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eval_act_so100_test

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observation.state
list
timestamp
float32
0
29.7
frame_index
int64
0
594
episode_index
int64
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index
int64
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[ -5.579447269439697, 97.50010681152344, 118.24276733398438, 38.52757263183594, -0.20606136322021484, 32.78104782104492 ]
[ -7.294921875, 97.734375, 118.564453125, 39.19921875, 0.791015625, 37.18330764770508 ]
3.25
65
0
65
0
[ -5.4769086837768555, 97.6130599975586, 119.48633575439453, 38.10149002075195, -0.5057394504547119, 31.74746322631836 ]
[ -6.767578125, 97.646484375, 118.740234375, 39.0234375, 0.439453125, 35.54396438598633 ]
3.3
66
0
66
0
[ -5.9835968017578125, 99.66796112060547, 119.46638488769531, 38.14708709716797, -0.5176084041595459, 31.491519927978516 ]
[ -6.15234375, 97.119140625, 118.916015625, 38.935546875, 0.17578125, 33.75558853149414 ]
3.35
67
0
67
0
[ -5.665173530578613, 98.83349609375, 118.30848693847656, 38.25689697265625, -0.1559598445892334, 32.193599700927734 ]
[ -5.625, 97.294921875, 119.970703125, 38.759765625, -0.439453125, 32.86140060424805 ]
3.4
68
0
68
0
[ -5.649425506591797, 99.07621765136719, 119.40897369384766, 37.707374572753906, -0.6655855178833008, 30.414749145507812 ]
[ -5.537109375, 97.55859375, 120.146484375, 38.759765625, -0.439453125, 32.26527404785156 ]
3.45
69
0
69
0
[ -6.104019641876221, 98.17354583740234, 119.51945495605469, 38.04842758178711, -0.4856264591217041, 32.998046875 ]
[ -5.80078125, 97.55859375, 120.146484375, 38.49609375, -0.439453125, 32.11624526977539 ]
3.5
70
0
70
0
[ -4.887963771820068, 99.41094970703125, 119.7562484741211, 38.05961608886719, -1.14784836769104, 27.5925235748291 ]
[ -5.888671875, 97.55859375, 120.146484375, 38.3203125, -0.439453125, 31.07302474975586 ]
3.55
71
0
71
0
[ -4.346967697143555, 98.0685043334961, 120.05789947509766, 37.675567626953125, -0.7665975093841553, 27.59345817565918 ]
[ -5.9765625, 97.470703125, 120.146484375, 38.3203125, -0.52734375, 31.74366569519043 ]
3.6
72
0
72
0
[ -4.178308963775635, 98.89492797851562, 119.61939239501953, 38.123023986816406, -0.9666125774383545, 26.556947708129883 ]
[ -5.44921875, 97.3828125, 120.234375, 38.3203125, -0.703125, 31.892698287963867 ]
3.65
73
0
73
0
[ -4.361559867858887, 99.09784698486328, 120.154052734375, 37.87831115722656, -1.2747886180877686, 26.25993537902832 ]
[ -5.009765625, 97.20703125, 120.322265625, 38.232421875, -0.703125, 29.657228469848633 ]
3.7
74
0
74
0
[ -3.966353416442871, 99.67367553710938, 120.24803161621094, 37.47297286987305, -1.0556929111480713, 24.91228485107422 ]
[ -4.833984375, 97.20703125, 120.322265625, 38.232421875, -0.703125, 27.868852615356445 ]
3.75
75
0
75
0
[ -3.927537441253662, 98.8670654296875, 119.49394226074219, 38.065887451171875, -0.7106549739837646, 25.61680030822754 ]
[ -4.833984375, 97.3828125, 120.5859375, 38.056640625, -0.703125, 27.123695373535156 ]
3.8
76
0
76
0
[ -3.6006317138671875, 100.47660064697266, 120.5699691772461, 37.16158676147461, -1.4720818996429443, 22.663652420043945 ]
[ -4.658203125, 97.470703125, 120.673828125, 37.880859375, -0.703125, 25.931446075439453 ]
3.85
77
0
77
0
[ -3.7938811779022217, 99.43585968017578, 120.79603576660156, 37.3787956237793, -1.7191717624664307, 22.693603515625 ]
[ -4.5703125, 97.646484375, 120.673828125, 37.880859375, -0.703125, 25.856929779052734 ]
3.9
78
0
78
0
[ -2.9854214191436768, 99.783203125, 119.82344055175781, 37.444740295410156, -1.3593037128448486, 21.39871597290039 ]
[ -4.39453125, 97.734375, 121.025390625, 37.6171875, -1.0546875, 24.515647888183594 ]
3.95
79
0
79
0
[ -3.3597874641418457, 101.14085388183594, 120.9363021850586, 37.43366622924805, -1.6001956462860107, 21.220857620239258 ]
[ -4.306640625, 97.822265625, 121.201171875, 37.353515625, -1.23046875, 23.546945571899414 ]
4
80
0
80
0
[ -2.855834722518921, 101.074951171875, 120.51233673095703, 37.636478424072266, -1.6046864986419678, 19.91641616821289 ]
[ -3.955078125, 97.91015625, 121.201171875, 37.353515625, -1.23046875, 22.354694366455078 ]
4.05
81
0
81
0
[ -2.938361167907715, 102.13371276855469, 120.31604766845703, 37.17547607421875, -1.6183297634124756, 18.74298095703125 ]
