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observation.state
sequence
timestamp
float32
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25.7
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int64
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770
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[ 19.23485565185547, 101.41905212402344, 89.05825805664062, 81.30126190185547, 16.25613784790039, 0.07943153381347656 ]
[ 29.8828125, 95.9765625, 88.330078125, 78.486328125, 17.666015625, 0.8237232565879822 ]
2.233333
67
0
67
0
[ 15.753896713256836, 102.47064208984375, 90.58142852783203, 81.51885986328125, 15.662782669067383, 0.03434038162231445 ]
[ 27.24609375, 96.6796875, 88.330078125, 79.27734375, 17.05078125, 0.8237232565879822 ]
2.266667
68
0
68
0
[ 12.35875129699707, 103.57695770263672, 92.3509292602539, 81.58161163330078, 14.780824661254883, -0.006789684295654297 ]
[ 24.43359375, 97.55859375, 88.505859375, 79.892578125, 16.611328125, 0.8237232565879822 ]
2.3
69
0
69
0
[ 8.849579811096191, 104.51673889160156, 94.35166931152344, 81.45535278320312, 13.753586769104004, -0.05307579040527344 ]
[ 21.4453125, 98.7890625, 89.47265625, 79.98046875, 15.99609375, 0.8237232565879822 ]
2.333333
70
0
70
0
[ 5.651632308959961, 105.25787353515625, 96.15113067626953, 81.3324203491211, 12.433387756347656, -0.05105447769165039 ]
[ 18.28125, 99.66796875, 90.52734375, 80.68359375, 15.205078125, 0.8237232565879822 ]
2.366667
71
0
71
0
[ 2.525979995727539, 106.21110534667969, 98.11973571777344, 81.29949951171875, 11.015317916870117, -0.10950469970703125 ]
[ 15.029296875, 100.546875, 92.021484375, 80.419921875, 14.4140625, 0.8237232565879822 ]
2.4
72
0
72
0
[ -0.22867870330810547, 106.849853515625, 99.79276275634766, 81.28878021240234, 9.678901672363281, -0.14223098754882812 ]
[ 11.6015625, 101.6015625, 93.8671875, 80.771484375, 13.359375, 0.8237232565879822 ]
2.433333
73
0
73
0
[ -2.578162670135498, 107.14215087890625, 101.453125, 81.24724578857422, 8.385978698730469, -0.15180015563964844 ]
[ 8.173828125, 102.65625, 95.712890625, 80.859375, 12.48046875, 0.8237232565879822 ]
2.466667
74
0
74
0
[ -4.4507832527160645, 107.74783325195312, 103.02796173095703, 81.14531707763672, 7.316235542297363, -0.19374513626098633 ]
[ 4.74609375, 103.271484375, 97.3828125, 80.859375, 11.337890625, 0.8237232565879822 ]
2.5
75
0
75
0
[ -5.904831409454346, 108.25857543945312, 104.61784362792969, 80.98347473144531, 6.548970699310303, -0.17719793319702148 ]
[ 1.93359375, 103.974609375, 98.701171875, 80.68359375, 9.931640625, 0.8237232565879822 ]
2.533333
76
0
76
0
[ -6.620270252227783, 108.322265625, 106.02627563476562, 80.75099182128906, 5.964748382568359, -0.21500778198242188 ]
[ -0.3515625, 104.58984375, 100.546875, 80.5078125, 8.7890625, 0.8237232565879822 ]
2.566667
77
0
77
0
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[ -2.109375, 105.205078125, 102.392578125, 80.947265625, 7.734375, 0.8237232565879822 ]
2.6
78
0
78
0
[ -7.006158351898193, 108.66224670410156, 108.53274536132812, 80.04401397705078, 5.4196014404296875, -0.23601770401000977 ]
[ -3.603515625, 105.46875, 103.7109375, 80.5078125, 6.6796875, 0.8237232565879822 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -5.185546875, 105.99609375, 106.69921875, 80.419921875, 5.80078125, 0.8237232565879822 ]
2.7
81
0
81
0
[ -6.668008327484131, 108.11200714111328, 110.931396484375, 78.57807922363281, 5.551828384399414, -0.20842218399047852 ]
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2.733333
82
0
82
0
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[ -5.2734375, 106.171875, 108.80859375, 79.541015625, 5.2734375, 0.8237232565879822 ]
2.766667
