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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
-1.845703125,
105.1171875,
125.68359375,
29.35546875,
-78.310546875,
31.36219596862793
] | [
-4.658203125,
155.654296875,
147.919921875,
30.498046875,
-79.1015625,
30.66783905029297
] | 0 | 0 | 0 | 0 | 0 |
[
-1.7578125,
104.501953125,
124.8046875,
29.443359375,
-78.134765625,
31.36219596862793
] | [
-4.833984375,
148.095703125,
142.3828125,
30.146484375,
-78.837890625,
30.66783905029297
] | 0.033333 | 1 | 0 | 1 | 0 |
[
-1.7578125,
104.150390625,
123.837890625,
29.8828125,
-77.87109375,
31.36219596862793
] | [
-3.8671875,
139.39453125,
137.28515625,
29.970703125,
-79.1015625,
30.843585968017578
] | 0.066667 | 2 | 0 | 2 | 0 |
[
-1.7578125,
104.0625,
123.486328125,
29.970703125,
-77.6953125,
31.36219596862793
] | [
-2.724609375,
130.166015625,
132.5390625,
29.970703125,
-78.310546875,
30.843585968017578
] | 0.1 | 3 | 0 | 3 | 0 |
[
-1.7578125,
103.974609375,
123.310546875,
29.970703125,
-77.607421875,
31.256601333618164
] | [
-2.021484375,
121.2890625,
129.55078125,
29.970703125,
-78.046875,
30.843585968017578
] | 0.133333 | 4 | 0 | 4 | 0 |
[
-1.7578125,
103.974609375,
123.310546875,
29.970703125,
-77.51953125,
31.256601333618164
] | [
-2.021484375,
114.345703125,
128.408203125,
30.05859375,
-78.046875,
30.843585968017578
] | 0.166667 | 5 | 0 | 5 | 0 |
[
-1.7578125,
103.974609375,
123.310546875,
30.05859375,
-77.51953125,
31.256601333618164
] | [
-2.8125,
109.599609375,
127.79296875,
30.05859375,
-77.958984375,
30.93145751953125
] | 0.2 | 6 | 0 | 6 | 0 |
[
-1.7578125,
103.974609375,
123.310546875,
30.05859375,
-77.431640625,
31.256601333618164
] | [
-2.724609375,
107.05078125,
127.44140625,
30.05859375,
-78.134765625,
31.019332885742188
] | 0.233333 | 7 | 0 | 7 | 0 |
[
-1.7578125,
103.798828125,
123.3984375,
30.05859375,
-77.255859375,
31.256601333618164
] | [
-2.373046875,
105.732421875,
127.001953125,
30.05859375,
-77.958984375,
31.019332885742188
] | 0.266667 | 8 | 0 | 8 | 0 |
[
-1.7578125,
103.53515625,
123.57421875,
30.05859375,
-77.255859375,
31.151002883911133
] | [
-1.669921875,
104.853515625,
126.474609375,
30.05859375,
-77.6953125,
31.019332885742188
] | 0.3 | 9 | 0 | 9 | 0 |
[
-1.7578125,
103.271484375,
123.75,
30.05859375,
-77.080078125,
31.045406341552734
] | [
-1.58203125,
104.150390625,
126.2109375,
30.05859375,
-77.16796875,
31.019332885742188
] | 0.333333 | 10 | 0 | 10 | 0 |
[
-1.7578125,
103.0078125,
123.92578125,
30.05859375,
-76.904296875,
31.045406341552734
] | [
-1.93359375,
103.974609375,
126.2109375,
30.05859375,
-77.16796875,
31.019332885742188
] | 0.366667 | 11 | 0 | 11 | 0 |
[
-1.845703125,
102.65625,
123.92578125,
30.05859375,
-76.640625,
31.045406341552734
] | [
-2.373046875,
103.798828125,
126.123046875,
30.05859375,
-77.34375,
31.019332885742188
] | 0.4 | 12 | 0 | 12 | 0 |
[
-1.93359375,
102.392578125,
123.92578125,
30.05859375,
-76.376953125,
31.045406341552734
] | [
-2.373046875,
103.18359375,
126.03515625,
30.05859375,
-77.51953125,
31.019332885742188
] | 0.433333 | 13 | 0 | 13 | 0 |
[
-2.021484375,
102.216796875,
124.1015625,
30.05859375,
-76.2890625,
31.045406341552734
] | [
-2.197265625,
103.0078125,
126.03515625,
30.05859375,
-77.255859375,
31.019332885742188
