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action
sequence
observation.state
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float32
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int64
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3.54k
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[ 0.615234375, 90.3515625, 75.849609375, 82.705078125, -72.59765625, 8.673469543457031 ]
2.2
66
0
66
0
[ -18.60332489013672, 101.00709533691406, 90.60610961914062, 68.76884460449219, -52.01599884033203, 0.25557422637939453 ]
[ -1.318359375, 92.63671875, 78.3984375, 81.123046875, -68.291015625, 8.673469543457031 ]
2.233333
67
0
67
0
[ -23.751041412353516, 101.21411895751953, 96.210693359375, 62.102752685546875, -48.821807861328125, 0.14493370056152344 ]
[ -5.009765625, 94.658203125, 81.73828125, 77.6953125, -63.28125, 8.673469543457031 ]
2.266667
68
0
68
0
[ -23.756425857543945, 99.86282348632812, 95.05674743652344, 62.27371597290039, -49.422142028808594, 0.16286277770996094 ]
[ -9.228515625, 96.328125, 85.166015625, 74.091796875, -59.0625, 8.673469543457031 ]
2.3
69
0
69
0
[ -25.330516815185547, 100.94676971435547, 98.68916320800781, 59.39493942260742, -47.69258117675781, 0.08822441101074219 ]
[ -14.501953125, 97.20703125, 88.76953125, 70.224609375, -55.458984375, 8.673469543457031 ]
2.333333
70
0
70
0
[ -27.402246475219727, 100.70133972167969, 102.62203979492188, 54.415122985839844, -47.125789642333984, 0.06775188446044922 ]
[ -18.369140625, 97.3828125, 92.109375, 67.060546875, -52.3828125, 8.673469543457031 ]
2.366667
71
0
71
0
[ -27.51251792907715, 99.66875457763672, 102.59184265136719, 54.168067932128906, -47.99557876586914, 0.10730361938476562 ]
[ -21.09375, 97.3828125, 94.833984375, 64.072265625, -50.361328125, 8.673469543457031 ]
2.4
72
0
72
0
[ -27.47638511657715, 97.94023895263672, 103.93023681640625, 51.99721145629883, -48.69552993774414, 0.12538719177246094 ]
[ -22.8515625, 97.3828125, 97.734375, 60.99609375, -49.130859375, 8.673469543457031 ]
2.433333
73
0
73
0
[ -27.277122497558594, 94.4827651977539, 101.90409088134766, 52.073211669921875, -51.08035659790039, 0.201507568359375 ]
[ -24.2578125, 97.3828125, 100.107421875, 58.095703125, -48.515625, 8.673469543457031 ]
2.466667
74
0
74
0
[ -27.069921493530273, 93.11039733886719, 101.8265380859375, 51.250709533691406, -51.69428253173828, 0.20125389099121094 ]
[ -25.576171875, 96.85546875, 101.42578125, 55.634765625, -48.427734375, 8.673469543457031 ]
2.5
75
0
75
0
[ -27.023590087890625, 91.80241394042969, 101.62554931640625, 50.818878173828125, -52.30481719970703, 0.3852214813232422 ]
[ -26.279296875, 95.361328125, 101.689453125, 53.876953125, -49.21875, 8.673469543457031 ]
2.533333
76
0
76
0
[ -26.666046142578125, 90.19671630859375, 100.39708709716797, 50.77873611450195, -53.860530853271484, 0.719510555267334 ]
[ -26.54296875, 93.69140625, 101.513671875, 52.91015625, -50.185546875, 8.673469543457031 ]
2.566667
77
0
77
0
[ -26.940757751464844, 89.16429901123047, 100.35987854003906, 50.32987594604492, -54.69503402709961, 1.0398926734924316 ]
[ -26.3671875, 92.109375, 101.689453125, 51.943359375, -50.80078125, 8.673469543457031 ]
2.6
78
0
78
0
[ -26.455806732177734, 88.61984252929688, 99.58222961425781, 50.649169921875, -54.532230377197266, 1.298698902130127 ]
[ -26.015625, 90.615234375, 101.6015625, 51.240234375, -51.591796875, 8.673469543457031 ]
2.633333
79
0
79
0
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[ -26.015625, 89.736328125, 101.6015625, 50.9765625, -52.3828125, 8.673469543457031 ]
2.666667
80
0
80
0
[ -26.497928619384766, 86.91641235351562, 98.20736694335938, 50.77513885498047, -56.016090393066406, 2.3767361640930176 ]
[ -26.103515625, 88.505859375, 101.337890625, 50.625, -53.0859375, 8.673469543457031 ]
2.7
81
0
81
0
[ -26.83646011352539, 85.05431365966797, 96.33418273925781, 51.588809967041016, -57.37944030761719, 5.233526229858398 ]
[ -26.455078125, 87.978515625, 101.162109375, 50.537109375, -53.349609375, 8.673469543457031 ]
2.733333
82
0
82
0
[ -26.4179630279541, 85.984130859375, 96.92742919921875, 51.68826675415039, -56.89080810546875, 7.109261512756348 ]
[ -26.455078125, 86.923828125, 100.72265625, 50.537109375, -54.31640625, 8.673469543457031 ]
2.766667
83
0
83
0