83
0
83
0
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[ -5.2734375, 106.259765625, 109.51171875, 79.1015625, 5.2734375, 0.8237232565879822 ]
2.8
84
0
84
0
[ -6.124741077423096, 106.9305648803711, 112.02655792236328, 76.05784606933594, 6.500238418579102, -0.11017227172851562 ]
[ -5.2734375, 106.259765625, 110.0390625, 78.134765625, 5.2734375, 0.8237232565879822 ]
2.833333
85
0
85
0
[ -5.815694332122803, 106.80349731445312, 112.46485900878906, 75.08039855957031, 6.936056137084961, -0.11176204681396484 ]
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2.866667
86
0
86
0
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[ -5.44921875, 106.083984375, 111.357421875, 77.255859375, 5.625, 0.8237232565879822 ]
2.9
87
0
87
0
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[ -5.44921875, 105.8203125, 111.884765625, 76.376953125, 5.712890625, 0.8237232565879822 ]
2.933333
88
0
88
0
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[ -5.185546875, 105.8203125, 111.884765625, 75.41015625, 6.064453125, 0.8237232565879822 ]
2.966667
89
0
89
0
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[ -5.009765625, 105.908203125, 112.236328125, 74.443359375, 6.50390625, 0.8237232565879822 ]
3
90
0
90
0
[ -3.6148924827575684, 106.13668823242188, 113.15482330322266, 70.67294311523438, 9.795919418334961, 1.1687531471252441 ]
[ -5.009765625, 105.46875, 112.763671875, 73.564453125, 6.767578125, 0.8237232565879822 ]
3.033333
91
0
91
0
[ -3.030792713165283, 106.51036071777344, 113.09275817871094, 70.1558609008789, 10.378546714782715, 2.4879488945007324 ]
[ -5.09765625, 105.1171875, 112.8515625, 72.509765625, 7.91015625, 0.8237232565879822 ]
3.066667
92
0
92
0
[ -2.4593567848205566, 106.88626861572266, 112.79769897460938, 69.94298553466797, 10.818779945373535, 3.6064414978027344 ]
[ -4.74609375, 105.29296875, 112.8515625, 71.71875, 8.26171875, 0.906095564365387 ]
3.1
93
0
93
0
[ -2.2319607734680176, 107.11289978027344, 112.66478729248047, 70.04630279541016, 10.891508102416992, 5.576624870300293 ]
[ -4.04296875, 105.380859375, 112.763671875, 71.015625, 8.61328125, 0.9884678721427917 ]
3.133333
94
0
94
0
[ -2.194087505340576, 107.82599639892578, 112.4698486328125, 70.37088012695312, 10.908585548400879, 7.745011806488037 ]
[ -3.33984375, 105.29296875, 112.8515625, 70.400390625, 9.31640625, 1.56507408618927 ]
3.166667
95
0
95
0
[ -2.250673770904541, 108.35221862792969, 112.54276275634766, 70.643798828125, 10.738916397094727, 10.888643264770508 ]
[ -2.724609375, 105.29296875, 112.8515625, 70.224609375, 9.404296875, 2.7182867527008057 ]
3.2
96
0
96
0
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[ -2.373046875, 105.556640625, 112.8515625, 70.3125, 9.404296875, 4.283360958099365 ]
3.233333
97
0
97
0
[ -2.232422351837158, 109.53500366210938, 112.66780853271484, 70.74098205566406, 10.87240219116211, 16.326932907104492 ]
[ -2.28515625, 105.8203125, 112.8515625, 70.224609375, 9.404296875, 6.26029634475708 ]
3.266667
98
0
98
0
[ -1.7464203834533691, 110.10857391357422, 112.7468490600586, 70.61009979248047, 11.233724594116211, 17.833847045898438 ]
[ -2.28515625, 106.435546875, 112.8515625, 70.224609375, 9.580078125, 8.649093627929688 ]
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": 10,
    "total_frames": 7653,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
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            "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": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
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            "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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