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sequence | observation.state
sequence | timestamp
float32 0
6.73
| frame_index
int64 0
202
| episode_index
int64 0
2
| index
int64 0
469
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
8.7890625,
60.64453125,
104.150390625,
41.572265625,
-64.51171875,
34.62890625
] |
[
8.173828125,
52.55859375,
103.53515625,
37.08984375,
-65.390625,
33.69820022583008
] | 1.933333
| 58
| 0
| 58
| 0
|
[
8.96484375,
63.80859375,
105.29296875,
42.5390625,
-64.3359375,
34.62890625
] |
[
8.173828125,
52.55859375,
103.53515625,
37.08984375,
-65.390625,
33.69820022583008
] | 1.966667
| 59
| 0
| 59
| 0
|
[
9.052734375,
66.357421875,
105.732421875,
44.736328125,
-63.6328125,
34.62890625
] |
[
8.173828125,
53.0859375,
103.359375,
39.90234375,
-64.6875,
33.69820022583008
] | 2
| 60
| 0
| 60
| 0
|
[
9.052734375,
68.90625,
106.69921875,
45.791015625,
-63.017578125,
34.62890625
] |
[
8.173828125,
53.0859375,
103.359375,
39.90234375,
-64.6875,
33.69820022583008
] | 2.033333
| 61
| 0
| 61
| 0
|
[
9.052734375,
71.455078125,
108.193359375,
45.966796875,
-62.05078125,
34.716796875
] |
[
8.173828125,
60.029296875,
104.853515625,
42.1875,
-63.720703125,
33.69820022583008
] | 2.066667
| 62
| 0
| 62
| 0
|
[
8.876953125,
74.1796875,
109.51171875,
47.197265625,
-61.435546875,
34.716796875
] |
[
8.173828125,
60.029296875,
104.853515625,
42.1875,
-63.720703125,
33.69820022583008
] | 2.1
| 63
| 0
| 63
| 0
|
[
8.61328125,
75.41015625,
109.599609375,
49.482421875,
-60.29296875,
34.716796875
] |
[
8.525390625,
65.21484375,
106.962890625,
44.033203125,
-62.75390625,
33.69820022583008
] | 2.133333
| 64
| 0
| 64
| 0
|
[
8.349609375,
76.376953125,
109.775390625,
51.591796875,
-59.501953125,
34.62890625
] |
[
8.525390625,
65.21484375,
106.962890625,
44.033203125,
-62.75390625,
33.69820022583008
] | 2.166667
| 65
| 0
| 65
| 0
|
[
8.349609375,
76.46484375,
110.126953125,
52.91015625,
-59.0625,
34.541015625
] |
[
8.61328125,
69.9609375,
108.720703125,
47.109375,
-60.99609375,
33.69820022583008
] | 2.2
| 66
| 0
| 66
| 0
|
[
8.525390625,
76.376953125,
110.302734375,
53.96484375,
-58.7109375,
34.453125
] |
[
8.61328125,
69.9609375,
108.720703125,
47.109375,
-60.99609375,
33.69820022583008
] | 2.233333
| 67
| 0
| 67
| 0
|
[
8.7890625,
76.025390625,
110.21484375,
55.107421875,
-58.7109375,
34.453125
] |
[
8.61328125,
69.9609375,
108.720703125,
47.109375,
-60.99609375,
33.69820022583008
] | 2.266667
| 68
| 0
| 68
| 0
|
[
9.228515625,
74.53125,
110.21484375,
55.1953125,
-58.623046875,
34.453125
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[
7.734375,
72.861328125,
109.599609375,
50.361328125,
-59.677734375,
33.69820022583008
] | 2.3
| 69
| 0
| 69
| 0
|
[
9.4921875,
71.982421875,
109.86328125,
55.1953125,
-58.095703125,
34.453125
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[
7.734375,
72.861328125,
109.599609375,
50.361328125,
-59.677734375,
33.69820022583008
] | 2.333333
| 70
| 0
| 70
| 0
|
[
9.755859375,
69.345703125,
109.3359375,
54.84375,
-58.0078125,
34.453125
] |
[
8.0859375,
72.861328125,
109.775390625,
53.701171875,
-58.447265625,
33.69820022583008
] | 2.366667
| 71
| 0
| 71
| 0
|
[
10.1953125,
66.796875,
108.10546875,
54.84375,
-58.0078125,
34.453125
] |
[
8.0859375,
72.861328125,
109.775390625,
53.701171875,
-58.447265625,
33.69820022583008
] | 2.4
| 72
| 0
| 72
| 0
|
[
10.546875,
64.16015625,
106.69921875,
54.84375,
-57.919921875,
34.453125
] |
[
8.876953125,
69.78515625,
109.6875,
53.96484375,
