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AK51
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eval_act_so100_test7

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
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9.92
frame_index
int64
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248
episode_index
int64
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index
int64
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2.49k
task_index
int64
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0
[ -21.268983840942383, 95.83761596679688, 91.01712036132812, 93.8856201171875, -65.96034240722656, 0.5556621551513672 ]
[ -22.67578125, 80.419921875, 91.40625, 85.95703125, -66.357421875, 10.526315689086914 ]
2.6
65
0
65
0
[ -20.477548599243164, 98.47381591796875, 91.46749877929688, 95.02787780761719, -66.1283187866211, 0.5594673156738281 ]
[ -22.67578125, 83.49609375, 91.40625, 87.71484375, -66.357421875, 10.526315689086914 ]
2.64
66
0
66
0
[ -19.32771873474121, 102.23722839355469, 92.32252502441406, 96.43888854980469, -66.51531219482422, 0.5165538787841797 ]
[ -22.236328125, 87.275390625, 91.40625, 90.439453125, -66.357421875, 10.526315689086914 ]
2.68
67
0
67
0
[ -17.14954948425293, 107.75448608398438, 93.93231201171875, 98.05134582519531, -67.47904968261719, 0.45337867736816406 ]
[ -21.533203125, 91.40625, 91.845703125, 93.1640625, -66.357421875, 10.526315689086914 ]
2.72
68
0
68
0
[ -13.516855239868164, 110.40048217773438, 94.34445190429688, 98.98728942871094, -69.55657958984375, 0.3964653015136719 ]
[ -20.56640625, 95.2734375, 92.548828125, 94.130859375, -66.357421875, 10.526315689086914 ]
2.76
69
0
69
0
[ -8.923271179199219, 114.91925048828125, 95.84520721435547, 100.07736206054688, -72.50234985351562, 0.2873706817626953 ]
[ -19.16015625, 99.4921875, 93.69140625, 95.9765625, -66.796875, 10.526315689086914 ]
2.8
70
0
70
0
[ -2.4684228897094727, 117.6929702758789, 97.47994995117188, 100.0485610961914, -76.74063873291016, 0.22003746032714844 ]
[ -16.875, 103.623046875, 94.482421875, 97.998046875, -67.67578125, 10.526315689086914 ]
2.84
71
0
71
0
[ 2.4773542881011963, 120.1492919921875, 97.84381103515625, 100.61822509765625, -79.97509765625, 0.25283050537109375 ]
[ -13.53515625, 107.75390625, 95.537109375, 98.0859375, -70.048828125, 10.526315689086914 ]
2.88
72
0
72
0
[ 9.856483459472656, 120.86012268066406, 98.73117065429688, 99.69732666015625, -85.43029022216797, 0.09481048583984375 ]
[ -9.31640625, 111.62109375, 96.943359375, 99.66796875, -72.421875, 10.526315689086914 ]
2.92
73
0
73
0
[ 16.112403869628906, 121.01641845703125, 99.3685302734375, 98.33729553222656, -89.58129119873047, 0.16275787353515625 ]
[ -4.39453125, 114.873046875, 97.822265625, 99.931640625, -75.673828125, 10.526315689086914 ]
2.96
74
0
74
0
[ 19.880237579345703, 121.49785614013672, 99.70446014404297, 97.89512634277344, -92.32765197753906, 0.1988201141357422 ]
[ 1.142578125, 116.89453125, 98.4375, 99.140625, -79.453125, 10.526315689086914 ]
3
75
0
75
0
[ 23.853740692138672, 120.98359680175781, 100.31515502929688, 96.18941497802734, -94.77961730957031, 0.1551494598388672 ]
[ 6.767578125, 118.212890625, 99.4921875, 99.4921875, -83.583984375, 10.526315689086914 ]
3.04
76
0
76
0
[ 26.401687622070312, 120.2803726196289, 101.07239532470703, 94.54057312011719, -96.2032470703125, 0.1900177001953125 ]
[ 12.48046875, 118.65234375, 99.84375, 98.525390625, -87.5390625, 10.526315689086914 ]
3.08
77
0
77
0
[ 29.840293884277344, 119.25370025634766, 101.95610046386719, 92.394287109375, -98.3147201538086, 0.0990447998046875 ]
[ 17.75390625, 118.916015625, 100.458984375, 97.646484375, -90.615234375, 10.526315689086914 ]
3.12
78
0
78
0
[ 31.42203712463379, 118.76225280761719, 102.4480209350586, 91.1411361694336, -99.0866470336914, 0.09177207946777344 ]
[ 21.796875, 118.916015625, 101.25, 96.240234375, -93.076171875, 10.526315689086914 ]
3.16
79
0
79
0
[ 33.67002487182617, 117.47466278076172, 102.74956512451172, 89.32939910888672, -100.16480255126953, 0.15422630310058594 ]
[ 24.78515625, 118.4765625, 102.12890625, 94.658203125, -95.09765625, 10.526315689086914 ]
3.2
80
0
80
0
[ 35.884544372558594, 116.5264663696289, 103.73282623291016, 87.12480163574219, -101.39765930175781, 0.1539783477783203 ]
[ 27.59765625, 118.212890625, 102.744140625, 92.98828125, -96.85546875, 10.526315689086914 ]
3.24
81
0
81
0
[ 37.21086883544922, 114.30486297607422, 104.30533599853516, 84.62007904052734, -101.56349182128906, 0.18167877197265625 ]
