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action
sequence
observation.state
sequence
timestamp
float32
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int64
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2.466667
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0
74
0
[ -5.44921875, 103.095703125, 171.9140625, -48.69140625, 104.677734375, 71.15902709960938 ]
[ -4.482421875, 105.1171875, 174.990234375, -44.47265625, 97.470703125, 70.28862762451172 ]
2.5
75
0
75
0
[ -5.537109375, 101.77734375, 170.947265625, -49.39453125, 104.677734375, 71.15902709960938 ]
[ -4.5703125, 104.0625, 174.462890625, -45.3515625, 97.470703125, 70.28862762451172 ]
2.533333
76
0
76
0
[ -5.625, 100.37109375, 169.98046875, -49.921875, 104.765625, 71.15902709960938 ]
[ -4.5703125, 102.83203125, 173.759765625, -46.494140625, 97.470703125, 70.28862762451172 ]
2.566667
77
0
77
0
[ -5.80078125, 98.876953125, 168.837890625, -50.44921875, 104.677734375, 69.90116882324219 ]
[ -4.5703125, 101.337890625, 172.79296875, -47.197265625, 97.470703125, 70.28862762451172 ]
2.6
78
0
78
0
[ -6.15234375, 97.646484375, 167.783203125, -50.9765625, 104.501953125, 67.20574951171875 ]
[ -4.5703125, 100.01953125, 171.9140625, -47.724609375, 97.470703125, 70.28862762451172 ]
2.633333
79
0
79
0
[ -6.240234375, 96.416015625, 166.728515625, -51.328125, 104.23828125, 64.86972045898438 ]
[ -4.833984375, 98.525390625, 170.947265625, -48.33984375, 97.470703125, 70.11884307861328 ]
2.666667
80
0
80
0
[ -6.240234375, 95.44921875, 165.673828125, -51.50390625, 104.326171875, 62.8032341003418 ]
[ -5.361328125, 97.20703125, 169.98046875, -48.955078125, 97.470703125, 68.59083557128906 ]
2.7
81
0
81
0
[ -6.240234375, 94.74609375, 164.619140625, -51.50390625, 104.150390625, 62.71338653564453 ]
[ -5.80078125, 96.15234375, 169.013671875, -49.482421875, 97.470703125, 66.55348205566406 ]
2.733333
82
0
82
0
[ -6.240234375, 94.130859375, 163.828125, -51.50390625, 103.974609375, 61.18598556518555 ]
[ -5.888671875, 95.185546875, 167.958984375, -49.658203125, 97.470703125, 64.51612854003906 ]
2.766667
83
0
83
0
[ -6.15234375, 93.69140625, 163.212890625, -51.50390625, 103.798828125, 60.826595306396484 ]
[ -5.80078125, 94.39453125, 166.9921875, -49.833984375, 97.470703125, 63.667232513427734 ]
2.8
84
0
84
0
[ -6.064453125, 93.33984375, 162.685546875, -51.50390625, 103.623046875, 60.377357482910156 ]
[ -5.625, 93.8671875, 166.11328125, -49.833984375, 97.470703125, 62.47877883911133 ]
2.833333
85
0
85
0
[ -5.9765625, 92.548828125, 161.89453125, -51.50390625, 103.623046875, 58.04132843017578 ]
[ -5.537109375, 93.33984375, 165.322265625, -50.009765625, 97.470703125, 61.46010208129883 ]
2.866667
86
0
86
0
[ -5.80078125, 92.021484375, 161.103515625, -51.15234375, 103.7109375, 50.85354995727539 ]
[ -5.537109375, 92.63671875, 164.70703125, -50.009765625, 97.470703125, 60.95076370239258 ]
2.9
87
0
87
0
[ -5.80078125, 91.93359375, 160.576171875, -50.361328125, 104.0625, 38.81401443481445 ]
[ -5.44921875, 92.197265625, 163.828125, -50.009765625, 97.470703125, 59.42274856567383 ]
2.933333
88
0
88
0
[ -5.80078125, 91.845703125, 160.048828125, -49.658203125, 104.501953125, 23.62982940673828 ]
[ -5.185546875, 91.845703125, 163.388671875, -50.009765625, 97.470703125, 56.19694519042969 ]
2.966667
89
0
89
0
[ -5.80078125, 91.845703125, 159.78515625, -49.39453125, 105.29296875, 5.30098819732666 ]
[ -5.09765625, 91.0546875, 162.509765625, -49.39453125, 97.470703125, 50.254669189453125 ]
3
90
0
90
0
[ -5.80078125, 91.845703125, 159.697265625, -49.39453125, 105.205078125, 0 ]
[ -5.09765625, 91.0546875, 162.421875, -49.21875, 97.470703125, 42.105262756347656 ]
3.033333
91
0
91
0
[ -5.712890625, 92.021484375, 159.697265625, -49.39453125, 105.029296875, 0 ]
[ -5.009765625, 91.0546875, 161.806640625, -49.130859375, 97.470703125, 31.918506622314453 ]
3.066667
92
0
92
0
[ -5.712890625, 92.28515625, 159.697265625, -49.39453125, 104.58984375, 0 ]
[ -5.09765625, 91.142578125, 161.3671875, -49.130859375, 97.470703125, 21.731748580932617 ]
3.1
93
0
93
0
[ -5.712890625, 92.63671875, 159.697265625, -49.39453125, 103.88671875, 0 ]
[ -5.185546875, 91.142578125, 161.279296875, -49.130859375, 97.470703125, 13.41256332397461 ]
3.133333
94
0
94
0
[ -5.80078125, 93.33984375, 159.78515625, -49.39453125, 102.83203125, 0 ]
[ -5.185546875, 91.142578125, 161.279296875, -49.130859375, 97.470703125, 8.658743858337402 ]
3.166667
95
0
95
0
[ -6.064453125, 94.482421875, 159.78515625, -48.69140625, 101.953125, 0 ]
[ -5.09765625, 91.142578125, 161.279296875, -49.04296875, 97.470703125, 5.942275047302246 ]
3.2
96
0
96
0
[ -6.328125, 96.15234375, 159.78515625, -47.98828125, 101.162109375, 0 ]
[ -5.09765625, 91.40625, 161.279296875, -48.515625, 97.470703125, 4.244482040405273 ]
3.233333
97
0
97
0
[ -6.767578125, 97.91015625, 159.873046875, -47.28515625, 100.107421875, 0 ]
[ -5.185546875, 92.197265625, 161.279296875, -47.8125, 97.470703125, 3.225806474685669 ]
3.266667
98
0
98
0
[ -7.3828125, 100.01953125, 159.697265625, -45.966796875, 98.7890625, 0 ]
[ -5.44921875, 93.251953125, 161.279296875, -47.373046875, 97.470703125, 2.54668927192688 ]
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": 8,
    "total_frames": 5164,
    "total_tasks": 1,
    "total_videos": 16,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:8"
    },
    "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.laptop": {
            "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": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": "h264",
                "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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