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sequence
observation.state
sequence
timestamp
float32
0
14.5
frame_index
int64
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434
episode_index
int64
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199
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58.2k
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int64
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77
0
[ 13.271484375, 94.5703125, 72.0703125, 82.880859375, -12.48046875, 0 ]
[ 13.0078125, 96.943359375, 79.98046875, 80.595703125, -11.77734375, 0.39277294278144836 ]
2.6
78
0
78
0
[ 13.095703125, 93.427734375, 70.48828125, 83.671875, -12.568359375, 0 ]
[ 13.0078125, 95.888671875, 78.662109375, 81.298828125, -11.77734375, 0.39277294278144836 ]
2.633333
79
0
79
0
[ 12.83203125, 92.021484375, 68.73046875, 84.7265625, -12.568359375, 0 ]
[ 13.0078125, 94.74609375, 77.255859375, 82.001953125, -11.77734375, 0.39277294278144836 ]
2.666667
80
0
80
0
[ 12.65625, 90.439453125, 66.796875, 85.95703125, -12.568359375, 0 ]
[ 12.83203125, 93.515625, 75.5859375, 82.705078125, -11.865234375, 0.39277294278144836 ]
2.7
81
0
81
0
[ 12.392578125, 88.76953125, 64.951171875, 87.099609375, -12.48046875, 0 ]
[ 12.83203125, 92.109375, 73.828125, 83.583984375, -12.041015625, 0.39277294278144836 ]
2.733333
82
0
82
0
[ 12.216796875, 87.1875, 63.017578125, 88.154296875, -12.392578125, 0 ]
[ 12.744140625, 90.615234375, 72.24609375, 84.638671875, -12.12890625, 0.39277294278144836 ]
2.766667
83
0
83
0
[ 12.12890625, 85.693359375, 61.171875, 89.12109375, -12.216796875, 0 ]
[ 12.744140625, 89.033203125, 70.400390625, 85.78125, -12.12890625, 0.39277294278144836 ]
2.8
84
0
84
0
[ 12.041015625, 84.287109375, 59.4140625, 89.912109375, -12.216796875, 0 ]
[ 12.744140625, 87.451171875, 68.5546875, 86.748046875, -12.12890625, 0.39277294278144836 ]
2.833333
85
0
85
0
[ 12.041015625, 82.79296875, 57.65625, 90.791015625, -12.12890625, 0 ]
[ 12.744140625, 85.95703125, 66.708984375, 87.71484375, -12.12890625, 0.39277294278144836 ]
2.866667
86
0
86
0
[ 12.041015625, 81.123046875, 55.810546875, 91.7578125, -12.041015625, 0 ]
[ 12.65625, 84.462890625, 65.0390625, 88.681640625, -12.12890625, 0.39277294278144836 ]
2.9
87
0
87
0
[ 11.953125, 79.453125, 53.701171875, 92.900390625, -11.953125, 0 ]
[ 12.568359375, 83.056640625, 63.193359375, 89.560546875, -12.12890625, 0.39277294278144836 ]
2.933333
88
0
88
0
[ 11.953125, 77.6953125, 51.591796875, 93.955078125, -11.865234375, 0 ]
[ 12.48046875, 81.474609375, 61.259765625, 90.52734375, -12.12890625, 0.39277294278144836 ]
2.966667
89
0
89
0
[ 11.953125, 76.11328125, 49.5703125, 94.921875, -11.865234375, 0 ]
[ 12.392578125, 79.8046875, 59.326171875, 91.494140625, -12.12890625, 0.39277294278144836 ]
3
90
0
90
0
[ 12.041015625, 74.70703125, 47.724609375, 95.80078125, -11.77734375, 0 ]
[ 12.3046875, 78.046875, 57.216796875, 92.548828125, -12.12890625, 0.39277294278144836 ]
3.033333
91
0
91
0
[ 12.12890625, 73.4765625, 45.966796875, 96.50390625, -11.689453125, 0 ]
[ 12.216796875, 76.376953125, 55.283203125, 93.515625, -12.12890625, 0.39277294278144836 ]
3.066667
92
0
92
0
[ 12.216796875, 72.333984375, 44.384765625, 97.20703125, -11.689453125, 0 ]
[ 12.216796875, 74.70703125, 53.26171875, 94.482421875, -12.12890625, 0.39277294278144836 ]
3.1
93
0
93
0
[ 12.3046875, 71.279296875, 42.978515625, 97.822265625, -11.6015625, 0 ]
[ 12.216796875, 73.30078125, 51.416015625, 95.2734375, -12.12890625, 0.39277294278144836 ]
3.133333
94
0
94
0
[ 12.3046875, 70.400390625, 42.01171875, 98.349609375, -11.6015625, 0 ]
[ 12.216796875, 72.0703125, 49.658203125, 96.064453125, -12.12890625, 0.39277294278144836 ]
3.166667
95
0
95
0
[ 12.3046875, 69.78515625, 41.484375, 98.701171875, -11.6015625, 0 ]
[ 12.216796875, 70.927734375, 48.251953125, 96.767578125, -12.12890625, 0.39277294278144836 ]
3.2
96
0
96
0
[ 12.3046875, 69.609375, 41.396484375, 98.7890625, -11.6015625, 0 ]
[ 12.3046875, 69.9609375, 46.93359375, 97.3828125, -12.12890625, 0.39277294278144836 ]
3.233333
97
0
97
0
[ 12.216796875, 69.521484375, 41.572265625, 98.7890625, -11.6015625, 0 ]
[ 12.3046875, 69.2578125, 45.966796875, 97.822265625, -12.12890625, 0.39277294278144836 ]
3.266667
98
0
98
0
[ 12.216796875, 69.521484375, 41.748046875, 98.7890625, -11.6015625, 0 ]
[ 12.3046875, 68.90625, 45.439453125, 98.0859375, -12.12890625, 0.39277294278144836 ]
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": 1,
    "total_frames": 25,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.FrontCam": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.TopCam": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.WristCam": {
            "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": "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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