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action
sequence | observation.state
sequence | timestamp
float32 0
43.5
| frame_index
int64 0
1.31k
| episode_index
int64 0
40
| index
int64 0
53.5k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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108.984375,
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[
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[
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[
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[
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[
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[
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[
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[
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| 11
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[
-1.494140625,
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109.3359375,
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[
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[
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[
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| 13
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[
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[
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[
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123.75,
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[
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[
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[
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[
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[
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| 17
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[
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[
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| 0
| 18
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[
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[
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| 19
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[
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[
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| 0
| 20
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[
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[
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| 21
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[
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[
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[
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[
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| 23
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[
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[
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[
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[
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[
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[
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| 26
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[
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[
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[
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[
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| 0
| 28
| 0
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[
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[
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| 0
| 29
| 0
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[
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[
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| 30
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[
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[
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| 31
| 0
| 31
| 0
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[
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[
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| 0
| 32
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[
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[
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| 33
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[
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[
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| 34
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[
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[
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[
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| 36
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[
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| 37
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[
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| 38
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[
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[
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[
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| 40
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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| 89
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[
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[
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[
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[
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| 91
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[
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[
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[
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[
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| 93
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[
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[
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90.087890625,
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| 94
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[
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[
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[
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[
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| 96
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[
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[
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[
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[
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123.75,
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| 98
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[
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[
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121.81640625,
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| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 1297,
"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": {
"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": "av1",
"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": "av1",
"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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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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