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sequence | observation.state
sequence | timestamp
float32 0
29.7
| frame_index
int64 0
892
| episode_index
int64 0
1
| index
int64 0
1.79k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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75.673828125,
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2.396313428878784
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[
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115.13671875,
121.46484375,
79.62890625,
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[
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113.90625,
128.84765625,
75.673828125,
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[
-15.46875,
115.13671875,
119.267578125,
79.716796875,
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[
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113.90625,
126.650390625,
75.673828125,
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[
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115.224609375,
117.0703125,
79.716796875,
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[
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113.90625,
124.453125,
75.5859375,
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[
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[
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113.90625,
122.34375,
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115.3125,
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113.90625,
120.322265625,
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111.09375,
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113.90625,
117.94921875,
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[
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116.015625,
109.599609375,
81.03515625,
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[
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113.90625,
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[
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116.89453125,
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82.353515625,
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113.90625,
114.08203125,
75.673828125,
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[
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106.875,
84.0234375,
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[
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113.90625,
112.412109375,
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105.556640625,
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113.90625,
111.005859375,
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88.59375,
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103.18359375,
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100.986328125,
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[
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[
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146.25,
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[
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96.6796875,
101.25,
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[
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[
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[
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97.646484375,
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[
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102.65625,
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[
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[
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[
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[
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[
55.546875,
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103.18359375,
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108.720703125,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1786,
"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": "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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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