Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
19.7
frame_index
int64
0
592
episode_index
int64
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int64
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[ -17.314453125, 71.630859375, 88.76953125, 73.916015625, -4.21875, 17.5510196685791 ]
2.433333
73
0
73
0
[ -16.787109375, 71.630859375, 88.857421875, 72.509765625, -3.955078125, 17.492712020874023 ]
[ -17.05078125, 71.279296875, 88.681640625, 73.564453125, -4.21875, 17.469388961791992 ]
2.466667
74
0
74
0
[ -16.611328125, 71.630859375, 89.560546875, 71.982421875, -3.69140625, 17.39552879333496 ]
[ -16.962890625, 70.751953125, 88.76953125, 73.564453125, -4.130859375, 17.306121826171875 ]
2.5
75
0
75
0
[ -16.435546875, 71.630859375, 90.17578125, 71.455078125, -3.427734375, 17.29834747314453 ]
[ -16.787109375, 70.6640625, 88.857421875, 72.94921875, -3.603515625, 17.06122398376465 ]
2.533333
76
0
76
0
[ -16.34765625, 71.54296875, 90.791015625, 70.83984375, -3.1640625, 17.2011661529541 ]
[ -16.435546875, 70.83984375, 89.033203125, 71.54296875, -3.515625, 17.224489212036133 ]
2.566667
77
0
77
0
[ -16.171875, 71.54296875, 91.40625, 70.3125, -3.076171875, 17.103984832763672 ]
[ -16.259765625, 70.83984375, 89.736328125, 71.630859375, -3.515625, 17.142858505249023 ]
2.6
78
0
78
0
[ -16.083984375, 71.54296875, 91.93359375, 69.9609375, -2.900390625, 17.103984832763672 ]
[ -16.171875, 70.576171875, 90.087890625, 70.751953125, -3.251953125, 17.224489212036133 ]
2.633333
79
0
79
0
[ -15.908203125, 71.54296875, 92.28515625, 69.697265625, -2.8125, 17.00680160522461 ]
[ -15.99609375, 70.751953125, 90.263671875, 70.3125, -3.1640625, 17.306121826171875 ]
2.666667
80
0
80
0
[ -15.908203125, 71.54296875, 92.63671875, 69.609375, -2.548828125, 17.00680160522461 ]
[ -15.908203125, 70.6640625, 91.0546875, 70.400390625, -2.724609375, 17.06122398376465 ]
2.7
81
0
81
0
[ -15.908203125, 71.54296875, 92.900390625, 69.521484375, -2.197265625, 17.00680160522461 ]
[ -15.908203125, 70.48828125, 91.58203125, 69.2578125, -2.373046875, 17.06122398376465 ]
2.733333
82
0
82
0
[ -15.8203125, 71.630859375, 92.98828125, 69.521484375, -1.7578125, 17.00680160522461 ]
[ -15.732421875, 70.48828125, 91.93359375, 69.9609375, -2.373046875, 16.816326141357422 ]
2.766667
83
0
83
0
[ -15.732421875, 71.806640625, 93.076171875, 69.609375, -1.40625, 16.909622192382812 ]
[ -15.556640625, 70.576171875, 91.93359375, 68.994140625, -2.373046875, 16.979591369628906 ]
2.8
84
0
84
0
[ -15.732421875, 71.806640625, 93.251953125, 69.609375, -1.23046875, 16.909622192382812 ]
[ -15.380859375, 70.576171875, 92.021484375, 69.169921875, -1.669921875, 16.979591369628906 ]
2.833333
85
0
85
0
[ -15.732421875, 71.71875, 93.33984375, 69.609375, -1.23046875, 16.909622192382812 ]
[ -15.205078125, 70.576171875, 92.63671875, 69.43359375, -1.40625, 16.816326141357422 ]
2.866667
86
0
86
0
[ -15.64453125, 71.630859375, 93.427734375, 69.521484375, -1.23046875, 16.909622192382812 ]
[ -14.94140625, 70.576171875, 92.98828125, 69.169921875, -1.23046875, 16.163265228271484 ]
2.9
87
0
87
0
[ -15.64453125, 71.54296875, 93.603515625, 69.2578125, -1.40625, 16.81243896484375 ]
[ -14.853515625, 70.576171875, 92.98828125, 68.90625, -1.0546875, 16.244897842407227 ]
2.933333
88
0
88
0
[ -15.556640625, 71.54296875, 93.8671875, 68.90625, -1.494140625, 16.4237117767334 ]
[ -14.765625, 70.576171875, 92.98828125, 68.90625, -1.142578125, 16.163265228271484 ]
2.966667
89
0
89
0
[ -15.556640625, 71.630859375, 94.21875, 68.73046875, -1.669921875, 15.840620994567871 ]
[ -14.853515625, 70.576171875, 92.98828125, 68.818359375, -1.318359375, 16.163265228271484 ]
3
90
0
90
0
[ -15.556640625, 71.71875, 94.482421875, 68.642578125, -1.669921875, 15.354713439941406 ]
[ -14.94140625, 70.576171875, 92.98828125, 68.818359375, -1.318359375, 16.163265228271484 ]
3.033333
91
0
91
0
[ -15.556640625, 72.0703125, 94.833984375, 68.642578125, -1.669921875, 15.160350799560547 ]
[ -14.94140625, 70.576171875, 93.603515625, 68.02734375, -1.40625, 15.836734771728516 ]
3.066667
92
0
92
0
[ -15.64453125, 72.509765625, 95.185546875, 68.642578125, -1.58203125, 15.0631685256958 ]
[ -15.029296875, 70.576171875, 93.779296875, 68.02734375, -1.40625, 15.510204315185547 ]
3.1
93
0
93
0
[ -15.732421875, 73.037109375, 95.537109375, 68.73046875, -1.494140625, 15.0631685256958 ]
[ -15.029296875, 70.6640625, 93.779296875, 68.02734375, -1.318359375, 15.183673858642578 ]
3.133333
94
0
94
0
[ -15.99609375, 73.564453125, 95.9765625, 68.818359375, -1.669921875, 15.0631685256958 ]
[ -15.029296875, 70.83984375, 94.306640625, 68.02734375, -1.23046875, 15.183673858642578 ]
3.166667
95
0
95
0
[ -16.259765625, 73.916015625, 96.50390625, 68.818359375, -2.109375, 15.0631685256958 ]
[ -15.029296875, 71.279296875, 94.658203125, 68.02734375, -1.40625, 15.183673858642578 ]
3.2
96
0
96
0
[ -16.5234375, 74.267578125, 96.943359375, 68.90625, -2.548828125, 15.0631685256958 ]
[ -15.029296875, 71.279296875, 94.658203125, 68.02734375, -1.40625, 14.938776016235352 ]
3.233333
97
0
97
0
[ -16.787109375, 74.53125, 97.55859375, 68.90625, -2.900390625, 15.160350799560547 ]
[ -15.029296875, 71.54296875, 95.2734375, 68.02734375, -1.40625, 15.26530647277832 ]
3.266667
98
0
98
0
[ -17.138671875, 74.8828125, 98.173828125, 68.90625, -3.515625, 15.25753116607666 ]
[ -15.29296875, 72.0703125, 95.80078125, 68.02734375, -1.494140625, 15.102041244506836 ]
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": 2,
    "total_frames": 954,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": "av1",
                "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": "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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