[ 30.234375, 117.509765625, 103.0078125, 91.494140625, -98.173828125, 10.526315689086914 ]
3.28
82
0
82
0
[ 37.96506881713867, 113.12649536132812, 104.92552947998047, 83.12471771240234, -101.89205932617188, 0.1466388702392578 ]
[ 32.87109375, 116.630859375, 103.798828125, 89.296875, -99.4921875, 10.526315689086914 ]
3.32
83
0
83
0
[ 38.3846435546875, 112.12339782714844, 105.27679443359375, 81.80011749267578, -101.91166687011719, 0.22550201416015625 ]
[ 34.98046875, 115.048828125, 104.501953125, 87.1875, -100.1953125, 10.526315689086914 ]
3.36
84
0
84
0
[ 38.96039581298828, 109.54325866699219, 105.70429992675781, 79.30429077148438, -101.86293029785156, 0.2915802001953125 ]
[ 36.5625, 113.466796875, 105.1171875, 85.341796875, -100.72265625, 10.526315689086914 ]
3.4
85
0
85
0
[ 39.4178352355957, 107.32025909423828, 105.78695678710938, 77.76239776611328, -101.82890319824219, 0.2636585235595703 ]
[ 37.353515625, 112.236328125, 105.64453125, 83.935546875, -100.986328125, 10.526315689086914 ]
3.44
86
0
86
0
[ 39.66541290283203, 104.86198425292969, 105.71125793457031, 76.19828796386719, -101.577880859375, 0.19383811950683594 ]
[ 37.6171875, 110.654296875, 105.99609375, 82.001953125, -100.986328125, 10.526315689086914 ]
3.48
87
0
87
0
[ 39.77606201171875, 103.25555419921875, 105.95377349853516, 74.78456115722656, -101.45191955566406, 0.11721038818359375 ]
[ 37.96875, 108.45703125, 106.083984375, 79.98046875, -100.986328125, 10.526315689086914 ]
3.52
88
0
88
0
[ 39.74003219604492, 101.45403289794922, 105.80035400390625, 73.72406768798828, -101.19523620605469, 0.020826339721679688 ]
[ 38.408203125, 105.99609375, 106.171875, 78.3984375, -100.986328125, 10.526315689086914 ]
3.56
89
0
89
0
[ 39.72510528564453, 99.18119812011719, 106.05227661132812, 72.36921691894531, -101.08787536621094, -0.06383895874023438 ]
[ 39.375, 103.88671875, 106.259765625, 76.728515625, -100.986328125, 10.526315689086914 ]
3.6
90
0
90
0
[ 39.68268966674805, 97.2423324584961, 106.09918212890625, 70.74569702148438, -101.02547454833984, -0.2634010314941406 ]
[ 39.55078125, 102.12890625, 106.259765625, 75.498046875, -100.986328125, 10.526315689086914 ]
3.64
91
0
91
0
[ 39.60315704345703, 95.72196960449219, 106.10569763183594, 69.74986267089844, -100.93643188476562, -0.39661407470703125 ]
[ 39.462890625, 100.01953125, 106.34765625, 74.00390625, -100.986328125, 10.526315689086914 ]
3.68
92
0
92
0
[ 39.44377517700195, 93.78781127929688, 106.11038208007812, 68.72091674804688, -100.68800354003906, -0.035736083984375 ]
[ 38.935546875, 97.822265625, 106.435546875, 72.59765625, -100.986328125, 10.526315689086914 ]
3.72
93
0
93
0
[ 39.14008712768555, 92.13050842285156, 106.36896514892578, 67.75888061523438, -100.54613494873047, 0.122283935546875 ]
[ 38.84765625, 95.9765625, 106.435546875, 71.3671875, -100.986328125, 10.526315689086914 ]
3.76
94
0
94
0
[ 38.58025360107422, 91.21702575683594, 106.91795349121094, 66.7334213256836, -100.3683853149414, 3.6459598541259766 ]
[ 39.0234375, 94.306640625, 106.435546875, 70.224609375, -100.986328125, 10.526315689086914 ]
3.8
95
0
95
0
[ 39.00701904296875, 90.8346176147461, 107.39283752441406, 66.57981872558594, -100.56166076660156, 17.122331619262695 ]
[ 39.375, 92.4609375, 106.69921875, 69.08203125, -100.8984375, 10.526315689086914 ]
3.84
96
0
96
0
[ 39.24991226196289, 91.1288833618164, 107.58372497558594, 66.31575775146484, -100.65216064453125, 27.66325569152832 ]
[ 39.375, 91.40625, 106.875, 68.02734375, -100.810546875, 10.526315689086914 ]
3.88
97
0
97
0
[ 39.49524688720703, 91.2913589477539, 107.744873046875, 66.3782730102539, -100.64677429199219, 36.607139587402344 ]
[ 39.287109375, 91.142578125, 107.314453125, 67.5, -100.810546875, 12.820512771606445 ]
3.92
98
0
98
0
[ 39.638389587402344, 91.6197280883789, 108.5513687133789, 65.75088500976562, -100.79850006103516, 45.32447814941406 ]
[ 39.462890625, 91.0546875, 107.490234375, 67.1484375, -100.810546875, 19.028339385986328 ]
3.96
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 2403,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
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    "splits": {
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    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        "observation.state": {
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                "main_shoulder_lift",
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    }
}

Citation

BibTeX:

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