,
106.611328125,
119.970703125,
61.5234375,
-14.326171875,
24.027915954589844
] |
[
-5.80078125,
106.787109375,
120.234375,
62.841796875,
-14.501953125,
11.470985412597656
] | 1.84 | 46 | 0 | 46 | 0 |
[
-9.31640625,
106.171875,
119.970703125,
61.171875,
-14.0625,
59.92023849487305
] |
[
-6.416015625,
106.611328125,
120.234375,
62.666015625,
-14.326171875,
11.470985412597656
] | 1.88 | 47 | 0 | 47 | 0 |
[
-9.755859375,
105.8203125,
119.970703125,
60.908203125,
-14.0625,
70.5882339477539
] |
[
-7.470703125,
106.171875,
120.322265625,
62.314453125,
-14.23828125,
13.630228996276855
] | 1.92 | 48 | 0 | 48 | 0 |
[
-9.755859375,
105.380859375,
120.05859375,
60.8203125,
-14.0625,
70.5882339477539
] |
[
-8.61328125,
105.908203125,
120.322265625,
61.962890625,
-14.23828125,
20.512821197509766
] | 1.96 | 49 | 0 | 49 | 0 |
[
-9.755859375,
105.29296875,
120.146484375,
60.908203125,
-14.0625,
70.5882339477539
] |
[
-9.140625,
105.46875,
120.322265625,
61.69921875,
-14.23828125,
31.983806610107422
] | 2 | 50 | 0 | 50 | 0 |
[
-9.140625,
106.34765625,
120.76171875,
61.435546875,
-14.0625,
70.68793487548828
] |
[
-9.052734375,
105.1171875,
120.41015625,
61.5234375,
-14.23828125,
44.129554748535156
] | 2.04 | 51 | 0 | 51 | 0 |
[
-8.0859375,
108.544921875,
121.552734375,
62.841796875,
-14.0625,
70.68793487548828
] |
[
-8.96484375,
105.1171875,
120.673828125,
61.5234375,
-14.23828125,
54.79082489013672
] | 2.08 | 52 | 0 | 52 | 0 |
[
-6.85546875,
112.8515625,
123.134765625,
64.599609375,
-14.150390625,
70.68793487548828
] |
[
-9.140625,
105.1171875,
121.376953125,
61.5234375,
-14.23828125,
61.943321228027344
] | 2.12 | 53 | 0 | 53 | 0 |
[
-6.15234375,
119.8828125,
125.771484375,
66.4453125,
-14.501953125,
70.68793487548828
] |
[
-8.96484375,
105.908203125,
122.431640625,
62.05078125,
-14.501953125,
65.45209503173828
] | 2.16 | 54 | 0 | 54 | 0 |
[
-5.80078125,
128.759765625,
128.759765625,
68.90625,
-14.677734375,
70.78763580322266
] |
[
-7.91015625,
108.28125,
124.189453125,
63.896484375,
-14.677734375,
67.3414306640625
] | 2.2 | 55 | 0 | 55 | 0 |
[
-5.9765625,
138.076171875,
131.66015625,
71.54296875,
-15.029296875,
70.78763580322266
] |
[
-6.6796875,
112.32421875,
126.5625,
65.302734375,
-14.326171875,
68.5560073852539
] | 2.24 | 56 | 0 | 56 | 0 |
[
-6.240234375,
146.77734375,
134.296875,
74.443359375,
-15.732421875,
70.78763580322266
] |
[
-6.50390625,
117.7734375,
129.287109375,
67.32421875,
-14.4140625,
69.36572265625
] | 2.28 | 57 | 0 | 57 | 0 |
[
-4.04296875,
154.16015625,
137.4609375,
73.916015625,
-17.2265625,
70.78763580322266
] |
[
-7.03125,
124.8046875,
131.923828125,
69.697265625,
-15.1171875,
69.90553283691406
] | 2.32 | 58 | 0 | 58 | 0 |
[
-1.23046875,
156.62109375,
139.74609375,
72.333984375,
-18.28125,
70.78763580322266
] |
[
-6.85546875,
132.451171875,
134.560546875,
71.982421875,
-16.083984375,
70.04048919677734
] | 2.36 | 59 | 0 | 59 | 0 |
[
-0.87890625,
154.599609375,
141.064453125,
70.224609375,
-20.21484375,
70.78763580322266
] |
[
-5.361328125,
140.44921875,
137.4609375,
72.509765625,
-16.435546875,
70.04048919677734
] | 2.4 | 60 | 0 | 60 | 0 |
[
-0.966796875,
150.029296875,
141.416015625,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 12450,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:50"
},
"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": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"has_audio": false
}
},
"observation.images.phone": {
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480,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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],
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}
}
}
Citation
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