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sequence | observation.state
sequence | timestamp
float32 0
19.7
| frame_index
int64 0
592
| episode_index
int64 0
9
| index
int64 0
5.92k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
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35.068359375,
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[
-10.8984375,
187.822265625,
177.36328125,
34.892578125,
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] | 1.966667 | 59 | 0 | 59 | 0 |
[
-11.689453125,
188.96484375,
177.890625,
34.62890625,
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16.811279296875
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[
-10.8984375,
187.822265625,
177.36328125,
34.892578125,
-66.4453125,
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[
-11.689453125,
188.96484375,
177.890625,
33.837890625,
-67.939453125,
16.811279296875
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[
-10.8984375,
187.822265625,
177.36328125,
34.892578125,
-66.4453125,
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[
-11.689453125,
188.96484375,
177.890625,
32.51953125,
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[
-10.8984375,
187.822265625,
177.36328125,
34.62890625,
-66.4453125,
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[
-11.77734375,
188.96484375,
177.890625,
30.673828125,
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[
-10.8984375,
187.822265625,
177.36328125,
34.013671875,
-66.4453125,
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[
-11.865234375,
188.96484375,
177.890625,
28.388671875,
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[
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187.822265625,
177.36328125,
33.310546875,
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[
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188.96484375,
177.890625,
25.927734375,
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[
-10.8984375,
187.822265625,
177.36328125,
32.16796875,
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[
-12.041015625,
188.96484375,
177.890625,
23.994140625,
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[
-10.8984375,
187.822265625,
177.36328125,
30.41015625,
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[
-12.12890625,
188.96484375,
177.890625,
22.236328125,
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[
-10.8984375,
187.822265625,
177.36328125,
28.388671875,
-67.5,
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[
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188.96484375,
177.802734375,
20.91796875,
-71.103515625,
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[
-11.162109375,
187.822265625,
177.36328125,
26.19140625,
-68.37890625,
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[
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188.96484375,
177.5390625,
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[
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187.822265625,
177.36328125,
24.697265625,
-68.994140625,
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[
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188.96484375,
177.36328125,
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[
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187.822265625,
177.36328125,
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[
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188.96484375,
177.36328125,
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177.36328125,
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[
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187.822265625,
177.36328125,
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[
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21.708984375,
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187.822265625,
177.36328125,
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[
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[
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187.822265625,
177.36328125,
21.4453125,
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[
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188.96484375,
177.890625,
20.390625,
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[
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187.822265625,
177.36328125,
21.4453125,
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[
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188.96484375,
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18.80859375,
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[
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187.822265625,
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21.4453125,
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[
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[
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[
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[
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187.822265625,
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[
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187.822265625,
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[
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[
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[
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[
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[
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[
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177.36328125,
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[
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6.416015625,
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[
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187.822265625,
177.36328125,
10.546875,
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[
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189.052734375,
177.890625,
5.2734375,
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[
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[
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[
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177.36328125,
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[
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189.052734375,
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3.515625,
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[
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188.349609375,
177.36328125,
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[
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189.052734375,
177.890625,
3.515625,
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[
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188.349609375,
177.36328125,
5.888671875,
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[
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177.890625,
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[
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188.349609375,
177.36328125,
5.009765625,
-71.103515625,
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[
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[
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177.36328125,
4.5703125,
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[
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189.052734375,
177.890625,
3.69140625,
-70.3125,
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[
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188.349609375,
177.36328125,
4.21875,
-70.576171875,
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[
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189.052734375,
177.890625,
3.779296875,
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[
-15.99609375,
188.349609375,
177.36328125,
4.130859375,
-70.400390625,
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[
-16.69921875,
189.052734375,
177.890625,
4.04296875,
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[
-15.732421875,
188.349609375,
177.36328125,
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-70.3125,
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[
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189.052734375,
177.890625,
4.21875,
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[
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188.349609375,
177.36328125,
4.130859375,
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[
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[
-15.8203125,
188.349609375,
177.36328125,
4.306640625,
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[
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[
-15.908203125,
188.349609375,
177.36328125,
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[
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189.052734375,
177.890625,
4.306640625,
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[
-15.8203125,
188.349609375,
177.36328125,
4.306640625,
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] | 3.266667 | 98 | 0 | 98 | 0 |
[
-16.171875,
189.052734375,
177.890625,
4.658203125,
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[
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188.349609375,
177.36328125,
4.306640625,
-70.3125,
15.591007232666016
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 5920,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": [
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.onhand": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.top": {
"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": "av1",
"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
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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