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observation.state
sequence
timestamp
float32
0
9.92
frame_index
int64
0
248
episode_index
int64
0
49
index
int64
0
12.4k
task_index
int64
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[ 7.91015625, 142.734375, 178.154296875, 28.564453125, -86.572265625, 0.09970089793205261 ]
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73
0
[ -6.50390625, 74.70703125, 80.244140625, 84.814453125, -72.7734375, 71.48554229736328 ]
[ -6.85546875, 77.607421875, 83.056640625, 87.71484375, -72.861328125, 70.85020446777344 ]
2.96
74
0
74
0
[ -6.50390625, 73.125, 80.244140625, 83.84765625, -72.685546875, 71.28614044189453 ]
[ -6.767578125, 76.11328125, 83.056640625, 86.8359375, -72.861328125, 70.85020446777344 ]
3
75
0
75
0
[ -6.50390625, 71.54296875, 80.244140625, 82.705078125, -72.685546875, 71.18643951416016 ]
[ -6.767578125, 74.443359375, 82.880859375, 85.693359375, -72.861328125, 70.85020446777344 ]
3.04
76
0
76
0
[ -6.50390625, 69.9609375, 80.244140625, 81.5625, -72.59765625, 71.18643951416016 ]
[ -6.767578125, 72.94921875, 82.880859375, 84.7265625, -72.861328125, 70.85020446777344 ]
3.08
77
0
77
0
[ -6.50390625, 68.466796875, 80.15625, 80.5078125, -72.509765625, 71.18643951416016 ]
[ -6.85546875, 71.279296875, 82.880859375, 83.671875, -72.861328125, 70.85020446777344 ]
3.12
78
0
78
0
[ -6.50390625, 66.884765625, 79.62890625, 79.98046875, -72.333984375, 71.08673858642578 ]
[ -6.85546875, 69.78515625, 82.880859375, 82.529296875, -72.861328125, 71.3900146484375 ]
3.16
79
0
79
0
[ -6.591796875, 65.126953125, 78.3984375, 79.892578125, -71.71875, 70.9870376586914 ]
[ -6.85546875, 68.203125, 82.79296875, 81.474609375, -73.037109375, 71.52496337890625 ]
3.2
80
0
80
0
[ -6.6796875, 63.28125, 76.904296875, 80.15625, -71.279296875, 68.39481353759766 ]
[ -6.85546875, 66.796875, 82.79296875, 80.5078125, -72.7734375, 71.65991973876953 ]
3.24
81
0
81
0
[ -6.85546875, 61.5234375, 75.41015625, 80.68359375, -71.103515625, 63.40977096557617 ]
[ -6.943359375, 64.951171875, 81.474609375, 80.771484375, -72.24609375, 71.52496337890625 ]
3.28
82
0
82
0
[ -6.943359375, 59.94140625, 73.564453125, 81.5625, -70.576171875, 54.33699035644531 ]
[ -6.943359375, 63.28125, 79.98046875, 80.771484375, -71.89453125, 69.50067138671875 ]
3.32
83
0
83
0
[ -7.119140625, 58.271484375, 71.279296875, 83.671875, -70.224609375, 38.48454666137695 ]
[ -7.03125, 61.611328125, 78.22265625, 80.68359375, -71.54296875, 66.26181030273438 ]
3.36
84
0
84
0
[ -7.294921875, 57.041015625, 68.73046875, 86.1328125, -69.521484375, 21.834497451782227 ]
[ -7.03125, 60.1171875, 76.376953125, 81.03515625, -71.103515625, 60.99864959716797 ]
3.4
85
0
85
0
[ -7.470703125, 56.689453125, 66.97265625, 87.36328125, -68.37890625, 8.37487506866455 ]
[ -7.119140625, 58.7109375, 74.091796875, 82.44140625, -70.6640625, 53.03643798828125 ]
3.44
86
0
86
0
[ -7.55859375, 56.865234375, 65.830078125, 88.505859375, -67.763671875, 1.0967098474502563 ]
[ -7.20703125, 57.48046875, 71.630859375, 84.375, -70.048828125, 42.91497802734375 ]
3.48
87
0
87
0
[ -7.55859375, 57.392578125, 64.51171875, 90.439453125, -67.67578125, 0 ]
[ -7.3828125, 57.041015625, 69.697265625, 85.60546875, -69.08203125, 31.443994522094727 ]
3.52
88
0
88
0
[ -7.3828125, 58.7109375, 64.248046875, 91.318359375, -67.67578125, 0 ]
[ -7.470703125, 57.041015625, 68.37890625, 86.8359375, -68.5546875, 21.457489013671875 ]
3.56
89
0
89
0
[ -7.20703125, 60.29296875, 64.248046875, 92.373046875, -67.67578125, 0 ]
[ -7.294921875, 57.041015625, 67.1484375, 88.59375, -68.291015625, 15.51956844329834 ]
3.6
90
0
90
0
[ -7.119140625, 62.05078125, 64.248046875, 93.427734375, -67.587890625, 0 ]
[ -7.20703125, 57.041015625, 66.708984375, 89.82421875, -68.291015625, 13.225371360778809 ]
3.64
91
0
91
0
[ -6.943359375, 64.072265625, 64.248046875, 94.74609375, -67.587890625, 0 ]
[ -7.119140625, 57.12890625, 66.62109375, 90.966796875, -68.203125, 12.68556022644043 ]
3.68
92
0
92
0
[ -6.6796875, 66.26953125, 64.3359375, 96.328125, -67.587890625, 0 ]
[ -7.119140625, 57.83203125, 66.62109375, 92.109375, -67.939453125, 12.68556022644043 ]
3.72
93
0
93
0
[ -6.416015625, 68.466796875, 64.3359375, 98.4375, -67.587890625, 0 ]
[ -7.20703125, 58.974609375, 66.62109375, 93.515625, -67.939453125, 12.68556022644043 ]
3.76
94
0
94
0
[ -5.9765625, 70.576171875, 64.423828125, 100.634765625, -67.587890625, 0 ]
[ -7.20703125, 60.64453125, 66.62109375, 94.921875, -67.939453125, 12.68556022644043 ]
3.8
95
0
95
0
[ -5.2734375, 72.509765625, 65.0390625, 102.83203125, -68.02734375, 0 ]
[ -7.03125, 62.666015625, 66.62109375, 96.6796875, -67.939453125, 12.68556022644043 ]
3.84
96
0
96
0
[ -4.130859375, 74.794921875, 66.4453125, 103.623046875, -68.02734375, 0 ]
[ -6.6796875, 64.775390625, 66.62109375, 98.876953125, -67.939453125, 12.68556022644043 ]
3.88
97
0
97
0
[ -2.63671875, 77.34375, 68.994140625, 103.623046875, -68.203125, 0 ]
[ -5.9765625, 66.884765625, 66.62109375, 100.8984375, -67.939453125, 12.68556022644043 ]
3.92
98
0
98
0
[ -0.791015625, 79.892578125, 71.279296875, 103.623046875, -68.466796875, 0 ]
[ -5.09765625, 69.2578125, 67.32421875, 101.953125, -67.939453125, 12.550607681274414 ]
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": 50,
    "total_frames": 12450,
    "total_tasks": 1,
    "total_videos": 150,
    "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": {
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            "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",
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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        },
        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
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        "observation.images.phone1": {
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            "names": [
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            "info": {
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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