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Datasets:
jiroh2000
/
so100_test_002

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
298
episode_index
int64
0
15
index
int64
0
4.78k
task_index
int64
0
0
[ -1.23046875, 188.61328125, 179.736328125, 30.322265625, -130.078125, 12.591240882873535 ]
[ -1.142578125, 187.55859375, 177.978515625, 30.322265625, -127.96875, 12.83112621307373 ]
0
0
0
0
0
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[ -1.142578125, 187.55859375, 177.978515625, 30.322265625, -128.935546875, 12.83112621307373 ]
0.05
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0
1
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[ -1.142578125, 187.55859375, 177.978515625, 30.41015625, -129.287109375, 12.83112621307373 ]
0.1
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0
2
0
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0.15
3
0
3
0
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[ -1.142578125, 186.064453125, 177.099609375, 30.76171875, -129.287109375, 12.83112621307373 ]
0.2
4
0
4
0
[ -0.966796875, 168.3984375, 170.419921875, 30.498046875, -129.638671875, 13.047445297241211 ]
[ -1.23046875, 182.28515625, 175.869140625, 30.76171875, -129.287109375, 12.83112621307373 ]
0.25
5
0
5
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[ -1.23046875, 176.8359375, 174.111328125, 30.76171875, -129.375, 12.83112621307373 ]
0.3
6
0
6
0
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[ -1.142578125, 171.826171875, 171.9140625, 30.76171875, -129.375, 12.83112621307373 ]
0.35
7
0
7
0
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[ -1.142578125, 166.552734375, 170.771484375, 30.76171875, -129.375, 12.83112621307373 ]
0.4
8
0
8
0
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[ -1.142578125, 161.455078125, 169.716796875, 30.76171875, -129.375, 12.83112621307373 ]
0.45
9
0
9
0
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[ -1.142578125, 157.67578125, 168.75, 30.76171875, -129.375, 12.83112621307373 ]
0.5
10
0
10
0
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[ -1.0546875, 154.6875, 167.958984375, 30.76171875, -129.375, 12.83112621307373 ]
0.55
11
0
11
0
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[ -0.087890625, 153.017578125, 167.16796875, 30.849609375, -129.462890625, 12.83112621307373 ]
0.6
12
0
12
0
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[ 1.142578125, 152.314453125, 166.2890625, 30.9375, -129.462890625, 12.83112621307373 ]
0.65
13
0
13
0
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[ 1.318359375, 151.962890625, 165.76171875, 30.9375, -129.462890625, 12.83112621307373 ]
0.7
14
0
14
0
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[ 1.318359375, 151.611328125, 165.5859375, 30.9375, -129.462890625, 12.83112621307373 ]
0.75
15
0
15
0
[ 1.7578125, 150.8203125, 162.94921875, 30.849609375, -129.90234375, 13.229927062988281 ]
[ 1.142578125, 151.435546875, 165.5859375, 30.9375, -129.462890625, 12.83112621307373 ]
0.8
16
0
16
0
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[ 1.318359375, 151.083984375, 165.498046875, 30.9375, -129.55078125, 12.83112621307373 ]
0.85
17
0
17
0
[ 1.494140625, 150.556640625, 161.015625, 31.025390625, -129.55078125, 13.229927062988281 ]
[ 1.669921875, 150.99609375, 165.322265625, 30.9375, -129.462890625, 12.83112621307373 ]
0.9
18
0
18
0