[ -26.575408935546875, 85.20729064941406, 96.50686645507812, 52.009151458740234, -57.28385925292969, 8.758352279663086 ]
[ -26.279296875, 85.60546875, 99.404296875, 50.712890625, -55.37109375, 8.673469543457031 ]
2.8
84
0
84
0
[ -26.405881881713867, 84.93424987792969, 96.18722534179688, 52.07984924316406, -57.35663604736328, 10.986629486083984 ]
[ -26.103515625, 84.990234375, 98.7890625, 50.888671875, -55.546875, 9.098639488220215 ]
2.833333
85
0
85
0
[ -26.285682678222656, 82.90668487548828, 94.40663146972656, 53.30474853515625, -58.902496337890625, 20.849058151245117 ]
[ -25.927734375, 84.814453125, 98.701171875, 51.328125, -55.986328125, 9.523809432983398 ]
2.866667
86
0
86
0
[ -26.277854919433594, 81.83712005615234, 93.24681091308594, 54.00847625732422, -59.483070373535156, 24.759868621826172 ]
[ -25.83984375, 84.287109375, 98.349609375, 51.591796875, -56.513671875, 10.034013748168945 ]
2.9
87
0
87
0
[ -26.230859756469727, 82.80158996582031, 94.09078979492188, 53.81843185424805, -58.831912994384766, 23.108427047729492 ]
[ -25.83984375, 82.880859375, 97.20703125, 52.119140625, -56.865234375, 11.73469352722168 ]
2.933333
88
0
88
0
[ -26.22492027282715, 81.54312896728516, 92.94400024414062, 54.58009719848633, -59.653350830078125, 27.856739044189453 ]
[ -26.015625, 81.38671875, 96.064453125, 52.91015625, -57.83203125, 15.051020622253418 ]
2.966667
89
0
89
0
[ -26.000917434692383, 80.97566986083984, 91.84468841552734, 55.5976448059082, -59.81382751464844, 32.27039337158203 ]
[ -26.19140625, 81.2109375, 95.9765625, 52.91015625, -58.0078125, 18.62244987487793 ]
3
90
0
90
0
[ -25.869096755981445, 81.59210205078125, 92.60977172851562, 55.38446044921875, -59.707427978515625, 32.56327819824219 ]
[ -26.103515625, 80.947265625, 95.537109375, 53.173828125, -57.919921875, 21.853740692138672 ]
3.033333
91
0
91
0
[ -25.729537963867188, 81.120849609375, 92.10685729980469, 55.92574691772461, -60.00852966308594, 33.995826721191406 ]
[ -26.103515625, 80.15625, 94.130859375, 54.052734375, -58.623046875, 24.829931259155273 ]
3.066667
92
0
92
0
[ -25.58540153503418, 82.11125183105469, 92.42444610595703, 56.53386688232422, -59.57638931274414, 35.58111572265625 ]
[ -26.015625, 79.98046875, 93.603515625, 53.876953125, -58.447265625, 27.891157150268555 ]
3.1
93
0
93
0
[ -25.495685577392578, 81.71493530273438, 91.83004760742188, 56.698646545410156, -59.746063232421875, 35.60598373413086 ]
[ -25.6640625, 79.892578125, 93.69140625, 54.755859375, -59.326171875, 30.27210807800293 ]
3.133333
94
0
94
0
[ -25.057844161987305, 84.6307373046875, 93.91845703125, 56.361839294433594, -57.677921295166016, 33.8196907043457 ]
[ -25.3125, 79.98046875, 93.603515625, 55.01953125, -59.150390625, 31.37755012512207 ]
3.166667
95
0
95
0
[ -25.006072998046875, 83.9788818359375, 93.05946350097656, 57.12039566040039, -58.16313171386719, 36.51085662841797 ]
[ -25.048828125, 79.98046875, 93.251953125, 55.546875, -58.88671875, 32.82312774658203 ]
3.2
96
0
96
0
[ -24.79047203063965, 84.32084655761719, 92.818115234375, 57.65342330932617, -57.71665954589844, 37.07341003417969 ]
[ -25.048828125, 79.98046875, 93.1640625, 55.634765625, -58.359375, 32.908164978027344 ]
3.233333
97
0
97
0
[ -24.40791130065918, 85.99468231201172, 93.81063842773438, 57.7734489440918, -56.69786071777344, 36.46440505981445 ]
[ -25.13671875, 80.33203125, 93.603515625, 56.337890625, -57.392578125, 32.65306091308594 ]
3.266667
98
0
98
0
[ -23.72532844543457, 88.78311157226562, 95.42559814453125, 57.74213790893555, -54.92918395996094, 33.19717025756836 ]
[ -25.224609375, 80.68359375, 93.69140625, 56.513671875, -57.568359375, 33.75850296020508 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 3543,
    "total_tasks": 1,
    "total_videos": 2,
    "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
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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"
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            "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.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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            "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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