Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
16.9
| frame_index
int64 0
508
| episode_index
int64 0
99
| index
int64 0
50.8k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
16.962890625,
117.421875,
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[
17.314453125,
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119.53125,
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[
16.962890625,
117.421875,
121.552734375,
75.76171875,
15.1171875,
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[
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117.421875,
121.552734375,
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[
17.314453125,
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[
16.962890625,
117.421875,
121.552734375,
75.76171875,
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[
17.314453125,
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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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[
17.314453125,
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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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20
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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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90,
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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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[
60.8203125,
82.44140625,
78.57421875,
83.583984375,
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[
64.072265625,
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[
61.611328125,
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[
64.423828125,
78.837890625,
74.70703125,
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[
62.490234375,
80.5078125,
77.6953125,
83.583984375,
12.3046875,
21.04863166809082
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[
64.599609375,
77.6953125,
74.1796875,
82.96875,
11.6015625,
21.441442489624023
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[
63.28125,
79.541015625,
77.255859375,
83.408203125,
12.041015625,
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[
64.6875,
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[
63.80859375,
78.3984375,
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83.408203125,
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[
64.6875,
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82.79296875,
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[
64.072265625,
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83.408203125,
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[
64.51171875,
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[
64.16015625,
76.640625,
75.9375,
83.408203125,
12.041015625,
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[
64.3359375,
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[
64.248046875,
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[
63.984375,
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[
64.248046875,
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[
63.45703125,
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[
64.16015625,
72.158203125,
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82.96875,
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[
63.017578125,
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65.390625,
82.353515625,
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[
64.16015625,
70.13671875,
71.455078125,
82.880859375,
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[
62.578125,
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63.896484375,
82.353515625,
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[
64.072265625,
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[
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[
63.80859375,
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[
61.611328125,
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82.353515625,
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[
63.369140625,
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66.796875,
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[
61.171875,
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[
62.75390625,
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[
60.732421875,
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[
62.314453125,
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64.16015625,
82.705078125,
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[
60.205078125,
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[
61.875,
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[
59.677734375,
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[
61.435546875,
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82.705078125,
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[
59.0625,
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82.177734375,
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[
60.99609375,
59.0625,
61.69921875,
82.6171875,
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[
58.447265625,
58.623046875,
58.623046875,
81.9140625,
12.392578125,
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[
60.46875,
58.53515625,
61.259765625,
82.6171875,
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| 76
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[
57.83203125,
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[
59.853515625,
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82.6171875,
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| 77
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[
57.216796875,
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81.9140625,
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[
59.326171875,
58.18359375,
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82.353515625,
12.041015625,
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| 78
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[
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[
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| 79
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[
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[
55.72265625,
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[
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[
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[
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[
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[
56.513671875,
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[
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[
55.986328125,
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[
54.31640625,
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[
55.634765625,
56.865234375,
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| 85
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[
54.140625,
57.041015625,
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81.650390625,
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[
55.283203125,
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| 86
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[
53.96484375,
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[
54.931640625,
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[
53.876953125,
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81.650390625,
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[
54.66796875,
56.689453125,
60.46875,
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13.18359375,
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[
53.7890625,
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[
54.404296875,
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[
53.7890625,
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[
54.228515625,
56.25,
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| 90
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[
53.701171875,
56.25,
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81.650390625,
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[
54.228515625,
56.162109375,
60.46875,
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| 91
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| 91
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[
53.61328125,
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59.0625,
81.5625,
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[
54.228515625,
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60.46875,
82.001953125,
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[
53.525390625,
55.634765625,
59.0625,
81.5625,
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[
54.140625,
55.546875,
60.46875,
82.001953125,
13.447265625,
22.948328018188477
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| 93
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|
[
53.4375,
55.37109375,
59.0625,
81.5625,
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[
54.052734375,
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82.001953125,
13.447265625,
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| 94
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[
53.4375,
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59.0625,
81.5625,
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[
53.96484375,
54.931640625,
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[
53.4375,
55.01953125,
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[
53.96484375,
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[
53.4375,
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[
53.96484375,
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[
53.4375,
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81.5625,
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[
53.96484375,
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| 0
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[
53.4375,
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[
53.96484375,
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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": 100,
"total_frames": 50800,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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": {
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1
],
"names": null
},
"episode_index": {
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"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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