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action
sequence
observation.state
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float32
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int64
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68
0
68
0
[ 5.24217414855957, 101.98381042480469, 115.85910034179688, 52.4056396484375, 37.109046936035156, 20.40441131591797 ]
[ 5.09765625, 102.392578125, 119.619140625, 52.91015625, 36.474609375, 19.6875 ]
2.3
69
0
69
0
[ 5.152395248413086, 101.55821228027344, 116.20655822753906, 52.385345458984375, 36.94952392578125, 20.51785659790039 ]
[ 5.09765625, 102.216796875, 119.619140625, 52.646484375, 36.650390625, 19.6875 ]
2.333333
70
0
70
0
[ 5.652587890625, 100.74852752685547, 115.94255065917969, 52.007057189941406, 37.30706787109375, 20.680370330810547 ]
[ 5.09765625, 101.42578125, 119.53125, 52.3828125, 36.650390625, 19.6875 ]
2.366667
71
0
71
0
[ 5.080060958862305, 101.406005859375, 116.63574981689453, 52.23261642456055, 37.019447326660156, 19.73554801940918 ]
[ 5.09765625, 100.546875, 119.53125, 52.294921875, 36.298828125, 19.6875 ]
2.4
72
0
72
0
[ 4.7586669921875, 100.20835876464844, 116.19579315185547, 51.93445587158203, 37.10816192626953, 20.06122589111328 ]
[ 5.09765625, 99.84375, 119.443359375, 52.294921875, 36.474609375, 19.6875 ]
2.433333
73
0
73
0
[ 5.4582366943359375, 99.61747741699219, 115.8060073852539, 51.757415771484375, 37.22705841064453, 20.844205856323242 ]
[ 5.09765625, 99.580078125, 119.443359375, 52.294921875, 36.650390625, 19.6875 ]
2.466667
74
0
74
0
[ 5.195344924926758, 99.33560180664062, 116.30016326904297, 51.761966705322266, 37.256858825683594, 19.45897674560547 ]
[ 4.833984375, 99.140625, 119.443359375, 51.85546875, 36.650390625, 19.6875 ]
2.5
75
0
75
0
[ 4.574344635009766, 98.13169860839844, 116.30377197265625, 51.51405334472656, 37.099876403808594, 19.99365997314453 ]
[ 4.658203125, 98.61328125, 119.35546875, 51.50390625, 36.650390625, 19.6875 ]
2.533333
76
0
76
0
[ 4.907529830932617, 98.28841400146484, 116.5430679321289, 51.12833786010742, 37.32716369628906, 19.54327392578125 ]
[ 4.658203125, 98.525390625, 119.091796875, 51.416015625, 36.650390625, 19.775390625 ]
2.566667
77
0
77
0
[ 5.161104202270508, 98.54142761230469, 116.64288330078125, 51.18975067138672, 37.412071228027344, 19.654268264770508 ]
[ 4.74609375, 98.173828125, 119.00390625, 51.416015625, 36.650390625, 19.951171875 ]
2.6
78
0
78
0
[ 4.596040725708008, 97.54548645019531, 116.72209930419922, 51.27387237548828, 37.118431091308594, 18.66588592529297 ]
[ 4.5703125, 97.91015625, 119.00390625, 51.416015625, 36.650390625, 19.51171875 ]
2.633333
79
0
79
0
[ 4.594804763793945, 97.00260162353516, 116.75049591064453, 51.02613067626953, 37.374122619628906, 18.78103256225586 ]
[ 4.5703125, 97.91015625, 119.00390625, 51.416015625, 36.650390625, 19.423828125 ]
2.666667
80
0
80
0
[ 4.58978271484375, 96.6461181640625, 117.03952026367188, 51.02073669433594, 37.62656784057617, 17.676284790039062 ]
[ 4.5703125, 97.470703125, 118.916015625, 51.50390625, 36.650390625, 19.16015625 ]
2.7
81
0
81
0
[ 4.449972152709961, 96.54092407226562, 116.63316345214844, 51.12675094604492, 37.43811798095703, 17.03558921813965 ]
[ 4.306640625, 97.20703125, 118.828125, 51.591796875, 36.650390625, 18.6328125 ]
2.733333
82
0
82
0
[ 4.132823944091797, 95.91365814208984, 117.09891510009766, 51.167266845703125, 37.490966796875, 16.047521591186523 ]
[ 4.306640625, 96.85546875, 118.65234375, 51.591796875, 36.650390625, 18.45703125 ]
2.766667
83
0
83
0
[ 4.100553512573242, 95.67024230957031, 116.68507385253906, 51.0261116027832, 37.53715515136719, 14.759943008422852 ]
[ 4.21875, 96.416015625, 118.4765625, 51.6796875, 36.650390625, 17.9296875 ]
2.8
84
0
84
0