-58.271484375,
33.69820022583008
] | 2.433333
| 73
| 0
| 73
| 0
|
[
10.72265625,
61.787109375,
105.205078125,
54.84375,
-57.83203125,
34.453125
] |
[
8.876953125,
69.78515625,
109.6875,
53.96484375,
-58.271484375,
33.69820022583008
] | 2.466667
| 74
| 0
| 74
| 0
|
[
10.8984375,
60.029296875,
104.0625,
54.84375,
-57.65625,
34.453125
] |
[
9.228515625,
65.0390625,
108.369140625,
54.140625,
-57.568359375,
33.69820022583008
] | 2.5
| 75
| 0
| 75
| 0
|
[
10.8984375,
59.326171875,
103.7109375,
54.580078125,
-57.65625,
34.453125
] |
[
9.228515625,
65.0390625,
108.369140625,
54.140625,
-57.568359375,
33.69820022583008
] | 2.533333
| 76
| 0
| 76
| 0
|
[
10.810546875,
59.23828125,
103.7109375,
54.140625,
-57.65625,
34.453125
] |
[
9.228515625,
65.0390625,
108.369140625,
54.140625,
-57.568359375,
33.69820022583008
] | 2.566667
| 77
| 0
| 77
| 0
|
[
10.72265625,
59.23828125,
103.623046875,
53.96484375,
-57.65625,
34.453125
] |
[
9.580078125,
60.556640625,
106.083984375,
54.052734375,
-57.392578125,
33.69820022583008
] | 2.6
| 78
| 0
| 78
| 0
|
[
10.634765625,
58.974609375,
103.18359375,
53.96484375,
-57.65625,
34.453125
] |
[
9.580078125,
60.556640625,
106.083984375,
54.052734375,
-57.392578125,
33.69820022583008
] | 2.633333
| 79
| 0
| 79
| 0
|
[
10.37109375,
57.3046875,
102.216796875,
53.96484375,
-57.48046875,
34.453125
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[
9.66796875,
58.974609375,
104.4140625,
53.61328125,
-57.392578125,
33.69820022583008
] | 2.666667
| 80
| 0
| 80
| 0
|
[
10.107421875,
55.8984375,
101.07421875,
53.96484375,
-57.041015625,
34.453125
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[
9.66796875,
58.974609375,
104.4140625,
53.61328125,
-57.392578125,
33.69820022583008
] | 2.7
| 81
| 0
| 81
| 0
|
[
9.66796875,
54.4921875,
100.1953125,
53.96484375,
-56.6015625,
34.365234375
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[
9.66796875,
56.953125,
103.53515625,
53.349609375,
-57.392578125,
33.69820022583008
] | 2.733333
| 82
| 0
| 82
| 0
|
[
8.7890625,
53.173828125,
99.404296875,
53.96484375,
-55.810546875,
34.365234375
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[
9.66796875,
56.953125,
103.53515625,
53.349609375,
-57.392578125,
33.69820022583008
] | 2.766667
| 83
| 0
| 83
| 0
|
[
8.173828125,
52.294921875,
99.228515625,
53.96484375,
-55.458984375,
34.365234375
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[
9.580078125,
54.228515625,
101.865234375,
53.26171875,
-56.77734375,
33.69820022583008
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| 84
| 0
| 84
| 0
|
[
7.734375,
52.03125,
99.140625,
53.96484375,
-55.283203125,
34.365234375
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[
9.580078125,
54.228515625,
101.865234375,
53.26171875,
-56.77734375,
33.69820022583008
] | 2.833333
| 85
| 0
| 85
| 0
|
[
7.55859375,
51.943359375,
99.052734375,
53.96484375,
-55.1953125,
34.365234375
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[
8.61328125,
52.03125,
100.37109375,
53.26171875,
-55.458984375,
33.69820022583008
] | 2.866667
| 86
| 0
| 86
| 0
|
[
7.3828125,
51.591796875,
98.61328125,
53.96484375,
-55.107421875,
34.365234375
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[
8.61328125,
52.03125,
100.37109375,
53.26171875,
-55.458984375,
33.69820022583008
] | 2.9
| 87
| 0
| 87
| 0
|
[
7.03125,
50.537109375,
97.91015625,
53.96484375,
-55.01953125,
34.365234375
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[
8.61328125,
52.03125,
100.37109375,
53.26171875,
