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action
sequence
observation.state
sequence
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float32
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29.8
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int64
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[ -55.8984375, 114.521484375, 131.044921875, 33.75, 138.515625, 41.3698616027832 ]
2.2
66
0
66
0
[ -56.03462219238281, 114.8371353149414, 131.9357452392578, 33.28553009033203, 139.72918701171875, 37.09733581542969 ]
[ -55.8984375, 114.169921875, 131.044921875, 33.75, 138.515625, 40.54794692993164 ]
2.233333
67
0
67
0
[ -55.59479522705078, 114.64682006835938, 131.8940887451172, 33.12291717529297, 139.7106170654297, 33.96424865722656 ]
[ -55.8984375, 114.08203125, 131.044921875, 33.75, 138.515625, 39.315067291259766 ]
2.266667
68
0
68
0
[ -55.52198028564453, 115.1016616821289, 132.57252502441406, 33.21144104003906, 139.52352905273438, 29.32655906677246 ]
[ -55.8984375, 114.08203125, 131.044921875, 33.75, 138.515625, 37.60274124145508 ]
2.3
69
0
69
0
[ -55.22230529785156, 115.33745574951172, 132.59393310546875, 33.335777282714844, 139.32427978515625, 26.393722534179688 ]
[ -55.810546875, 114.169921875, 131.1328125, 33.75, 138.515625, 34.79452133178711 ]
2.333333
70
0
70
0
[ -55.02202606201172, 115.77485656738281, 132.82847595214844, 33.56549835205078, 139.14984130859375, 21.307775497436523 ]
[ -55.458984375, 114.169921875, 131.748046875, 33.75, 138.515625, 31.369863510131836 ]
2.366667
71
0
71
0
[ -54.3758544921875, 116.08684539794922, 132.54954528808594, 33.776832580566406, 138.74691772460938, 17.115734100341797 ]
[ -55.458984375, 114.08203125, 131.923828125, 33.75, 138.515625, 28.424657821655273 ]
2.4
72
0
72
0
[ -53.88140106201172, 116.35406494140625, 132.1752471923828, 34.069969177246094, 138.37637329101562, 14.204549789428711 ]
[ -55.283203125, 114.08203125, 131.923828125, 33.75, 138.515625, 24.452054977416992 ]
2.433333
73
0
73
0
[ -53.509307861328125, 116.56790161132812, 132.17364501953125, 34.014888763427734, 138.0794677734375, 12.552992820739746 ]
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2.466667
74
0
74
0
[ -53.139991760253906, 116.75202178955078, 131.94911193847656, 34.15476608276367, 137.857666015625, 10.861673355102539 ]
[ -54.052734375, 114.43359375, 131.8359375, 33.837890625, 138.251953125, 17.26027488708496 ]
2.5
75
0
75
0
[ -52.619686126708984, 117.00823211669922, 131.74844360351562, 34.23908233642578, 137.67645263671875, 10.090920448303223 ]
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2.533333
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0
76
0
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2.566667
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77
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[ -52.998046875, 114.697265625, 131.8359375, 33.92578125, 137.4609375, 11.64383602142334 ]
2.6
78
0
78
0
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2.633333
79
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2.666667
80
0
80
0
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2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -42.01171875, 116.103515625, 121.376953125, 37.44140625, 132.626953125, 8.082191467285156 ]
3
90
0
90
0
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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[ -35.771484375, 115.6640625, 115.48828125, 37.6171875, 130.95703125, 8.561643600463867 ]
3.1
93
0
93
0
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[ -33.75, 115.6640625, 113.818359375, 37.6171875, 130.60546875, 8.63013744354248 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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[ -29.35546875, 114.9609375, 109.51171875, 38.671875, 129.375, 8.835616111755371 ]
3.233333
97
0
97
0
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[ -28.125, 114.9609375, 108.28125, 38.671875, 128.671875, 8.63013744354248 ]
3.266667
98
0
98
0
[ -20.69579315185547, 118.88067626953125, 104.72483825683594, 39.40179443359375, 126.46797180175781, 8.481036186218262 ]
[ -26.015625, 114.9609375, 107.05078125, 38.583984375, 127.880859375, 8.35616397857666 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 2384,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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