] | 0.466667 | 14 | 0 | 14 | 0 |
[
-2.28515625,
102.12890625,
124.365234375,
30.05859375,
-76.201171875,
30.517423629760742
] | [
-1.669921875,
102.744140625,
126.123046875,
30.05859375,
-77.16796875,
31.019332885742188
] | 0.5 | 15 | 0 | 15 | 0 |
[
-2.4609375,
101.953125,
124.716796875,
30.05859375,
-76.11328125,
30.517423629760742
] | [
-1.494140625,
102.744140625,
126.03515625,
30.05859375,
-76.81640625,
31.019332885742188
] | 0.533333 | 16 | 0 | 16 | 0 |
[
-2.63671875,
101.77734375,
125.068359375,
30.05859375,
-76.025390625,
30.411827087402344
] | [
-1.494140625,
102.744140625,
126.03515625,
30.05859375,
-76.728515625,
31.019332885742188
] | 0.566667 | 17 | 0 | 17 | 0 |
[
-2.900390625,
101.513671875,
125.33203125,
30.05859375,
-75.849609375,
30.411827087402344
] | [
-1.93359375,
102.65625,
126.03515625,
30.05859375,
-76.728515625,
31.019332885742188
] | 0.6 | 18 | 0 | 18 | 0 |
[
-2.98828125,
101.25,
125.5078125,
30.05859375,
-75.673828125,
30.411827087402344
] | [
-2.197265625,
102.041015625,
126.03515625,
30.05859375,
-76.728515625,
31.019332885742188
] | 0.633333 | 19 | 0 | 19 | 0 |
[
-3.251953125,
101.07421875,
125.771484375,
30.05859375,
-75.41015625,
30.411827087402344
] | [
-2.548828125,
101.77734375,
126.03515625,
30.05859375,
-76.552734375,
31.019332885742188
] | 0.666667 | 20 | 0 | 20 | 0 |
[
-3.515625,
100.72265625,
125.859375,
30.05859375,
-75.05859375,
30.411827087402344
] | [
-2.724609375,
101.6015625,
126.03515625,
30.05859375,
-76.46484375,
30.93145751953125
] | 0.7 | 21 | 0 | 21 | 0 |
[
-3.779296875,
100.458984375,
125.947265625,
30.05859375,
-74.794921875,
30.411827087402344
] | [
-2.724609375,
101.6015625,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.733333 | 22 | 0 | 22 | 0 |
[
-4.04296875,
100.1953125,
126.03515625,
30.05859375,
-74.443359375,
30.306228637695312
] | [
-2.63671875,
101.6015625,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.766667 | 23 | 0 | 23 | 0 |
[
-4.39453125,
100.01953125,
126.123046875,
30.05859375,
-74.091796875,
30.200634002685547
] | [
-2.548828125,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.8 | 24 | 0 | 24 | 0 |
[
-4.658203125,
99.931640625,
126.2109375,
30.05859375,
-73.828125,
29.989439010620117
] | [
-2.4609375,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.833333 | 25 | 0 | 25 | 0 |
[
-4.921875,
99.755859375,
126.38671875,
30.05859375,
-73.740234375,
29.567054748535156
] | [
-2.4609375,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.866667 | 26 | 0 | 26 | 0 |
[
-5.2734375,
99.755859375,
126.73828125,
30.05859375,
-73.4765625,
29.144668579101562
] | [
-2.4609375,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.9 | 27 | 0 | 27 | 0 |
[
-5.625,
99.755859375,
127.001953125,
30.05859375,
-73.388671875,
29.03907012939453
] | [
-2.548828125,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.933333 | 28 | 0 | 28 | 0 |
[
-6.064453125,
99.66796875,
127.353515625,
30.05859375,
-73.212890625,
28.933473587036133
] | [
-2.548828125,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 0.966667 | 29 | 0 | 29 | 0 |
[
-6.50390625,
99.66796875,
127.79296875,
30.05859375,
-72.7734375,
28.722280502319336
] | [
-2.548828125,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 1 | 30 | 0 | 30 | 0 |
[
-7.03125,
99.66796875,
128.232421875,
