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sequence
observation.state
sequence
timestamp
float32
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29.3
frame_index
int64
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880
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[ 6.767578125, 72.333984375, 79.365234375, 68.203125, 29.70703125, 8.405342102050781 ]
2.2
66
0
66
0
[ 7.019908905029297, 72.97457885742188, 75.92822265625, 68.19113159179688, 29.640701293945312, 3.7763357162475586 ]
[ 6.85546875, 72.333984375, 79.189453125, 67.67578125, 29.70703125, 6.91280460357666 ]
2.233333
67
0
67
0
[ 6.674186706542969, 73.1135025024414, 75.8857650756836, 68.45411682128906, 29.661651611328125, 3.4244179725646973 ]
[ 6.85546875, 72.24609375, 78.92578125, 67.67578125, 29.70703125, 5.970149040222168 ]
2.266667
68
0
68
0
[ 6.7090301513671875, 73.72889709472656, 75.58513641357422, 69.05828094482422, 29.646392822265625, 3.292656421661377 ]
[ 6.85546875, 72.24609375, 78.837890625, 67.67578125, 29.70703125, 5.263157844543457 ]
2.3
69
0
69
0
[ 6.6269683837890625, 74.02257537841797, 74.59459686279297, 69.74784088134766, 29.635025024414062, 3.0300486087799072 ]
[ 6.85546875, 72.24609375, 78.75, 67.763671875, 29.70703125, 4.634721279144287 ]
2.333333
70
0
70
0
[ 6.562763214111328, 74.54424285888672, 73.99983978271484, 70.52592468261719, 29.188613891601562, 2.629403829574585 ]
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2.366667
71
0
71
0
[ 6.301212310791016, 75.06049346923828, 73.57312774658203, 71.47530364990234, 29.886962890625, 2.381164312362671 ]
[ 6.85546875, 72.158203125, 77.958984375, 68.994140625, 29.70703125, 3.849175214767456 ]
2.4
72
0
72
0
[ 6.275333404541016, 75.15760040283203, 73.10282897949219, 72.47686767578125, 29.81982421875, 1.6548303365707397 ]
[ 6.767578125, 72.158203125, 77.431640625, 69.697265625, 29.70703125, 3.377847671508789 ]
2.433333
73
0
73
0
[ 6.300640106201172, 75.35972595214844, 72.13065338134766, 73.49266052246094, 30.00732421875, 1.001627802848816 ]
[ 6.591796875, 72.158203125, 76.904296875, 70.48828125, 29.619140625, 2.985074520111084 ]
2.466667
74
0
74
0
[ 5.952796936035156, 68.87202453613281, 70.13703155517578, 71.84823608398438, 29.542800903320312, 1.4799796342849731 ]
[ 6.50390625, 72.158203125, 76.46484375, 71.54296875, 29.53125, 2.435192584991455 ]
2.5
75
0
75
0
[ 6.530483245849609, 68.74219512939453, 69.05744934082031, 73.32577514648438, 28.893310546875, 0.8193203210830688 ]
[ 6.50390625, 72.158203125, 76.025390625, 72.59765625, 29.70703125, 1.885310411453247 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 6.50390625, 69.2578125, 73.125, 73.125, 29.53125, 1.4139827489852905 ]
2.6
78
0
78
0
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[ 6.50390625, 68.115234375, 71.630859375, 73.037109375, 28.828125, 1.4139827489852905 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 7.605155944824219, 68.717041015625, 64.4940185546875, 77.04483032226562, 28.751953125, 1.4742056131362915 ]
[ 6.50390625, 67.236328125, 70.751953125, 75.322265625, 29.1796875, 1.4139827489852905 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 7.119140625, 67.32421875, 67.763671875, 76.552734375, 28.740234375, 1.4139827489852905 ]
2.8
84
0
84
0
[ 7.8220367431640625, 69.6755142211914, 61.56901550292969, 79.90701293945312, 28.995010375976562, 2.7728028297424316 ]
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ 7.294921875, 67.32421875, 65.654296875, 79.1015625, 29.00390625, 2.199528694152832 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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[ 7.294921875, 67.32421875, 63.984375, 80.244140625, 28.828125, 2.670856237411499 ]
2.966667
89
0
89
0
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[ 7.294921875, 67.412109375, 63.45703125, 81.2109375, 28.828125, 2.670856237411499 ]
3
90
0
90
0
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[ 7.294921875, 67.412109375, 62.138671875, 82.705078125, 29.35546875, 2.670856237411499 ]
3.033333
91
0
91
0
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[ 7.294921875, 66.62109375, 60.64453125, 83.232421875, 29.35546875, 2.670856237411499 ]
3.066667
92
0
92
0
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[ 7.3828125, 62.666015625, 55.986328125, 85.25390625, 29.443359375, 2.513747215270996 ]
3.1
93
0
93
0
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[ 7.3828125, 60.99609375, 53.701171875, 85.166015625, 29.091796875, 2.513747215270996 ]
3.133333
94
0
94
0
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[ 7.3828125, 60.1171875, 53.0859375, 85.693359375, 29.00390625, 2.356637716293335 ]
3.166667
95
0
95
0
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[ 7.3828125, 59.677734375, 52.91015625, 86.923828125, 29.35546875, 2.278083086013794 ]
3.2
96
0
96
0
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[ 7.3828125, 59.765625, 52.734375, 86.66015625, 29.35546875, 2.199528694152832 ]
3.233333
97
0
97
0
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[ 7.91015625, 60.029296875, 51.943359375, 86.572265625, 29.00390625, 2.199528694152832 ]
3.266667
98
0
98
0
[ 10.098487854003906, 63.7744255065918, 48.49224853515625, 88.522705078125, 27.912857055664062, 1.9130969047546387 ]
[ 8.26171875, 60.1171875, 51.416015625, 87.36328125, 29.091796875, 2.199528694152832 ]
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": "so100",
    "total_episodes": 3,
    "total_frames": 1740,
    "total_tasks": 1,
    "total_videos": 9,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
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    "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": {
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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",
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.FrontCam": {
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        "observation.images.TopCam": {
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        "observation.images.WristCam": {
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            "names": [
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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