[ -3.779296875, 98.349609375, 121.46484375, 37.353515625, -1.23046875, 21.833084106445312 ]
4.1
82
0
82
0
[ -2.492267370223999, 102.86779022216797, 120.64594268798828, 37.1106071472168, -1.9402077198028564, 15.624004364013672 ]
[ -3.515625, 98.525390625, 121.46484375, 37.6171875, -1.23046875, 20.789865493774414 ]
4.15
83
0
83
0
[ -2.299285888671875, 103.51011657714844, 120.04655456542969, 37.4701042175293, -1.6788828372955322, 15.663785934448242 ]
[ -3.515625, 98.525390625, 121.46484375, 37.44140625, -1.23046875, 19.746646881103516 ]
4.2
84
0
84
0
[ -1.7745590209960938, 104.28477478027344, 120.15249633789062, 37.3885498046875, -1.8149664402008057, 12.950216293334961 ]
[ -3.251953125, 98.7890625, 121.46484375, 37.08984375, -1.40625, 18.25633430480957 ]
4.25
85
0
85
0
[ -1.4723224639892578, 103.83932495117188, 119.80299377441406, 37.86034393310547, -1.9454710483551025, 12.010807037353516 ]
[ -2.900390625, 99.931640625, 121.46484375, 37.529296875, -1.40625, 16.91505241394043 ]
4.3
86
0
86
0
[ -1.9359374046325684, 104.40882873535156, 120.55635833740234, 37.439796447753906, -2.0448997020721436, 12.096996307373047 ]
[ -2.373046875, 100.72265625, 121.46484375, 37.6171875, -1.40625, 15.201191902160645 ]
4.35
87
0
87
0
[ -1.6584105491638184, 103.29472351074219, 119.55672454833984, 38.01880645751953, -1.794734239578247, 12.645994186401367 ]
[ -1.93359375, 100.986328125, 121.46484375, 37.529296875, -1.40625, 13.487332344055176 ]
4.4
88
0
88
0
[ -1.7606244087219238, 104.61717224121094, 119.89014434814453, 37.84404373168945, -2.0634396076202393, 10.989189147949219 ]
[ -1.93359375, 101.25, 121.46484375, 37.6171875, -1.40625, 13.040238380432129 ]
4.45
89
0
89
0
[ -1.5701618194580078, 105.60575866699219, 119.4480972290039, 37.96215057373047, -1.838364839553833, 11.336326599121094 ]
[ -1.93359375, 101.42578125, 121.46484375, 37.79296875, -1.40625, 12.965723037719727 ]
4.5
90
0
90
0
[ -1.5913329124450684, 104.52325439453125, 120.11705780029297, 37.590545654296875, -2.091108560562134, 10.692159652709961 ]
[ -1.93359375, 101.77734375, 121.46484375, 37.79296875, -1.58203125, 11.922503471374512 ]
4.55
91
0
91
0
[ -1.309340000152588, 104.9127197265625, 119.15607452392578, 38.0235595703125, -1.635011911392212, 11.631780624389648 ]
[ -1.845703125, 102.041015625, 121.46484375, 37.79296875, -1.58203125, 11.84798812866211 ]
4.6
92
0
92
0
[ -1.0514593124389648, 105.99371337890625, 119.58848571777344, 37.91172790527344, -1.843916654586792, 9.1912841796875 ]
[ -1.845703125, 102.041015625, 121.46484375, 37.79296875, -1.58203125, 11.32637882232666 ]
4.65
93
0
93
0
[ -1.2078847885131836, 107.49200439453125, 118.50392150878906, 38.66321563720703, -1.7310640811920166, 6.493139266967773 ]
[ -1.845703125, 102.216796875, 121.46484375, 37.79296875, -1.58203125, 11.475409507751465 ]
4.7
94
0
94
0
[ -1.7185311317443848, 108.29812622070312, 118.3791732788086, 38.61040496826172, -1.8536708354949951, 5.54692268371582 ]
[ -1.845703125, 103.18359375, 121.46484375, 37.96875, -1.58203125, 10.357675552368164 ]
4.75
95
0
95
0
[ -1.0545897483825684, 107.30399322509766, 118.0683364868164, 38.760215759277344, -1.7628815174102783, 7.355766296386719 ]
[ -1.669921875, 104.150390625, 121.46484375, 38.3203125, -1.142578125, 8.27123737335205 ]
4.8
96
0
96
0
[ -1.1511154174804688, 108.42807006835938, 118.34857940673828, 38.750221252441406, -1.5598294734954834, 7.673101425170898 ]
[ -1.669921875, 104.677734375, 121.46484375, 38.3203125, -1.318359375, 7.228017807006836 ]
4.85
97
0
97
0
[ -1.3869004249572754, 106.73004150390625, 118.67086791992188, 38.06365203857422, -1.8740284442901611, 8.168319702148438 ]
[ -1.669921875, 104.94140625, 121.46484375, 38.49609375, -1.494140625, 7.52608060836792 ]
4.9
98
0
98
0
[ -0.9668779373168945, 108.06016540527344, 118.5695571899414, 38.64854431152344, -1.6863915920257568, 7.162723541259766 ]
[ -1.58203125, 105.205078125, 121.46484375, 38.671875, -1.494140625, 7.675111770629883 ]
4.95
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": 1,
    "total_frames": 321,
    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.lego": {
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        "observation.images.blackboard": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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