30.05859375,
-72.333984375,
28.40549087524414
] | [
-2.548828125,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 1.033333 | 31 | 0 | 31 | 0 |
[
-7.294921875,
99.580078125,
128.671875,
30.05859375,
-72.0703125,
28.40549087524414
] | [
-2.63671875,
101.513671875,
126.03515625,
30.05859375,
-76.2890625,
30.75571060180664
] | 1.066667 | 32 | 0 | 32 | 0 |
[
-7.646484375,
99.31640625,
129.0234375,
30.05859375,
-71.54296875,
28.40549087524414
] | [
-2.63671875,
101.42578125,
126.03515625,
30.05859375,
-76.2890625,
30.66783905029297
] | 1.1 | 33 | 0 | 33 | 0 |
[
-7.91015625,
99.052734375,
129.375,
30.05859375,
-71.19140625,
28.511089324951172
] | [
-2.98828125,
100.72265625,
126.5625,
29.8828125,
-75.146484375,
29.789104461669922
] | 1.133333 | 34 | 0 | 34 | 0 |
[
-8.173828125,
98.7890625,
129.7265625,
30.05859375,
-70.751953125,
28.616683959960938
] | [
-4.658203125,
99.755859375,
128.056640625,
29.619140625,
-73.037109375,
29.173988342285156
] | 1.166667 | 35 | 0 | 35 | 0 |
[
-8.4375,
98.4375,
129.90234375,
30.05859375,
-70.224609375,
28.616683959960938
] | [
-6.6796875,
98.876953125,
129.287109375,
30.234375,
-72.59765625,
29.086116790771484
] | 1.2 | 36 | 0 | 36 | 0 |
[
-8.61328125,
98.26171875,
130.078125,
30.05859375,
-69.873046875,
28.722280502319336
] | [
-7.119140625,
98.61328125,
129.462890625,
30.234375,
-72.421875,
28.910367965698242
] | 1.233333 | 37 | 0 | 37 | 0 |
[
-8.876953125,
98.173828125,
130.166015625,
30.05859375,
-69.609375,
28.722280502319336
] | [
-6.6796875,
98.96484375,
129.287109375,
30.146484375,
-71.982421875,
28.910367965698242
] | 1.266667 | 38 | 0 | 38 | 0 |
[
-8.96484375,
98.173828125,
130.25390625,
30.05859375,
-69.521484375,
28.722280502319336
] | [
-6.591796875,
98.96484375,
129.287109375,
29.970703125,
-71.19140625,
28.82249641418457
] | 1.3 | 39 | 0 | 39 | 0 |
[
-8.96484375,
98.173828125,
130.341796875,
30.05859375,
-69.521484375,
28.722280502319336
] | [
-6.943359375,
98.525390625,
129.55078125,
30.146484375,
-71.3671875,
28.29525375366211
] | 1.333333 | 40 | 0 | 40 | 0 |
[
-8.876953125,
98.173828125,
130.341796875,
30.05859375,
-69.521484375,
28.827878952026367
] | [
-7.91015625,
98.4375,
129.7265625,
30.234375,
-71.54296875,
28.29525375366211
] | 1.366667 | 41 | 0 | 41 | 0 |
[
-8.7890625,
98.173828125,
130.341796875,
30.05859375,
-69.697265625,
28.827878952026367
] | [
-7.998046875,
98.701171875,
129.638671875,
30.146484375,
-71.806640625,
28.383127212524414
] | 1.4 | 42 | 0 | 42 | 0 |
[
-8.701171875,
98.0859375,
130.341796875,
29.8828125,
-69.78515625,
28.827878952026367
] | [
-7.646484375,
98.7890625,
129.55078125,
30.146484375,
-71.630859375,
28.383127212524414
] | 1.433333 | 43 | 0 | 43 | 0 |
[
-8.61328125,
97.998046875,
130.341796875,
29.70703125,
-69.873046875,
28.722280502319336
] | [
-7.20703125,
98.525390625,
129.7265625,
30.146484375,
-71.455078125,
28.383127212524414
] | 1.466667 | 44 | 0 | 44 | 0 |
[
-8.61328125,
97.998046875,
130.25390625,
29.70703125,
-69.873046875,
28.511089324951172
] | [
-7.20703125,
98.4375,
129.814453125,
30.234375,
-70.927734375,
28.383127212524414
] | 1.5 | 45 | 0 | 45 | 0 |
[
-8.61328125,
97.822265625,
130.078125,
29.70703125,
-69.873046875,
28.299894332885742
] | [
-7.470703125,
98.61328125,
129.7265625,
30.234375,
