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sequence | observation.state
sequence | timestamp
float32 0
19.6
| frame_index
int64 0
588
| episode_index
int64 0
9
| index
int64 0
5.87k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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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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194.23828125,
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[
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[
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[
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| 28
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[
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| 29
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[
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[
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| 31
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[
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| 32
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| 37
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[
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[
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[
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| 44
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[
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[
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[
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[
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[
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| 0
| 47
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[
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[
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194.23828125,
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| 48
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| 48
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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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193.7109375,
177.275390625,
60.380859375,
0.703125,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
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| 56
| 0
| 56
| 0
|
[
-5.2734375,
193.7109375,
177.275390625,
60.380859375,
0.703125,
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[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
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| 57
| 0
| 57
| 0
|
[
-5.2734375,
193.7109375,
177.275390625,
60.380859375,
0.703125,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
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| 58
| 0
| 58
| 0
|
[
-5.2734375,
193.7109375,
177.275390625,
60.380859375,
0.703125,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-5.2734375,
193.7109375,
177.275390625,
60.380859375,
0.703125,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
] | 2
| 60
| 0
| 60
| 0
|
[
-5.361328125,
193.7109375,
177.275390625,
60.380859375,
0.966796875,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-5.625,
193.7109375,
177.275390625,
60.380859375,
1.318359375,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-5.888671875,
193.7109375,
177.275390625,
60.380859375,
1.40625,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
0.966796875,
0.5755395889282227
] | 2.1
| 63
| 0
| 63
| 0
|
[
-6.064453125,
193.7109375,
177.275390625,
60.380859375,
1.40625,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
1.0546875,
0.5755395889282227
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-6.15234375,
193.7109375,
177.099609375,
60.29296875,
1.318359375,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
61.083984375,
1.142578125,
0.5755395889282227
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-6.15234375,
193.7109375,
176.748046875,
60.29296875,
0.87890625,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
61.083984375,
1.142578125,
0.5755395889282227
] | 2.2
| 66
| 0
| 66
| 0
|
[
-6.15234375,
193.623046875,
176.484375,
60.29296875,
0.791015625,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
60.99609375,
1.142578125,
0.5755395889282227
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-6.15234375,
193.623046875,
176.220703125,
60.29296875,
0.703125,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
60.99609375,
1.0546875,
0.5755395889282227
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-6.15234375,
193.623046875,
175.95703125,
60.29296875,
0.703125,
0.39840638637542725
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[
-5.625,
194.23828125,
177.802734375,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.3
| 69
| 0
| 69
| 0
|
[
-6.15234375,
193.53515625,
175.25390625,
60.29296875,
0.703125,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.333333
| 70
| 0
| 70
| 0
|
[
-6.15234375,
193.359375,
174.375,
60.29296875,
0.615234375,
0.39840638637542725
] |
[
-5.625,
194.23828125,
177.802734375,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.366667
| 71
| 0
| 71
| 0
|
[
-6.240234375,
193.18359375,
173.583984375,
60.29296875,
0.615234375,
0.39840638637542725
] |
[
-5.625,
194.150390625,
177.451171875,
60.99609375,
0.966796875,
0.5755395889282227
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| 72
| 0
| 72
| 0
|
[
-6.240234375,
193.0078125,
172.79296875,
60.29296875,
0.615234375,
0.39840638637542725
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[
-5.625,
193.88671875,
176.8359375,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.433333
| 73
| 0
| 73
| 0
|
[
-6.240234375,
193.0078125,
171.9140625,
60.29296875,
0.52734375,
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[
-5.625,
193.7109375,
176.1328125,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-6.240234375,
192.919921875,
171.2109375,
60.29296875,
0.52734375,
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] |
[
-5.712890625,