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[ 1.845703125, 150.99609375, 164.70703125, 30.9375, -129.462890625, 12.83112621307373 ]
0.95
19
0
19
0
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[ 1.845703125, 150.8203125, 163.564453125, 31.11328125, -129.462890625, 12.83112621307373 ]
1
20
0
20
0
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[ 1.7578125, 150.64453125, 162.509765625, 32.080078125, -129.55078125, 12.83112621307373 ]
1.05
21
0
21
0
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[ 1.7578125, 150.556640625, 161.19140625, 33.3984375, -129.814453125, 12.83112621307373 ]
1.1
22
0
22
0
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[ 1.93359375, 150.556640625, 159.2578125, 35.859375, -129.814453125, 12.83112621307373 ]
1.15
23
0
23
0
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[ 2.021484375, 150.556640625, 157.32421875, 39.0234375, -129.814453125, 12.83112621307373 ]
1.2
24
0
24
0
[ 2.197265625, 150.380859375, 148.798828125, 50.625, -130.341796875, 13.229927062988281 ]
[ 2.021484375, 150.46875, 155.126953125, 42.626953125, -129.90234375, 12.83112621307373 ]
1.25
25
0
25
0
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[ 2.021484375, 150.46875, 153.193359375, 46.142578125, -129.990234375, 12.83112621307373 ]
1.3
26
0
26
0
[ 2.28515625, 150.380859375, 147.65625, 52.470703125, -130.341796875, 13.229927062988281 ]
[ 2.021484375, 150.46875, 151.611328125, 48.8671875, -129.990234375, 12.83112621307373 ]
1.35
27
0
27
0
[ 2.28515625, 150.380859375, 147.65625, 52.470703125, -130.078125, 13.229927062988281 ]
[ 2.021484375, 150.46875, 150.8203125, 50.625, -129.990234375, 12.83112621307373 ]
1.4
28
0
28
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[ 2.021484375, 150.46875, 150.29296875, 51.50390625, -129.990234375, 12.83112621307373 ]
1.45
29
0
29
0
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[ 2.021484375, 150.46875, 150.205078125, 52.03125, -129.90234375, 12.83112621307373 ]
1.5
30
0
30
0
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[ 2.021484375, 150.46875, 150.1171875, 52.3828125, -129.814453125, 12.83112621307373 ]
1.55
31
0
31
0
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[ 2.197265625, 150.46875, 150.1171875, 52.822265625, -129.90234375, 12.83112621307373 ]
1.6
32
0
32
0
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[ 3.33984375, 150.029296875, 150.1171875, 53.61328125, -129.990234375, 12.83112621307373 ]
1.65
33
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33
0
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[ 4.39453125, 148.798828125, 149.853515625, 54.84375, -129.990234375, 12.83112621307373 ]
1.7
34
0
34
0
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[ 4.833984375, 146.513671875, 148.974609375, 55.546875, -129.990234375, 12.83112621307373 ]
1.75
35
0
35
0
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[ 4.921875, 143.876953125, 147.48046875, 55.8984375, -129.990234375, 12.83112621307373 ]
1.8
36
0
36
0
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[ 5.2734375, 140.80078125, 145.546875, 55.986328125, -129.990234375, 13.07947063446045 ]
1.85
37
0
37
0
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[ 6.591796875, 137.4609375, 143.173828125, 55.986328125, -130.078125, 13.07947063446045 ]
1.9
38
0
38
0
