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float32
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int64
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[ -1.7945289611816406, 105.50443267822266, 123.5015640258789, 40.740638732910156, -17.672840118408203, 22.94542121887207 ]
[ -0.615234375, 106.611328125, 125.068359375, 39.7265625, -16.611328125, 21.447484970092773 ]
2.2
66
0
66
0
[ -1.5488643646240234, 103.86422729492188, 122.97200775146484, 40.361366271972656, -17.820331573486328, 23.2115535736084 ]
[ -0.791015625, 105.205078125, 124.541015625, 39.462890625, -16.5234375, 21.712268829345703 ]
2.233333
67
0
67
0
[ -1.5169181823730469, 100.88673400878906, 121.4349594116211, 40.54052734375, -18.16913414001465, 24.135116577148438 ]
[ -0.791015625, 103.7109375, 123.486328125, 39.462890625, -16.611328125, 22.24183464050293 ]
2.266667
68
0
68
0
[ -1.9320869445800781, 99.95186614990234, 120.8679428100586, 40.43500518798828, -18.171659469604492, 24.383943557739258 ]
[ -0.966796875, 100.634765625, 122.255859375, 39.638671875, -17.314453125, 23.389232635498047 ]
2.3
69
0
69
0
[ -1.874032974243164, 98.13420104980469, 119.81452178955078, 40.45613098144531, -18.249347686767578, 24.930980682373047 ]
[ -0.87890625, 99.052734375, 121.81640625, 40.078125, -17.578125, 23.477493286132812 ]
2.333333
70
0
70
0
[ -2.0264530181884766, 96.73662567138672, 119.29700469970703, 40.26752853393555, -18.484874725341797, 25.147563934326172 ]
[ -0.703125, 97.998046875, 120.9375, 40.166015625, -17.666015625, 23.477493286132812 ]
2.366667
71
0
71
0
[ -1.7209396362304688, 94.91635131835938, 118.43705749511719, 40.10893249511719, -19.026229858398438, 25.33340835571289 ]
[ -1.494140625, 96.328125, 120.498046875, 40.166015625, -17.578125, 24.360105514526367 ]
2.4
72
0
72
0
[ -1.8637313842773438, 93.8314208984375, 117.83013916015625, 40.08366775512695, -19.277515411376953, 25.551666259765625 ]
[ -1.40625, 94.39453125, 119.443359375, 39.814453125, -18.45703125, 24.53662872314453 ]
2.433333
73
0
73
0
[ -1.7747955322265625, 92.18263244628906, 116.8428955078125, 40.06398010253906, -19.194433212280273, 25.888246536254883 ]
[ -1.0546875, 93.427734375, 118.4765625, 40.166015625, -18.544921875, 24.53662872314453 ]
2.466667
74
0
74
0
[ -1.9928035736083984, 91.20545959472656, 116.58392333984375, 39.88154220581055, -19.395116806030273, 26.10367202758789 ]
[ -1.0546875, 92.28515625, 117.333984375, 40.166015625, -18.80859375, 24.53662872314453 ]
2.5
75
0
75
0
[ -1.844390869140625, 90.44233703613281, 116.09220123291016, 39.92658615112305, -19.748645782470703, 26.053974151611328 ]
[ -1.0546875, 91.40625, 116.89453125, 39.638671875, -18.80859375, 25.419240951538086 ]
2.533333
76
0
76
0
[ -2.273588180541992, 89.69430541992188, 115.81770324707031, 39.8094482421875, -19.970373153686523, 26.03445053100586 ]
[ -1.0546875, 90.791015625, 116.71875, 39.55078125, -18.896484375, 25.59576416015625 ]
2.566667
77
0
77
0
[ -2.633150100708008, 89.15982055664062, 115.73294067382812, 39.67522048950195, -20.480871200561523, 25.83544921875 ]
[ -1.318359375, 89.560546875, 115.83984375, 39.55078125, -18.896484375, 25.59576416015625 ]
2.6
78
0
78
0
[ -2.3674697875976562, 88.44049072265625, 115.27011108398438, 39.600914001464844, -20.4104061126709, 25.569719314575195 ]
[ -1.40625, 89.47265625, 115.6640625, 39.55078125, -19.423828125, 25.50750160217285 ]
2.633333
79
0
79
0
[ -2.5615291595458984, 88.00469207763672, 115.1075210571289, 39.52857208251953, -20.4435977935791, 25.470136642456055 ]
[ -1.40625, 88.681640625, 115.6640625, 39.55078125, -19.51171875, 25.419240951538086 ]
2.666667
80
0
80
0
[ -2.825235366821289, 87.76805114746094, 115.04023742675781, 39.48461151123047, -20.438983917236328, 24.996139526367188 ]
[ -1.40625, 88.505859375, 115.6640625, 39.55078125, -19.51171875, 25.419240951538086 ]
2.7
81
0
81
0
[ -3.0659008026123047, 87.87715911865234, 115.54061126708984, 39.134822845458984, -21.133028030395508, 23.738597869873047 ]
[ -1.40625, 87.802734375, 115.6640625, 39.55078125, -19.51171875, 24.53662872314453 ]
2.733333
82
0
82
0
[ -3.1008129119873047, 87.87687683105469, 115.71247863769531, 39.06251907348633, -21.360950469970703, 22.988656997680664 ]
[ -2.109375, 87.626953125, 115.576171875, 39.55078125, -20.478515625, 23.389232635498047 ]
