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sequence
observation.state
sequence
timestamp
float32
0
29.7
frame_index
int64
0
890
episode_index
int64
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44
index
int64
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30.5k
task_index
int64
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0
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[ 29.970703125, 103.974609375, 91.93359375, 77.255859375, -10.634765625, 20.227272033691406 ]
2.433333
73
0
73
0
[ 32.080078125, 104.765625, 88.681640625, 77.51953125, -10.810546875, 18.360376358032227 ]
[ 30.41015625, 103.974609375, 91.93359375, 77.255859375, -10.634765625, 20.227272033691406 ]
2.466667
74
0
74
0
[ 32.87109375, 104.765625, 88.681640625, 77.607421875, -10.810546875, 18.360376358032227 ]
[ 31.11328125, 103.974609375, 91.93359375, 77.255859375, -10.634765625, 20.227272033691406 ]
2.5
75
0
75
0
[ 33.486328125, 104.765625, 88.681640625, 77.6953125, -10.810546875, 18.360376358032227 ]
[ 31.81640625, 103.974609375, 91.93359375, 77.255859375, -10.634765625, 20.227272033691406 ]
2.533333
76
0
76
0
[ 34.1015625, 104.677734375, 88.681640625, 77.783203125, -10.8984375, 18.360376358032227 ]
[ 32.607421875, 103.974609375, 91.93359375, 77.255859375, -10.634765625, 20.227272033691406 ]
2.566667
77
0
77
0
[ 34.62890625, 104.58984375, 88.681640625, 77.783203125, -10.986328125, 18.360376358032227 ]
[ 33.3984375, 103.974609375, 91.93359375, 77.607421875, -10.634765625, 20.227272033691406 ]
2.6
78
0
78
0
[ 35.33203125, 104.501953125, 88.681640625, 77.783203125, -10.986328125, 18.360376358032227 ]
[ 34.013671875, 103.974609375, 91.93359375, 77.6953125, -10.634765625, 20.227272033691406 ]
2.633333
79
0
79
0
[ 35.947265625, 104.501953125, 88.681640625, 77.607421875, -11.07421875, 18.360376358032227 ]
[ 34.453125, 103.974609375, 91.93359375, 77.6953125, -10.634765625, 20.227272033691406 ]
2.666667
80
0
80
0
[ 36.474609375, 104.501953125, 88.681640625, 77.607421875, -11.25, 18.360376358032227 ]
[ 34.892578125, 103.974609375, 91.93359375, 77.6953125, -10.634765625, 20.227272033691406 ]
2.7
81
0
81
0
[ 37.001953125, 104.501953125, 88.681640625, 77.51953125, -11.337890625, 18.360376358032227 ]
[ 35.5078125, 103.974609375, 91.93359375, 77.6953125, -10.634765625, 20.227272033691406 ]
2.733333
82
0
82
0
[ 37.44140625, 104.501953125, 88.681640625, 77.431640625, -11.42578125, 18.44577407836914 ]
[ 36.2109375, 103.974609375, 91.93359375, 77.6953125, -10.72265625, 20.227272033691406 ]
2.766667
83
0
83
0
[ 37.880859375, 104.4140625, 88.681640625, 77.34375, -11.6015625, 18.44577407836914 ]
[ 36.9140625, 103.974609375, 91.93359375, 77.6953125, -10.986328125, 20.227272033691406 ]
2.8
84
0
84
0
[ 38.14453125, 104.326171875, 88.681640625, 77.16796875, -11.689453125, 18.44577407836914 ]
[ 37.44140625, 103.974609375, 91.93359375, 77.6953125, -11.162109375, 20.227272033691406 ]
2.833333
85
0
85
0
[ 38.49609375, 104.150390625, 88.681640625, 76.904296875, -11.689453125, 18.44577407836914 ]
[ 37.79296875, 103.974609375, 91.93359375, 77.6953125, -11.337890625, 20.227272033691406 ]
2.866667
86
0
86
0
[ 38.671875, 103.974609375, 88.681640625, 76.728515625, -11.77734375, 18.531169891357422 ]
[ 38.056640625, 103.974609375, 91.93359375, 77.6953125, -11.42578125, 20.227272033691406 ]
2.9
87
0
87
0
[ 38.759765625, 103.7109375, 88.681640625, 76.376953125, -11.77734375, 18.531169891357422 ]
[ 38.232421875, 103.7109375, 91.93359375, 77.6953125, -11.513671875, 20.227272033691406 ]
2.933333
88
0
88
0
[ 38.935546875, 103.447265625, 88.681640625, 76.025390625, -11.77734375, 18.531169891357422 ]
[ 38.408203125, 103.359375, 91.93359375, 77.607421875, -11.6015625, 20.227272033691406 ]
2.966667
89
0
89
0
[ 39.0234375, 103.18359375, 88.681640625, 75.673828125, -11.77734375, 18.531169891357422 ]
[ 38.671875, 102.919921875, 91.93359375, 77.16796875, -11.689453125, 20.227272033691406 ]
3
90
0
90
0
[ 39.111328125, 103.0078125, 88.59375, 75.41015625, -11.77734375, 18.531169891357422 ]
[ 39.0234375, 102.568359375, 91.93359375, 76.81640625, -11.689453125, 20.227272033691406 ]
3.033333
91
0
91
0
[ 39.19921875, 102.65625, 88.330078125, 75.322265625, -11.77734375, 18.531169891357422 ]
[ 39.111328125, 102.392578125, 91.93359375, 76.46484375, -11.689453125, 20.227272033691406 ]
3.066667
92
0
92
0
[ 39.19921875, 102.12890625, 87.802734375, 75.322265625, -11.77734375, 18.531169891357422 ]
[ 39.111328125, 102.12890625, 91.93359375, 76.11328125, -11.689453125, 20.227272033691406 ]
3.1
93
0
93
0
[ 39.287109375, 101.42578125, 87.1875, 75.322265625, -11.77734375, 18.531169891357422 ]
[ 39.111328125, 101.865234375, 91.93359375, 76.025390625, -11.689453125, 20.227272033691406 ]
3.133333
94
0
94
0
[ 39.375, 100.546875, 86.396484375, 75.41015625, -11.689453125, 18.531169891357422 ]
[ 39.111328125, 101.42578125, 91.58203125, 76.025390625, -11.689453125, 20.227272033691406 ]
3.166667
95
0
95
0
[ 39.462890625, 99.580078125, 85.4296875, 75.498046875, -11.6015625, 18.531169891357422 ]
[ 39.111328125, 100.634765625, 90.966796875, 76.025390625, -11.689453125, 20.227272033691406 ]
3.2
96
0
96
0
[ 39.462890625, 98.525390625, 84.19921875, 75.849609375, -11.513671875, 18.531169891357422 ]
[ 39.111328125, 99.755859375, 90.17578125, 76.025390625, -11.689453125, 20.227272033691406 ]
3.233333
97
0
97
0
[ 39.462890625, 97.470703125, 82.880859375, 76.11328125, -11.42578125, 18.531169891357422 ]
[ 39.111328125, 98.7890625, 89.296875, 76.025390625, -11.689453125, 20.227272033691406 ]
3.266667
98
0
98
0
[ 39.462890625, 96.591796875, 81.826171875, 76.201171875, -11.337890625, 18.531169891357422 ]
[ 39.111328125, 97.822265625, 88.330078125, 76.025390625, -11.689453125, 20.227272033691406 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 45,
    "total_frames": 30519,
    "total_tasks": 1,
    "total_videos": 90,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:45"
    },
    "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": [
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            "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": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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            ],
            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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