-71.015625,
28.383127212524414
] | 1.533333 | 46 | 0 | 46 | 0 |
[
-8.61328125,
97.646484375,
129.90234375,
29.70703125,
-69.78515625,
27.983104705810547
] | [
-8.0859375,
98.701171875,
129.638671875,
30.146484375,
-71.3671875,
28.383127212524414
] | 1.566667 | 47 | 0 | 47 | 0 |
[
-8.61328125,
97.3828125,
129.638671875,
29.70703125,
-69.609375,
27.56071662902832
] | [
-8.26171875,
98.61328125,
129.7265625,
30.146484375,
-71.3671875,
28.383127212524414
] | 1.6 | 48 | 0 | 48 | 0 |
[
-8.525390625,
97.119140625,
129.375,
29.8828125,
-69.521484375,
27.349525451660156
] | [
-8.173828125,
98.525390625,
129.814453125,
30.234375,
-71.3671875,
28.383127212524414
] | 1.633333 | 49 | 0 | 49 | 0 |
[
-8.525390625,
96.767578125,
129.287109375,
29.8828125,
-69.521484375,
27.349525451660156
] | [
-7.646484375,
98.61328125,
129.7265625,
30.234375,
-71.3671875,
28.383127212524414
] | 1.666667 | 50 | 0 | 50 | 0 |
[
-8.525390625,
96.328125,
129.19921875,
29.70703125,
-69.43359375,
27.13833236694336
] | [
-7.55859375,
98.61328125,
129.7265625,
30.146484375,
-71.19140625,
28.383127212524414
] | 1.7 | 51 | 0 | 51 | 0 |
[
-8.525390625,
95.888671875,
129.0234375,
29.619140625,
-69.43359375,
27.13833236694336
] | [
-7.646484375,
98.61328125,
129.7265625,
30.146484375,
-71.015625,
28.383127212524414
] | 1.733333 | 52 | 0 | 52 | 0 |
[
-8.525390625,
95.537109375,
128.84765625,
29.619140625,
-69.43359375,
27.03273582458496
] | [
-8.0859375,
98.61328125,
129.7265625,
30.146484375,
-71.015625,
28.383127212524414
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-8.525390625,
95.2734375,
128.49609375,
29.619140625,
-69.169921875,
27.03273582458496
] | [
-8.26171875,
98.61328125,
129.7265625,
30.146484375,
-71.3671875,
28.383127212524414
] | 1.8 | 54 | 0 | 54 | 0 |
[
-8.525390625,
94.921875,
128.14453125,
29.619140625,
-68.90625,
27.13833236694336
] | [
-8.26171875,
98.61328125,
129.7265625,
30.146484375,
-71.3671875,
28.383127212524414
] | 1.833333 | 55 | 0 | 55 | 0 |
[
-8.525390625,
94.74609375,
127.79296875,
29.8828125,
-68.73046875,
27.13833236694336
] | [
-8.0859375,
98.61328125,
129.7265625,
30.146484375,
-71.19140625,
28.383127212524414
] | 1.866667 | 56 | 0 | 56 | 0 |
[
-8.525390625,
94.482421875,
127.529296875,
29.970703125,
-68.5546875,
27.13833236694336
] | [
-7.822265625,
98.61328125,
129.7265625,
30.146484375,
-71.015625,
28.383127212524414
] | 1.9 | 57 | 0 | 57 | 0 |
[
-8.4375,
94.21875,
127.177734375,
29.970703125,
-68.115234375,
27.13833236694336
] | [
-7.646484375,
98.61328125,
129.7265625,
30.146484375,
-71.19140625,
28.383127212524414
] | 1.933333 | 58 | 0 | 58 | 0 |
[
-8.26171875,
93.955078125,
126.826171875,
30.05859375,
-67.8515625,
27.13833236694336
] | [
-7.646484375,
98.61328125,
129.7265625,
30.146484375,
-71.19140625,
28.383127212524414
] | 1.966667 | 59 | 0 | 59 | 0 |
[
-8.0859375,
93.69140625,
126.38671875,
30.05859375,
-67.8515625,
27.13833236694336
] | [
-7.734375,
98.61328125,
129.7265625,
30.146484375,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1798,
"total_tasks": 1,
"total_videos": 2,
"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.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
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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