2.766667
83
0
83
0
[ -3.4498748779296875, 87.87389373779297, 116.09927368164062, 38.62051010131836, -21.81077003479004, 18.524978637695312 ]
[ -2.197265625, 87.626953125, 115.576171875, 39.55078125, -20.654296875, 22.594881057739258 ]
2.8
84
0
84
0
[ -3.498697280883789, 87.77738952636719, 116.16493225097656, 38.713985443115234, -22.00387191772461, 16.42089080810547 ]
[ -2.197265625, 87.626953125, 115.83984375, 38.84765625, -20.654296875, 20.03530502319336 ]
2.833333
85
0
85
0
[ -3.9225902557373047, 87.81686401367188, 116.59304809570312, 38.431026458740234, -22.564069747924805, 11.09046459197998 ]
[ -2.197265625, 87.626953125, 115.83984375, 38.84765625, -21.357421875, 17.034421920776367 ]
2.866667
86
0
86
0
[ -4.313346862792969, 88.17208862304688, 117.14639282226562, 38.24244689941406, -23.169071197509766, 6.2434539794921875 ]
[ -2.197265625, 87.626953125, 115.83984375, 38.84765625, -21.533203125, 12.974403381347656 ]
2.9
87
0
87
0
[ -4.384496688842773, 88.91461181640625, 117.87101745605469, 38.219688415527344, -24.1502742767334, 4.341434001922607 ]
[ -2.8125, 87.890625, 116.630859375, 38.759765625, -22.412109375, 8.384819030761719 ]
2.933333
88
0
88
0
[ -4.511209487915039, 89.37455749511719, 118.00967407226562, 37.970458984375, -24.265026092529297, 2.5692758560180664 ]
[ -2.8125, 87.890625, 116.806640625, 38.49609375, -23.466796875, 5.030891418457031 ]
2.966667
89
0
89
0
[ -4.26258659362793, 90.80122375488281, 118.75418090820312, 37.75916290283203, -24.196500778198242, 1.178415298461914 ]
[ -2.8125, 88.59375, 117.509765625, 37.6171875, -23.73046875, 3.089143991470337 ]
3
90
0
90
0
[ -4.196628570556641, 91.59777069091797, 119.06179809570312, 37.54054641723633, -24.05345344543457, 0.5746049880981445 ]
[ -2.8125, 88.9453125, 117.59765625, 37.44140625, -23.73046875, 1.8534862995147705 ]
3.033333
91
0
91
0
[ -4.034299850463867, 93.30751037597656, 119.71183776855469, 37.33387756347656, -24.040435791015625, 0.3984718322753906 ]
[ -2.8125, 90.3515625, 118.4765625, 37.44140625, -23.73046875, 0.8826125264167786 ]
3.066667
92
0
92
0
[ -3.9537696838378906, 94.35289764404297, 120.41207885742188, 37.1447639465332, -24.122976303100586, 0.2910909652709961 ]
[ -2.8125, 91.93359375, 118.65234375, 36.9140625, -23.73046875, 0.6178287863731384 ]
3.1
93
0
93
0
[ -3.709226608276367, 95.91185760498047, 120.95527648925781, 36.99211502075195, -23.863800048828125, 0.23519611358642578 ]
[ -2.724609375, 92.724609375, 119.619140625, 36.9140625, -23.73046875, 0.6178287863731384 ]
3.133333
94
0
94
0
[ -3.8147144317626953, 98.12244415283203, 122.08721160888672, 36.789268493652344, -24.139753341674805, 0.2748441696166992 ]
[ -2.724609375, 93.33984375, 119.794921875, 36.5625, -23.291015625, 0.6178287863731384 ]
3.166667
95
0
95
0
[ -3.5796566009521484, 99.6029052734375, 122.68099212646484, 36.65789031982422, -23.853063583374023, 0.33510875701904297 ]
[ -2.724609375, 95.537109375, 121.640625, 36.38671875, -23.642578125, 0.6178287863731384 ]
3.2
96
0
96
0
[ -3.327627182006836, 102.5027084350586, 124.1261978149414, 36.12445831298828, -23.812015533447266, 0.44525146484375 ]
[ -2.8125, 96.6796875, 121.904296875, 36.38671875, -23.203125, 0.6178287863731384 ]
3.233333
97
0
97
0
[ -2.449464797973633, 105.82917785644531, 125.58729553222656, 35.58943557739258, -23.503244400024414, 0.5278491973876953 ]
[ -2.8125, 98.7890625, 123.837890625, 36.38671875, -23.203125, 0.6178287863731384 ]
3.266667
98
0
98
0
[ -2.277324676513672, 107.46095275878906, 126.27886962890625, 35.27254867553711, -23.636503219604492, 0.5579290390014648 ]
[ -2.724609375, 101.513671875, 124.892578125, 35.771484375, -23.203125, 0.6178287863731384 ]
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": 7074,
    "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": [
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
                "height",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.side": {
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            "shape": [
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            "names": [
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            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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