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observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
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29
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int64
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17.9k
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71
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -0.87890625, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.4
72
0
72
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -1.142578125, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.433333
73
0
73
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -1.40625, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.466667
74
0
74
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -1.7578125, -0.19267822802066803 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.87890625, 0.7054673433303833, 364, 289 ]
2.5
75
0
75
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -2.021484375, -0.19267822802066803 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -1.0546875, 0.7054673433303833, 364, 289 ]
2.533333
76
0
76
0
[ -5.185546875, 189.052734375, 179.560546875, 37.96875, -1.93359375, -0.19267822802066803 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -1.23046875, 0.7054673433303833, 364, 289 ]
2.566667
77
0
77
0
[ -5.185546875, 188.61328125, 179.033203125, 37.96875, -1.93359375, -0.19267822802066803 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -1.58203125, 0.7054673433303833, 364, 289 ]
2.6
78
0
78
0
[ -5.2734375, 187.55859375, 177.71484375, 37.96875, -1.318359375, -0.28901731967926025 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -1.669921875, 0.7054673433303833, 364, 289 ]
2.633333
79
0
79
0
[ -5.44921875, 185.625, 175.60546875, 38.14453125, -0.3515625, -0.28901731967926025 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -1.669921875, 0.7054673433303833, 364, 289 ]
2.666667
80
0
80
0
[ -5.712890625, 182.8125, 172.529296875, 38.583984375, 0.791015625, -0.28901731967926025 ]
[ -5.361328125, 188.61328125, 180.087890625, 37.880859375, -1.669921875, 0.7054673433303833, 364, 289 ]
2.7
81
0
81
0
[ -5.80078125, 179.384765625, 168.92578125, 39.375, 2.197265625, -0.28901731967926025 ]
[ -5.361328125, 187.646484375, 179.47265625, 37.96875, -1.142578125, 0.7054673433303833, 364, 289 ]
2.733333
82
0
82
0
[ -5.80078125, 175.693359375, 164.8828125, 40.166015625, 3.603515625, -0.28901731967926025 ]
[ -5.361328125, 185.80078125, 178.154296875, 38.3203125, -0.263671875, 0.7054673433303833, 364, 289 ]
2.766667
83
0
83
0
[ -5.625, 171.650390625, 160.927734375, 40.78125, 4.921875, -0.28901731967926025 ]
[ -5.361328125, 183.603515625, 176.1328125, 38.935546875, 0.791015625, 0.7054673433303833, 364, 289 ]
2.8
84
0
84
0
[ -5.009765625, 167.783203125, 156.796875, 41.748046875, 7.119140625, -0.28901731967926025 ]
[ -5.44921875, 180.87890625, 173.671875, 39.7265625, 2.021484375, 0.7054673433303833, 364, 289 ]
2.833333
85
0
85
0
[ -4.39453125, 163.740234375, 152.40234375, 42.802734375, 8.525390625, -0.28901731967926025 ]
[ -5.44921875, 177.802734375, 170.5078125, 40.25390625, 3.251953125, 0.7054673433303833, 364, 289 ]
2.866667
86
0
86
0
[ -3.69140625, 159.873046875, 148.0078125, 44.296875, 10.546875, -0.28901731967926025 ]
[ -5.361328125, 174.375, 167.255859375, 41.1328125, 4.74609375, 0.7054673433303833, 364, 289 ]
2.9
87
0
87
0
[ -2.900390625, 155.7421875, 143.525390625, 45.17578125, 12.392578125, -0.28901731967926025 ]
[ -4.921875, 170.595703125, 163.564453125, 42.01171875, 6.328125, 0.7054673433303833, 364, 289 ]
2.933333
88
0
88
0
[ -2.021484375, 151.435546875, 139.21875, 45.87890625, 13.271484375, -0.28901731967926025 ]
[ -4.39453125, 166.640625, 159.697265625, 42.978515625, 7.998046875, 0.7054673433303833, 364, 289 ]
2.966667
89
0
89
0
[ -1.0546875, 146.865234375, 134.912109375, 47.197265625, 14.94140625, -0.28901731967926025 ]
[ -3.779296875, 162.94921875, 155.654296875, 44.033203125, 9.755859375, 0.7054673433303833, 364, 289 ]
3
90
0
90
0
[ 0, 142.55859375, 130.95703125, 48.515625, 17.75390625, -0.28901731967926025 ]
[ -3.076171875, 159.08203125, 151.611328125, 45, 11.162109375, 0.7054673433303833, 364, 289 ]
3.033333
91
0
91
0
[ 0.703125, 138.69140625, 127.44140625, 49.5703125, 20.478515625, -0.28901731967926025 ]
[ -2.28515625, 155.0390625, 147.216796875, 45.966796875, 12.568359375, 0.7054673433303833, 364, 289 ]
3.066667
92
0
92
0
[ 1.318359375, 135.439453125, 124.541015625, 50.537109375, 23.37890625, -0.28901731967926025 ]
[ -1.40625, 150.8203125, 142.998046875, 47.109375, 14.501953125, 0.7054673433303833, 364, 289 ]
3.1
93
0
93
0
[ 2.28515625, 132.275390625, 121.9921875, 51.50390625, 27.0703125, -0.28901731967926025 ]
[ -0.52734375, 146.42578125, 138.515625, 48.33984375, 16.875, 0.7054673433303833, 364, 289 ]
3.133333
94
0
94
0
[ 2.724609375, 129.462890625, 119.53125, 52.294921875, 28.916015625, -0.28901731967926025 ]
[ 0.17578125, 142.55859375, 134.82421875, 49.306640625, 19.248046875, 0.7054673433303833, 364, 289 ]
3.166667
95
0
95
0
[ 3.1640625, 126.298828125, 116.630859375, 53.96484375, 31.904296875, -0.28901731967926025 ]
[ 0.966796875, 138.69140625, 131.396484375, 50.2734375, 21.796875, 0.7054673433303833, 364, 289 ]
3.2
96
0
96
0
[ 3.427734375, 123.134765625, 113.73046875, 55.8984375, 34.98046875, -0.28901731967926025 ]
[ 1.669921875, 135.087890625, 128.056640625, 51.240234375, 24.609375, 0.7054673433303833, 364, 289 ]
3.233333
97
0
97
0
[ 3.515625, 119.970703125, 110.830078125, 57.919921875, 36.298828125, -0.28901731967926025 ]
[ 2.197265625, 131.484375, 125.068359375, 52.294921875, 27.24609375, 0.7054673433303833, 364, 289 ]
3.266667
98
0
98
0
[ 3.251953125, 108.896484375, 101.6015625, 67.5, 41.220703125, -0.28901731967926025 ]
[ 3.1640625, 121.376953125, 116.19140625, 56.953125, 34.541015625, 0.7054673433303833, 364, 289 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 17885,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                8
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "target_x",
                "target_y"
            ]
        },
        "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
            }
        },
        "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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