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[ 8.61328125, 134.12109375, 140.712890625, 55.986328125, -130.517578125, 13.07947063446045 ]
1.95
39
0
39
0
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[ 10.72265625, 130.869140625, 138.33984375, 56.25, -131.30859375, 13.07947063446045 ]
2
40
0
40
0
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[ 11.953125, 128.408203125, 136.0546875, 56.865234375, -132.451171875, 13.07947063446045 ]
2.05
41
0
41
0
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[ 12.65625, 126.123046875, 133.154296875, 58.7109375, -133.2421875, 13.07947063446045 ]
2.1
42
0
42
0
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[ 13.271484375, 124.716796875, 130.341796875, 61.34765625, -133.76953125, 13.07947063446045 ]
2.15
43
0
43
0
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[ 14.150390625, 123.662109375, 127.880859375, 63.544921875, -134.033203125, 13.07947063446045 ]
2.2
44
0
44
0
[ 16.435546875, 120.322265625, 120.322265625, 67.587890625, -134.6484375, 13.321167945861816 ]
[ 15.029296875, 122.607421875, 125.771484375, 65.302734375, -134.12109375, 13.07947063446045 ]
2.25
45
0
45
0
[ 17.75390625, 118.564453125, 119.35546875, 67.236328125, -135.439453125, 13.321167945861816 ]
[ 15.380859375, 121.640625, 124.189453125, 66.357421875, -134.12109375, 13.07947063446045 ]
2.3
46
0
46
0
[ 19.248046875, 116.3671875, 118.30078125, 67.1484375, -137.900390625, 13.321167945861816 ]
[ 15.8203125, 120.41015625, 122.87109375, 66.708984375, -134.384765625, 13.07947063446045 ]
2.35
47
0
47
0
[ 21.357421875, 113.994140625, 117.158203125, 67.1484375, -140.9765625, 13.321167945861816 ]
[ 17.05078125, 118.740234375, 121.728515625, 66.796875, -135.263671875, 13.07947063446045 ]
2.4
48
0
48
0
[ 23.642578125, 111.181640625, 115.48828125, 66.97265625, -143.96484375, 13.321167945861816 ]
[ 18.544921875, 116.54296875, 120.5859375, 66.884765625, -137.4609375, 13.07947063446045 ]
2.45
49
0
49
0
[ 25.751953125, 108.017578125, 113.466796875, 66.97265625, -146.689453125, 13.321167945861816 ]
[ 20.56640625, 114.521484375, 119.53125, 66.884765625, -140.009765625, 13.07947063446045 ]
2.5
50
0
50
0
[ 27.59765625, 104.58984375, 111.181640625, 66.97265625, -149.23828125, 13.321167945861816 ]
[ 22.763671875, 111.708984375, 117.94921875, 66.884765625, -142.646484375, 13.07947063446045 ]
2.55
51
0
51
0
[ 29.267578125, 100.8984375, 108.80859375, 67.060546875, -151.435546875, 13.321167945861816 ]
[ 24.873046875, 108.6328125, 115.83984375, 66.884765625, -145.283203125, 13.07947063446045 ]
2.6
52
0
52
0
[ 30.5859375, 97.91015625, 106.962890625, 67.32421875, -153.45703125, 13.321167945861816 ]
[ 26.89453125, 105.205078125, 113.818359375, 66.884765625, -148.0078125, 13.07947063446045 ]
2.65
53
0
53
0
[ 31.552734375, 95.361328125, 105.29296875, 67.32421875, -155.390625, 13.321167945861816 ]
[ 28.4765625, 101.865234375, 111.62109375, 66.97265625, -150.029296875, 13.07947063446045 ]
2.7
54
0
54
0
[ 32.34375, 93.33984375, 103.53515625, 67.32421875, -156.796875, 13.321167945861816 ]
[ 29.8828125, 98.701171875, 109.6875, 66.97265625, -152.138671875, 13.07947063446045 ]
2.75
55
0
55
0
[ 33.134765625, 91.494140625, 102.12890625, 67.1484375, -157.763671875, 13.321167945861816 ]
[ 31.025390625, 95.9765625, 107.9296875, 67.1484375, -154.248046875, 13.07947063446045 ]
2.8
56
0
56
0
[ 33.57421875, 90.17578125, 100.8984375, 67.1484375, -158.203125, 13.321167945861816 ]
