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action
sequence
observation.state
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float32
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296
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8.88k
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[ 79.013671875, 71.103515625, 53.349609375, 79.62890625, -87.01171875, 52.21088409423828 ]
2.166667
65
0
65
0
[ 77.79790496826172, 71.00993347167969, 56.15394592285156, 76.99531555175781, -86.80274963378906, 54.80228805541992 ]
[ 78.75, 70.83984375, 53.61328125, 79.013671875, -87.01171875, 52.72108840942383 ]
2.2
66
0
66
0
[ 77.6624755859375, 70.45153045654297, 56.426795959472656, 76.66001892089844, -87.07888793945312, 54.76271438598633 ]
[ 78.22265625, 70.224609375, 54.404296875, 78.134765625, -86.8359375, 53.14625930786133 ]
2.233333
67
0
67
0
[ 77.19407653808594, 70.14781188964844, 57.450965881347656, 75.99073028564453, -86.56532287597656, 54.46290588378906 ]
[ 77.6953125, 69.78515625, 55.458984375, 77.34375, -86.748046875, 53.231292724609375 ]
2.266667
68
0
68
0
[ 76.86444854736328, 69.25189971923828, 58.17152404785156, 75.31195831298828, -86.80870056152344, 54.32268142700195 ]
[ 77.16796875, 69.2578125, 55.986328125, 76.81640625, -86.8359375, 53.231292724609375 ]
2.3
69
0
69
0
[ 76.85440063476562, 69.68229675292969, 58.56867980957031, 75.76557159423828, -86.29013061523438, 53.39249038696289 ]
[ 76.9921875, 68.994140625, 56.6015625, 76.11328125, -86.748046875, 53.231292724609375 ]
2.333333
70
0
70
0
[ 76.68525695800781, 69.21094512939453, 58.811302185058594, 75.5469970703125, -86.20683288574219, 51.86168670654297 ]
[ 76.81640625, 68.818359375, 57.48046875, 75.76171875, -86.396484375, 53.231292724609375 ]
2.366667
71
0
71
0
[ 76.69931030273438, 69.35995483398438, 58.97099304199219, 75.64573669433594, -86.34647369384766, 50.81562423706055 ]
[ 76.728515625, 68.5546875, 57.65625, 75.5859375, -86.30859375, 53.14625930786133 ]
2.4
72
0
72
0
[ 76.61080932617188, 68.52120971679688, 59.492427825927734, 75.39299774169922, -86.16350555419922, 44.725589752197266 ]
[ 76.552734375, 68.291015625, 58.0078125, 75.41015625, -86.220703125, 52.63605499267578 ]
2.433333
73
0
73
0
[ 76.4940185546875, 67.99700927734375, 59.78139114379883, 75.10330963134766, -86.52420043945312, 39.137088775634766 ]
[ 76.552734375, 68.291015625, 58.18359375, 75.41015625, -86.30859375, 51.53061294555664 ]
2.466667
74
0
74
0
[ 76.52477264404297, 67.81239318847656, 60.113765716552734, 74.89588165283203, -86.92649841308594, 32.49397659301758 ]
[ 76.46484375, 68.203125, 58.623046875, 75.41015625, -86.1328125, 50.4251708984375 ]
2.5
75
0
75
0
[ 76.44538116455078, 67.81757354736328, 60.25684356689453, 74.80484771728516, -87.10919189453125, 31.182281494140625 ]
[ 76.46484375, 67.412109375, 58.88671875, 75.41015625, -86.1328125, 47.874149322509766 ]
2.533333
76
0
76
0
[ 76.34423828125, 67.6888427734375, 60.2122917175293, 74.62875366210938, -86.80873107910156, 24.63808822631836 ]
[ 76.2890625, 66.796875, 59.58984375, 74.8828125, -85.95703125, 43.8775520324707 ]
2.566667
77
0
77
0
[ 75.95275115966797, 67.55624389648438, 60.83765411376953, 74.19507598876953, -87.27128601074219, 12.0450439453125 ]
[ 76.11328125, 66.181640625, 60.1171875, 74.619140625, -86.572265625, 39.37074661254883 ]
2.6
78
0
78
0
[ 75.48029327392578, 67.85704803466797, 61.57826614379883, 73.53065490722656, -86.41339111328125, 4.234058856964111 ]
[ 76.11328125, 66.005859375, 60.205078125, 74.443359375, -86.572265625, 34.86394500732422 ]
2.633333
79
0
79
0
[ 74.88436889648438, 67.30081176757812, 62.74555969238281, 72.50347900390625, -85.434326171875, 0.47614192962646484 ]
[ 76.025390625, 66.181640625, 60.1171875, 74.35546875, -86.484375, 28.996599197387695 ]
2.666667
80
0
80
0
[ 75.05778503417969, 67.43026733398438, 62.449989318847656, 72.66413116455078, -85.72250366210938, 0.6796474456787109 ]
[ 75.76171875, 66.26953125, 60.46875, 73.828125, -86.572265625, 22.4489803314209 ]
2.7
81
0
81
0
[ 74.98672485351562, 67.31086730957031, 62.6841926574707, 72.15228271484375, -85.4886245727539, -0.4593658447265625 ]
[ 75.322265625, 66.181640625, 61.259765625, 73.30078125, -86.044921875, 15.901360511779785 ]
2.733333
82
0
82
0
[ 75.60298156738281, 68.0772476196289, 61.817352294921875, 72.57383728027344, -86.75456237792969, -0.4709939956665039 ]
[ 74.970703125, 65.91796875, 62.05078125, 72.7734375, -85.60546875, 10.119047164916992 ]
2.766667
83
0
83
0