-55.458984375,
33.69820022583008
] | 2.933333
| 88
| 0
| 88
| 0
|
[
6.50390625,
49.921875,
97.470703125,
53.96484375,
-54.84375,
34.27734375
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[
7.03125,
51.064453125,
99.931640625,
53.26171875,
-55.37109375,
33.69820022583008
] | 2.966667
| 89
| 0
| 89
| 0
|
[
6.15234375,
49.130859375,
96.85546875,
53.876953125,
-54.84375,
34.189453125
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[
7.03125,
51.064453125,
99.931640625,
53.26171875,
-55.37109375,
33.69820022583008
] | 3
| 90
| 0
| 90
| 0
|
[
5.888671875,
48.8671875,
96.416015625,
53.876953125,
-54.931640625,
33.046875
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[
7.03125,
49.21875,
98.173828125,
53.26171875,
-54.755859375,
33.69820022583008
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| 91
| 0
| 91
| 0
|
[
5.712890625,
48.779296875,
96.240234375,
53.701171875,
-55.01953125,
31.2890625
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[
7.03125,
49.21875,
98.173828125,
53.26171875,
-54.755859375,
33.69820022583008
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| 92
| 0
| 92
| 0
|
[
5.625,
48.779296875,
96.240234375,
53.61328125,
-55.1953125,
30.5859375
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[
6.064453125,
48.076171875,
97.3828125,
52.998046875,
-54.31640625,
33.38545608520508
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| 93
| 0
| 93
| 0
|
[
5.361328125,
48.779296875,
96.240234375,
53.61328125,
-55.283203125,
28.125
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[
6.064453125,
48.076171875,
97.3828125,
52.998046875,
-54.31640625,
33.38545608520508
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| 94
| 0
| 94
| 0
|
[
5.185546875,
48.427734375,
96.15234375,
53.4375,
-55.283203125,
26.54296875
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[
4.833984375,
47.8125,
97.03125,
52.998046875,
-54.755859375,
31.039875030517578
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| 95
| 0
| 95
| 0
|
[
4.921875,
47.548828125,
96.064453125,
53.349609375,
-55.283203125,
24.2578125
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[
4.833984375,
47.8125,
97.03125,
52.998046875,
-54.755859375,
31.039875030517578
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| 96
| 0
| 96
| 0
|
[
4.921875,
47.373046875,
96.064453125,
52.998046875,
-55.634765625,
20.56640625
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[
4.833984375,
47.8125,
97.03125,
52.998046875,
-54.755859375,
31.039875030517578
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| 97
| 0
| 97
| 0
|
[
4.921875,
47.28515625,
96.064453125,
52.734375,
-56.25,
16.5234375
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[
4.833984375,
47.8125,
96.943359375,
52.998046875,
-54.755859375,
27.990617752075195
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| 98
| 0
| 98
| 0
|
[
5.09765625,
47.28515625,
96.064453125,
52.55859375,
-57.12890625,
12.041015625
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[
4.833984375,
47.8125,
96.943359375,
52.998046875,
-54.755859375,
27.990617752075195
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| 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": 3,
"total_frames": 470,
"total_tasks": 1,
"total_videos": 6,
"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.front": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 1080,
"video.width": 1920,
"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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