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float32
0
14.9
frame_index
int64
0
446
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int64
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49
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int64
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22.3k
task_index
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0
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[ 25.400390625, 18.6328125, 35.15625, 49.482421875, 84.55078125, 0.2842928171157837 ]
2.366667
71
0
71
0
[ 28.740234375, 36.73828125, 46.23046875, 47.548828125, 84.55078125, -0.09242144227027893 ]
[ 26.279296875, 23.115234375, 37.44140625, 49.04296875, 84.55078125, 0.2842928171157837 ]
2.4
72
0
72
0
[ 28.916015625, 39.7265625, 47.63671875, 47.4609375, 84.55078125, -0.09242144227027893 ]
[ 27.0703125, 27.333984375, 39.7265625, 48.69140625, 84.55078125, 0.2842928171157837 ]
2.433333
73
0
73
0
[ 29.091796875, 42.626953125, 48.8671875, 47.373046875, 84.55078125, -0.09242144227027893 ]
[ 28.125, 31.025390625, 41.8359375, 48.33984375, 84.55078125, 0.2842928171157837 ]
2.466667
74
0
74
0
[ 29.267578125, 45.263671875, 49.833984375, 47.109375, 84.55078125, -0.09242144227027893 ]
[ 28.388671875, 34.541015625, 43.505859375, 48.1640625, 84.55078125, 0.2842928171157837 ]
2.5
75
0
75
0
[ 29.619140625, 47.548828125, 50.361328125, 46.23046875, 84.55078125, -0.09242144227027893 ]
[ 28.65234375, 37.96875, 45, 47.98828125, 84.55078125, 0.2842928171157837 ]
2.533333
76
0
76
0
[ 29.794921875, 49.39453125, 50.712890625, 45.263671875, 84.55078125, -0.09242144227027893 ]
[ 28.740234375, 41.1328125, 46.318359375, 47.724609375, 84.55078125, 0.2842928171157837 ]
2.566667
77
0
77
0
[ 29.970703125, 51.15234375, 51.15234375, 44.384765625, 84.638671875, 0.09242144227027893 ]
[ 28.828125, 43.9453125, 47.28515625, 47.021484375, 84.55078125, 0.2842928171157837 ]
2.6
78
0
78
0
[ 30.234375, 53.0859375, 51.85546875, 43.681640625, 84.638671875, 0.3696857690811157 ]
[ 29.1796875, 46.58203125, 47.98828125, 46.318359375, 84.55078125, 0.2842928171157837 ]
2.633333
79
0
79
0
[ 30.41015625, 55.283203125, 52.91015625, 43.154296875, 84.638671875, 0.5545286536216736 ]
[ 29.443359375, 48.779296875, 48.515625, 45.52734375, 84.55078125, 0.2842928171157837 ]
2.666667
80
0
80
0
[ 30.5859375, 57.48046875, 54.052734375, 42.802734375, 84.638671875, 0.5545286536216736 ]
[ 29.794921875, 50.888671875, 49.21875, 44.912109375, 84.55078125, 0.3553660213947296 ]
2.7
81
0
81
0
[ 30.849609375, 59.677734375, 55.283203125, 42.451171875, 84.638671875, 0.5545286536216736 ]
[ 29.970703125, 52.91015625, 50.09765625, 44.296875, 84.55078125, 0.42643922567367554 ]
2.733333
82
0
82
0
[ 31.025390625, 61.787109375, 56.513671875, 42.01171875, 84.638671875, 0.6469500660896301 ]
[ 30.234375, 55.1953125, 51.240234375, 43.76953125, 84.55078125, 0.42643922567367554 ]
2.766667
83
0
83
0
[ 31.2890625, 64.072265625, 57.83203125, 41.572265625, 84.638671875, 1.1090573072433472 ]
[ 30.41015625, 57.392578125, 52.20703125, 43.330078125, 84.55078125, 0.42643922567367554 ]
2.8
84
0
84
0