[ 3.662670135498047, 95.1208267211914, 117.0110855102539, 51.31464767456055, 37.46570587158203, 11.93549919128418 ]
[ 4.130859375, 96.064453125, 118.037109375, 51.6796875, 36.650390625, 17.490234375 ]
2.833333
85
0
85
0
[ 3.384336471557617, 94.69606018066406, 117.30485534667969, 51.332637786865234, 37.440982818603516, 10.385111808776855 ]
[ 4.130859375, 95.9765625, 118.037109375, 51.6796875, 36.650390625, 16.962890625 ]
2.866667
86
0
86
0
[ 3.3134632110595703, 94.45208740234375, 117.4249496459961, 51.39540100097656, 37.30572509765625, 8.8373384475708 ]
[ 3.955078125, 95.625, 118.037109375, 51.6796875, 36.650390625, 15.908203125 ]
2.9
87
0
87
0
[ 3.1447067260742188, 94.21768951416016, 117.34895324707031, 51.45521926879883, 37.248268127441406, 5.919363498687744 ]
[ 3.603515625, 94.921875, 117.94921875, 51.6796875, 36.650390625, 13.798828125 ]
2.933333
88
0
88
0
[ 3.07647705078125, 94.12247467041016, 117.59325408935547, 51.62225341796875, 37.122413635253906, 4.34975528717041 ]
[ 3.1640625, 94.5703125, 117.94921875, 51.6796875, 36.650390625, 11.953125 ]
2.966667
89
0
89
0
[ 2.800924301147461, 93.25685119628906, 117.33686828613281, 51.645347595214844, 37.2228889465332, 2.7831225395202637 ]
[ 2.98828125, 94.39453125, 117.94921875, 51.6796875, 36.650390625, 10.458984375 ]
3
90
0
90
0
[ 2.737375259399414, 93.37125396728516, 117.49200439453125, 51.703208923339844, 36.97766876220703, 0.938420295715332 ]
[ 2.8125, 94.21875, 117.94921875, 51.6796875, 36.650390625, 7.998046875 ]
3.033333
91
0
91
0
[ 2.930479049682617, 93.56208801269531, 117.3327407836914, 51.922454833984375, 36.800010681152344, -0.1538982391357422 ]
[ 2.724609375, 93.779296875, 117.94921875, 51.591796875, 36.650390625, 5.537109375 ]
3.066667
92
0
92
0
[ 2.731679916381836, 93.46974182128906, 117.08602142333984, 51.873680114746094, 36.735435485839844, -0.8527326583862305 ]
[ 2.28515625, 93.427734375, 117.861328125, 51.591796875, 36.2109375, 3.779296875 ]
3.1
93
0
93
0
[ 2.7832698822021484, 93.25569152832031, 117.05961608886719, 52.28102493286133, 36.45378875732422, -1.6995468139648438 ]
[ 2.197265625, 93.427734375, 117.861328125, 51.591796875, 36.2109375, 3.427734375 ]
3.133333
94
0
94
0
[ 2.825511932373047, 93.29350280761719, 116.29208374023438, 52.49568557739258, 36.369903564453125, -3.0036258697509766 ]
[ 2.197265625, 93.427734375, 117.861328125, 51.591796875, 36.2109375, 3.427734375 ]
3.166667
95
0
95
0
[ 2.7128028869628906, 93.55615234375, 116.58483123779297, 52.69570541381836, 36.20343780517578, -3.06402587890625 ]
[ 2.197265625, 93.427734375, 117.861328125, 51.6796875, 36.2109375, 3.33984375 ]
3.2
96
0
96
0
[ 2.786623001098633, 93.62628173828125, 115.85163116455078, 52.716651916503906, 36.26299285888672, -4.0383501052856445 ]
[ 2.197265625, 93.427734375, 117.861328125, 51.85546875, 36.2109375, 3.1640625 ]
3.233333
97
0
97
0
[ 2.6533336639404297, 93.85736083984375, 115.83255767822266, 52.72752380371094, 36.054527282714844, -4.113360404968262 ]
[ 2.197265625, 93.1640625, 117.59765625, 51.943359375, 36.2109375, 2.900390625 ]
3.266667
98
0
98
0
[ 2.7363929748535156, 94.31828308105469, 115.44969177246094, 53.05830001831055, 35.538246154785156, -4.291079521179199 ]
[ 2.197265625, 93.1640625, 117.59765625, 51.943359375, 36.2109375, 2.900390625 ]
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": 12,
    "total_frames": 8711,
    "total_tasks": 1,
    "total_videos": 24,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "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.wrist": {
            "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
            }
        },
        "observation.images.overview2": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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