193.53515625,
175.341796875,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.5
| 75
| 0
| 75
| 0
|
[
-6.240234375,
192.83203125,
170.595703125,
60.29296875,
0.52734375,
0.39840638637542725
] |
[
-5.888671875,
193.447265625,
174.55078125,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-6.240234375,
192.744140625,
170.244140625,
60.29296875,
0.52734375,
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] |
[
-6.15234375,
193.359375,
173.84765625,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-6.240234375,
192.744140625,
169.892578125,
60.29296875,
0.439453125,
0.39840638637542725
] |
[
-6.240234375,
193.359375,
173.14453125,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.6
| 78
| 0
| 78
| 0
|
[
-6.240234375,
192.65625,
169.8046875,
60.29296875,
0.439453125,
0.39840638637542725
] |
[
-6.328125,
193.271484375,
172.705078125,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-6.240234375,
192.216796875,
169.8046875,
60.29296875,
0.439453125,
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[
-6.328125,
193.18359375,
172.265625,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-6.240234375,
191.42578125,
169.716796875,
60.29296875,
0.3515625,
0.3187251091003418
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[
-6.328125,
193.18359375,
172.08984375,
60.99609375,
0.966796875,
0.5755395889282227
] | 2.7
| 81
| 0
| 81
| 0
|
[
-6.240234375,
190.107421875,
169.189453125,
60.29296875,
0.3515625,
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[
-6.240234375,
192.919921875,
172.08984375,
60.99609375,
0.966796875,
0.5755395889282227
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| 82
| 0
| 82
| 0
|
[
-6.240234375,
188.0859375,
167.87109375,
60.29296875,
0.3515625,
0.3187251091003418
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[
-6.15234375,
192.3046875,
171.826171875,
60.99609375,
0.87890625,
0.5755395889282227
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| 83
| 0
| 83
| 0
|
[
-6.240234375,
185.888671875,
166.11328125,
60.29296875,
0.3515625,
0.3187251091003418
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[
-6.064453125,
191.337890625,
171.474609375,
60.99609375,
0.703125,
0.5755395889282227
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| 84
| 0
| 84
| 0
|
[
-6.328125,
182.4609375,
163.740234375,
60.29296875,
0.3515625,
0.3187251091003418
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[
-5.9765625,
189.755859375,
170.5078125,
60.99609375,
0.615234375,
0.5755395889282227
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| 85
| 0
| 85
| 0
|
[
-6.328125,
178.76953125,
161.455078125,
60.29296875,
0.3515625,
0.3187251091003418
] |
[
-5.9765625,
187.998046875,
169.1015625,
60.99609375,
0.615234375,
0.5755395889282227
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-6.328125,
174.462890625,
158.994140625,
60.29296875,
0.3515625,
0.3187251091003418
] |
[
-5.9765625,
186.064453125,
167.431640625,
60.99609375,
0.615234375,
0.5755395889282227
] | 2.9
| 87
| 0
| 87
| 0
|
[
-6.328125,
169.8046875,
156.181640625,
60.29296875,
0.3515625,
0.3187251091003418
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[
-6.064453125,
183.251953125,
165.498046875,
60.99609375,
0.615234375,
0.5755395889282227
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-6.328125,
164.794921875,
153.28125,
60.29296875,
0.439453125,
0.3187251091003418
] |
[
-6.15234375,
179.82421875,
163.212890625,
60.99609375,
0.615234375,
0.5755395889282227
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-6.328125,
159.43359375,
149.853515625,
60.29296875,
0.439453125,
0.3187251091003418
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[
-6.15234375,
175.869140625,
160.751953125,
60.99609375,
0.615234375,
0.5755395889282227
] | 3
| 90
| 0
| 90
| 0
|
[
-6.240234375,
154.599609375,
146.6015625,
60.29296875,
0.439453125,
0.3187251091003418
] |
[
-6.15234375,
171.9140625,
158.291015625,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-6.240234375,
149.677734375,
143.525390625,
60.29296875,
0.439453125,
0.3187251091003418
] |
[
-6.15234375,
167.34375,
155.478515625,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-6.240234375,
145.1953125,
140.625,
60.29296875,
0.439453125,
0.3187251091003418
] |
[
-6.15234375,
162.509765625,
152.490234375,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.1
| 93
| 0
| 93
| 0
|
[
-6.240234375,
140.712890625,
137.63671875,
60.29296875,
0.439453125,
0.3187251091003418
] |
[
-6.15234375,
157.1484375,
149.23828125,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-6.240234375,
136.93359375,
135.17578125,
60.29296875,
0.52734375,
0.39840638637542725
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[
-6.15234375,
152.578125,
146.337890625,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-6.240234375,
133.505859375,
132.890625,
60.29296875,
0.52734375,
0.39840638637542725
] |
[
-6.064453125,
148.095703125,
143.349609375,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.2
| 96
| 0
| 96
| 0
|
[
-6.240234375,
130.341796875,
130.869140625,
60.29296875,
0.52734375,
0.39840638637542725
] |
[
-6.064453125,
143.701171875,
140.44921875,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-6.240234375,
127.6171875,
129.111328125,
60.29296875,
0.52734375,
0.39840638637542725
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[
-5.9765625,
139.74609375,
138.076171875,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-6.240234375,
125.244140625,
127.6171875,
60.29296875,
0.52734375,
0.39840638637542725
] |
[
-5.9765625,
135.966796875,
135.703125,
60.99609375,
0.615234375,
0.5755395889282227
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 2,
"total_frames": 1746,
"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.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"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": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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