Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
9.83
| frame_index
int64 0
295
| episode_index
int64 0
99
| index
int64 0
21.6k
| 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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[
6.328125,
179.296875,
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91.40625,
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[
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[
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[
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[
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[
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87.802734375,
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[
7.91015625,
177.36328125,
107.75390625,
89.912109375,
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14.357429504394531
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| 60
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|
[
10.107421875,
176.572265625,
108.369140625,
87.1875,
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[
8.4375,
177.01171875,
108.28125,
89.384765625,
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14.357429504394531
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[
10.634765625,
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108.984375,
86.748046875,
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[
8.876953125,
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[
11.07421875,
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[
9.404296875,
176.572265625,
109.423828125,
88.2421875,
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[
11.6015625,
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[
9.931640625,
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[
11.953125,
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[
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[
12.216796875,
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[
10.72265625,
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[
12.392578125,
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[
11.25,
176.044921875,
111.357421875,
86.748046875,
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[
12.48046875,
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85.25390625,
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[
11.6015625,
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86.30859375,
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[
12.48046875,
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[
11.865234375,
175.25390625,
112.32421875,
86.220703125,
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[
12.568359375,
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[
12.041015625,
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86.044921875,
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[
12.744140625,
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84.7265625,
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[
12.12890625,
174.287109375,
112.8515625,
85.95703125,
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| 71
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[
13.0078125,
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[
12.216796875,
173.671875,
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| 72
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[
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[
12.3046875,
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[
13.7109375,
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[
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| 74
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| 74
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[
14.0625,
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[
12.83203125,
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114.345703125,
84.55078125,
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| 75
| 0
| 75
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[
14.4140625,
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82.265625,
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[
13.18359375,
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114.9609375,
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| 76
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| 76
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[
14.853515625,
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81.5625,
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[
13.447265625,
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115.48828125,
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| 77
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| 77
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[
15.380859375,
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[
13.974609375,
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83.056640625,
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| 78
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| 78
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[
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79.892578125,
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[
14.326171875,
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82.44140625,
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| 79
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[
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[
14.765625,
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| 80
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[
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[
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[
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[
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| 82
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[
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[
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[
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120.9375,
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[
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[
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[
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[
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| 86
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| 86
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[
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123.75,
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[
17.314453125,
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76.640625,
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| 87
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| 87
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[
18.720703125,
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[
17.578125,
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124.1015625,
75.849609375,
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| 88
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| 88
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[
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[
17.9296875,
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124.98046875,
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| 89
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| 89
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[
19.248046875,
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[
18.193359375,
172.353515625,
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| 90
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[
19.51171875,
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[
18.45703125,
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126.650390625,
73.4765625,
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| 91
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| 91
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|
[
19.775390625,
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[
18.720703125,
171.5625,
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72.685546875,
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[
20.21484375,
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[
18.984375,
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| 93
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| 93
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[
20.478515625,
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68.203125,
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[
19.248046875,
170.947265625,
129.111328125,
71.015625,
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| 94
| 0
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[
20.830078125,
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129.375,
67.5,
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[
19.51171875,
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129.638671875,
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| 95
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[
21.09375,
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[
19.86328125,
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| 96
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[
21.4453125,
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[
20.126953125,
170.15625,
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[
21.796875,
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[
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[
21.97265625,
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[
20.830078125,
169.716796875,
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| 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": 100,
"total_frames": 21562,
"total_tasks": 1,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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.base": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
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],
"info": {
"video.fps": 30.0,
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}
},
"observation.images.base_right": {
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480,
1280,
3
],
"names": [
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],
"info": {
"video.fps": 30.0,
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}
},
"observation.images.arm": {
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480,
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3
],
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],
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}
},
"observation.images.gripper": {
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480,
640,
3
],
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],
"info": {
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}
},
"timestamp": {
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1
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},
"frame_index": {
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1
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1
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},
"index": {
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1
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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