[ 31.552734375, 66.533203125, 59.4140625, 41.30859375, 84.7265625, 1.3863216638565063 ]
[ 30.673828125, 59.677734375, 53.525390625, 42.890625, 84.55078125, 0.49751242995262146 ]
2.833333
85
0
85
0
[ 31.728515625, 69.08203125, 61.259765625, 41.220703125, 84.814453125, 1.3863216638565063 ]
[ 30.9375, 61.962890625, 54.66796875, 42.451171875, 84.55078125, 0.7107320427894592 ]
2.866667
86
0
86
0
[ 31.904296875, 71.71875, 63.10546875, 41.220703125, 84.814453125, 1.2939001321792603 ]
[ 31.201171875, 64.16015625, 56.07421875, 42.099609375, 84.55078125, 0.9950248599052429 ]
2.9
87
0
87
0
[ 32.080078125, 74.1796875, 65.0390625, 41.220703125, 84.814453125, 1.3863216638565063 ]
[ 31.376953125, 66.62109375, 57.744140625, 41.923828125, 84.55078125, 1.0660980939865112 ]
2.933333
88
0
88
0
[ 32.34375, 76.640625, 66.97265625, 41.220703125, 84.814453125, 1.8484288454055786 ]
[ 31.552734375, 69.169921875, 59.4140625, 41.923828125, 84.55078125, 1.1371712684631348 ]
2.966667
89
0
89
0
[ 32.51953125, 78.92578125, 68.73046875, 41.220703125, 84.814453125, 2.7726433277130127 ]
[ 31.728515625, 71.630859375, 61.083984375, 41.8359375, 84.55078125, 1.2793177366256714 ]
3
90
0
90
0
[ 32.607421875, 80.947265625, 70.13671875, 41.220703125, 84.814453125, 4.713493347167969 ]
[ 31.9921875, 74.267578125, 62.9296875, 41.748046875, 84.55078125, 1.563610553741455 ]
3.033333
91
0
91
0
[ 32.6953125, 82.529296875, 71.3671875, 41.220703125, 84.814453125, 7.208872318267822 ]
[ 32.16796875, 76.728515625, 64.86328125, 41.748046875, 84.55078125, 2.2743425369262695 ]
3.066667
92
0
92
0
[ 32.783203125, 83.583984375, 72.0703125, 41.220703125, 84.814453125, 9.05730152130127 ]
[ 32.34375, 78.837890625, 66.4453125, 41.748046875, 84.55078125, 3.2693674564361572 ]
3.1
93
0
93
0
[ 32.783203125, 84.19921875, 72.59765625, 41.220703125, 84.814453125, 11.645101547241211 ]
[ 32.431640625, 80.859375, 67.939453125, 41.748046875, 84.55078125, 4.904051303863525 ]
3.133333
94
0
94
0
[ 32.6953125, 84.638671875, 72.94921875, 41.220703125, 85.25390625, 15.896488189697266 ]
[ 32.51953125, 82.353515625, 68.90625, 41.748046875, 84.55078125, 6.751954555511475 ]
3.166667
95
0
95
0
[ 32.607421875, 84.990234375, 73.388671875, 41.220703125, 85.517578125, 18.946395874023438 ]
[ 32.51953125, 83.583984375, 69.697265625, 41.748046875, 84.55078125, 8.74200439453125 ]
3.2
96
0
96
0
[ 32.51953125, 85.4296875, 74.091796875, 41.220703125, 85.517578125, 20.332717895507812 ]
[ 32.51953125, 84.375, 70.400390625, 41.748046875, 84.90234375, 11.158493041992188 ]
3.233333
97
0
97
0
[ 32.51953125, 86.1328125, 75.05859375, 41.30859375, 85.517578125, 21.534196853637695 ]
[ 32.51953125, 84.990234375, 70.927734375, 41.748046875, 85.078125, 14.14356803894043 ]
3.266667
98
0
98
0
[ 32.51953125, 87.01171875, 76.376953125, 41.8359375, 85.517578125, 22.828096389770508 ]
[ 32.431640625, 85.60546875, 71.630859375, 41.748046875, 85.078125, 16.70220375061035 ]
3.3
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": 50,
    "total_frames": 22306,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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