[ 75.63237762451172, 68.10015869140625, 61.81119155883789, 72.22219848632812, -87.27987670898438, -0.45991992950439453 ]
[ 74.53125, 65.91796875, 62.138671875, 72.685546875, -85.341796875, 5.952381134033203 ]
2.8
84
0
84
0
[ 75.81905364990234, 67.83512115478516, 61.832679748535156, 72.76763916015625, -87.7440414428711, -0.37248706817626953 ]
[ 74.35546875, 66.09375, 62.05078125, 72.685546875, -85.4296875, 3.7414965629577637 ]
2.833333
85
0
85
0
[ 75.79255676269531, 68.6205825805664, 61.190147399902344, 72.45311737060547, -88.60824584960938, -0.3532876968383789 ]
[ 74.443359375, 66.181640625, 61.962890625, 72.509765625, -86.1328125, 2.465986490249634 ]
2.866667
86
0
86
0
[ 76.04424285888672, 68.51554107666016, 60.29497528076172, 73.1826171875, -89.37135314941406, -0.31290531158447266 ]
[ 74.443359375, 66.181640625, 61.962890625, 72.333984375, -86.572265625, 1.7006802558898926 ]
2.9
87
0
87
0
[ 76.65975189208984, 70.08662414550781, 57.62489318847656, 74.74739837646484, -92.2632827758789, -0.14124011993408203 ]
[ 74.619140625, 66.005859375, 62.05078125, 72.333984375, -86.923828125, 1.1904761791229248 ]
2.933333
88
0
88
0
[ 77.10913848876953, 70.99141693115234, 54.50049591064453, 76.6662368774414, -95.19291687011719, -0.0689239501953125 ]
[ 75.05859375, 66.005859375, 61.962890625, 72.59765625, -87.802734375, 0.7653061151504517 ]
2.966667
89
0
89
0
[ 77.22097778320312, 71.6261215209961, 52.84623718261719, 77.83631134033203, -96.23081970214844, -0.054241180419921875 ]
[ 75.322265625, 66.09375, 60.8203125, 73.30078125, -88.9453125, 0.5952380895614624 ]
3
90
0
90
0
[ 77.57341003417969, 71.89910888671875, 50.78342819213867, 78.91585540771484, -96.84249877929688, -0.04121208190917969 ]
[ 75.849609375, 66.09375, 58.798828125, 74.00390625, -91.0546875, 0.5102040767669678 ]
3.033333
91
0
91
0
[ 78.18093872070312, 72.7612533569336, 47.17329406738281, 80.8504638671875, -98.32997131347656, 0.013136863708496094 ]
[ 76.2890625, 66.357421875, 56.6015625, 75.41015625, -93.076171875, 0.42517006397247314 ]
3.066667
92
0
92
0
[ 78.5098648071289, 73.15643310546875, 44.88595199584961, 82.14112854003906, -99.60472869873047, 0.04099464416503906 ]
[ 76.728515625, 66.62109375, 54.4921875, 76.640625, -94.5703125, 0.3401360511779785 ]
3.1
93
0
93
0
[ 78.83687591552734, 74.09928131103516, 42.29310607910156, 83.52507019042969, -100.7790756225586, 0.10287761688232422 ]
[ 77.16796875, 67.1484375, 52.294921875, 77.6953125, -95.361328125, 0.3401360511779785 ]
3.133333
94
0
94
0
[ 79.12845611572266, 75.36054992675781, 40.00416946411133, 85.12249755859375, -103.08262634277344, 0.15746307373046875 ]
[ 77.51953125, 67.939453125, 49.833984375, 79.541015625, -96.85546875, 0.2551020383834839 ]
3.166667
95
0
95
0
[ 78.92761993408203, 76.37611389160156, 37.644371032714844, 86.60753631591797, -104.24143981933594, 0.09971427917480469 ]
[ 77.6953125, 68.73046875, 47.197265625, 81.03515625, -97.998046875, 0.2551020383834839 ]
3.2
96
0
96
0
[ 78.87873840332031, 77.87632751464844, 36.1754264831543, 87.75736999511719, -105.1264419555664, 0.10289764404296875 ]
[ 77.958984375, 69.873046875, 44.912109375, 82.265625, -99.31640625, 0.2551020383834839 ]
3.233333
97
0
97
0
[ 78.9110336303711, 77.42930603027344, 35.807437896728516, 87.5517578125, -105.29521179199219, 0.10905075073242188 ]
[ 78.046875, 71.19140625, 42.5390625, 83.935546875, -101.337890625, 0.2551020383834839 ]
3.266667
98
0
98
0
[ 78.41981506347656, 79.61007690429688, 34.470481872558594, 88.71046447753906, -105.55271911621094, 0.18626689910888672 ]
[ 78.134765625, 72.24609375, 40.341796875, 85.078125, -102.83203125, 0.2551020383834839 ]
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": 8885,
    "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": [
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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,
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            ],
            "names": [
                "height",
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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": {
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            "shape": [
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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
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        "frame_index": {
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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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