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action
sequence
observation.state
sequence
timestamp
float32
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int64
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[ -4.130859375, 167.080078125, 129.111328125, 78.837890625, -37.880859375, 9.680741310119629 ]
[ -9.228515625, 176.30859375, 135.791015625, 82.353515625, -42.890625, 8.636749267578125 ]
2.433333
73
0
73
0
[ -3.427734375, 165.76171875, 128.49609375, 78.22265625, -37.529296875, 9.886714935302734 ]
[ -7.998046875, 174.0234375, 134.736328125, 81.650390625, -41.484375, 8.636749267578125 ]
2.466667
74
0
74
0
[ -2.548828125, 164.970703125, 128.056640625, 77.783203125, -36.9140625, 9.268795013427734 ]
[ -6.50390625, 171.826171875, 133.9453125, 81.03515625, -39.990234375, 8.806097030639648 ]
2.5
75
0
75
0
[ -1.7578125, 164.794921875, 127.6171875, 77.6953125, -36.298828125, 9.268795013427734 ]
[ -5.09765625, 169.892578125, 133.2421875, 80.419921875, -38.935546875, 8.890769958496094 ]
2.533333
76
0
76
0
[ -0.703125, 164.8828125, 127.177734375, 77.6953125, -35.68359375, 9.062822341918945 ]
[ -3.779296875, 168.046875, 132.626953125, 79.892578125, -37.880859375, 8.890769958496094 ]
2.566667
77
0
77
0
[ 1.0546875, 165.05859375, 126.474609375, 77.51953125, -34.541015625, 9.47476863861084 ]
[ -2.724609375, 166.728515625, 132.01171875, 79.62890625, -37.265625, 8.890769958496094 ]
2.6
78
0
78
0
[ 2.98828125, 164.267578125, 124.98046875, 77.783203125, -33.486328125, 8.85684871673584 ]
[ -1.845703125, 165.5859375, 131.572265625, 79.365234375, -36.474609375, 8.890769958496094 ]
2.633333
79
0
79
0
[ 5.009765625, 162.7734375, 123.134765625, 78.22265625, -32.080078125, 8.650875091552734 ]
[ -1.318359375, 165.234375, 130.95703125, 79.27734375, -35.5078125, 8.806097030639648 ]
2.666667
80
0
80
0
[ 7.03125, 161.015625, 121.11328125, 78.837890625, -30.76171875, 8.54788875579834 ]
[ -0.263671875, 164.70703125, 130.078125, 79.189453125, -34.62890625, 8.467400550842285 ]
2.7
81
0
81
0
[ 9.052734375, 158.90625, 118.65234375, 80.15625, -29.8828125, 9.16580867767334 ]
[ 1.142578125, 163.65234375, 129.0234375, 79.189453125, -33.75, 8.298052787780762 ]
2.733333
82
0
82
0
[ 10.810546875, 156.796875, 116.3671875, 81.5625, -29.53125, 9.680741310119629 ]
[ 3.076171875, 163.388671875, 127.79296875, 79.27734375, -32.607421875, 8.298052787780762 ]
2.766667
83
0
83
0
[ 12.65625, 154.775390625, 114.345703125, 82.79296875, -29.53125, 10.607621192932129 ]
[ 5.09765625, 162.24609375, 126.03515625, 79.716796875, -31.46484375, 8.636749267578125 ]
2.8
84
0
84
0
[ 14.853515625, 152.75390625, 112.763671875, 83.84765625, -29.53125, 11.946447372436523 ]
[ 7.03125, 160.400390625, 123.92578125, 79.892578125, -30.5859375, 8.975444793701172 ]
2.833333
85
0
85
0
[ 17.138671875, 150.732421875, 111.533203125, 84.55078125, -29.794921875, 12.770339965820312 ]
[ 8.701171875, 158.291015625, 121.81640625, 80.595703125, -30.05859375, 9.483489036560059 ]
2.866667
86
0
86
0
[ 19.775390625, 148.623046875, 110.478515625, 85.078125, -29.8828125, 14.109166145324707 ]
[ 10.1953125, 156.181640625, 119.794921875, 81.5625, -29.70703125, 10.160880088806152 ]
2.9
87
0
87
0
[ 22.060546875, 146.513671875, 109.86328125, 85.517578125, -30.673828125, 14.830072402954102 ]
[ 11.953125, 153.984375, 117.94921875, 82.529296875, -29.443359375, 11.176968574523926 ]
2.933333
88
0
88
0
[ 24.169921875, 144.4921875, 109.6875, 85.869140625, -31.46484375, 15.345005989074707 ]
[ 14.23828125, 152.05078125, 116.54296875, 83.408203125, -29.35546875, 12.1930570602417 ]
2.966667
89
0
89
0
[ 25.927734375, 142.646484375, 110.126953125, 86.1328125, -32.51953125, 15.756951332092285 ]
[ 16.611328125, 150.029296875, 115.224609375, 83.84765625, -29.70703125, 12.955122947692871 ]
3
90
0
90
0
[ 27.509765625, 140.9765625, 111.09375, 86.220703125, -33.662109375, 16.58084487915039 ]
[ 19.248046875, 147.919921875, 114.2578125, 84.287109375, -30.234375, 13.71718978881836 ]
3.033333
91
0
91
0
[ 29.443359375, 139.306640625, 112.060546875, 86.30859375, -34.62890625, 18.12564468383789 ]
[ 21.533203125, 146.07421875, 113.90625, 84.814453125, -30.849609375, 14.309906959533691 ]
3.066667
92
0
92
0
[ 31.201171875, 137.63671875, 113.02734375, 86.220703125, -35.068359375, 20.597322463989258 ]
[ 23.203125, 143.61328125, 113.90625, 85.166015625, -31.640625, 15.241320610046387 ]
3.1
93
0
93
0
[ 33.046875, 136.23046875, 113.994140625, 85.95703125, -35.244140625, 22.245107650756836 ]
[ 24.9609375, 141.50390625, 113.90625, 85.341796875, -32.431640625, 16.511430740356445 ]
3.133333
94
0
94
0
[ 34.62890625, 135, 114.521484375, 85.869140625, -35.33203125, 23.789907455444336 ]
[ 26.54296875, 139.74609375, 114.169921875, 85.25390625, -33.3984375, 18.204910278320312 ]
3.166667
95
0
95
0
[ 36.03515625, 134.033203125, 114.697265625, 86.1328125, -35.859375, 25.540679931640625 ]
[ 28.564453125, 138.33984375, 114.169921875, 85.25390625, -33.92578125, 19.72904396057129 ]
3.2
96
0
96
0
[ 37.529296875, 132.890625, 114.43359375, 86.220703125, -35.859375, 26.776519775390625 ]
[ 30.76171875, 137.021484375, 114.2578125, 85.166015625, -34.27734375, 21.08382797241211 ]
3.233333
97
0
97
0
[ 38.84765625, 132.01171875, 113.994140625, 86.220703125, -35.859375, 28.115345001220703 ]
[ 32.51953125, 135.615234375, 114.609375, 85.341796875, -34.453125, 22.6926326751709 ]
3.266667
98
0
98
0
[ 40.25390625, 131.044921875, 113.466796875, 86.220703125, -35.947265625, 29.14521026611328 ]
[ 34.013671875, 134.12109375, 114.697265625, 85.517578125, -34.541015625, 24.216764450073242 ]
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": 642,
    "total_tasks": 1,
    "total_videos": 2,
    "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.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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