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sequence | observation.state
sequence | timestamp
float32 0
30.5
| frame_index
int64 0
914
| episode_index
int64 0
29
| index
int64 0
20.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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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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[
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[
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[
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[
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[
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48.515625,
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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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[
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[
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[
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104.0625,
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[
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101.25,
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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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[
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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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[
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[
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100.634765625,
47.109375,
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[
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[
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102.568359375,
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[
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[
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81.650390625,
101.25,
46.7578125,
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[
-9.755859375,
80.947265625,
102.568359375,
47.548828125,
16.259765625,
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[
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101.6015625,
46.7578125,
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[
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80.947265625,
102.568359375,
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[
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46.7578125,
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[
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102.568359375,
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[
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81.5625,
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[
-8.7890625,
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[
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81.5625,
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[
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[
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46.7578125,
14.4140625,
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[
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80.947265625,
102.568359375,
47.548828125,
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[
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81.5625,
102.3046875,
46.7578125,
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[
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80.947265625,
102.568359375,
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[
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14.0625,
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[
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80.947265625,
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[
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[
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102.568359375,
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[
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102.568359375,
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[
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102.568359375,
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102.568359375,
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[
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[
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80.947265625,
102.568359375,
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80.859375,
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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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[
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[
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80.419921875,
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[
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[
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80.419921875,
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[
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[
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[
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[
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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": 30,
"total_frames": 20095,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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.wrist_cam": {
"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
}
},
"observation.images.ego_cam": {
"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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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