[ 31.81640625, 93.69140625, 106.171875, 67.1484375, -155.7421875, 13.07947063446045 ]
2.85
57
0
57
0
[ 33.662109375, 89.560546875, 100.37109375, 67.67578125, -158.203125, 13.321167945861816 ]
[ 32.6953125, 91.669921875, 104.677734375, 67.1484375, -156.796875, 13.07947063446045 ]
2.9
58
0
58
0
[ 33.837890625, 89.47265625, 100.72265625, 68.02734375, -158.466796875, 13.321167945861816 ]
[ 33.22265625, 90.263671875, 103.359375, 67.1484375, -157.412109375, 13.07947063446045 ]
2.95
59
0
59
0
[ 33.75, 89.82421875, 100.546875, 70.400390625, -158.90625, 13.412408828735352 ]
[ 33.3984375, 89.736328125, 102.919921875, 67.5, -157.8515625, 13.07947063446045 ]
3
60
0
60
0
[ 33.486328125, 90.791015625, 99.66796875, 73.564453125, -158.90625, 13.412408828735352 ]
[ 33.486328125, 89.6484375, 102.65625, 68.02734375, -158.203125, 13.07947063446045 ]
3.05
61
0
61
0
[ 33.310546875, 92.197265625, 98.876953125, 76.201171875, -158.90625, 13.412408828735352 ]
[ 33.486328125, 89.6484375, 102.3046875, 70.048828125, -158.466796875, 13.07947063446045 ]
3.1
62
0
62
0
[ 33.22265625, 93.515625, 98.349609375, 78.75, -158.90625, 13.412408828735352 ]
[ 33.486328125, 89.736328125, 101.6015625, 72.59765625, -158.466796875, 13.07947063446045 ]
3.15
63
0
63
0
[ 33.22265625, 94.306640625, 98.349609375, 80.068359375, -158.90625, 14.324817657470703 ]
[ 33.486328125, 90.17578125, 100.8984375, 74.8828125, -158.466796875, 13.07947063446045 ]
3.2
64
0
64
0
[ 33.3984375, 94.5703125, 98.4375, 80.595703125, -158.90625, 16.058393478393555 ]
[ 33.486328125, 91.142578125, 100.546875, 77.255859375, -158.466796875, 13.327814102172852 ]
3.25
65
0
65
0
[ 33.57421875, 94.658203125, 98.96484375, 80.595703125, -158.994140625, 18.52189826965332 ]
[ 33.486328125, 91.93359375, 100.458984375, 78.837890625, -158.466796875, 14.15562915802002 ]
3.3
66
0
66
0
[ 33.57421875, 94.658203125, 99.052734375, 80.68359375, -158.994140625, 21.259124755859375 ]
[ 33.486328125, 92.197265625, 100.37109375, 79.541015625, -158.466796875, 15.728476524353027 ]
3.35
67
0
67
0
[ 33.57421875, 94.658203125, 99.052734375, 80.68359375, -158.994140625, 23.722627639770508 ]
[ 33.486328125, 92.197265625, 100.37109375, 80.15625, -158.466796875, 17.79801368713379 ]
3.4
68
0
68
0
[ 33.486328125, 94.833984375, 99.052734375, 80.68359375, -158.90625, 24.63503646850586 ]
[ 33.486328125, 92.197265625, 100.37109375, 80.244140625, -158.466796875, 20.281457901000977 ]
3.45
69
0
69
0
[ 33.310546875, 94.658203125, 99.140625, 80.68359375, -158.73046875, 25.18248176574707 ]
[ 33.486328125, 92.28515625, 100.37109375, 80.33203125, -158.466796875, 22.350994110107422 ]
3.5
70
0
70
0
[ 33.22265625, 94.5703125, 99.228515625, 80.68359375, -158.642578125, 25.27372169494629 ]
[ 33.486328125, 92.373046875, 100.37109375, 80.33203125, -158.466796875, 23.592714309692383 ]
3.55
71
0
71
0
[ 33.22265625, 94.482421875, 99.4921875, 80.419921875, -158.642578125, 25.09123992919922 ]
[ 33.486328125, 92.373046875, 100.37109375, 80.33203125, -158.466796875, 24.33774757385254 ]
3.6
72
0
72
0
[ 33.22265625, 94.482421875, 100.1953125, 79.98046875, -158.818359375, 24.72627830505371 ]
[ 33.486328125, 92.373046875, 100.37109375, 80.33203125, -158.466796875, 24.586091995239258 ]
3.65
73
0
73
0
[ 33.22265625, 94.39453125, 100.810546875, 79.8046875, -158.90625, 24.63503646850586 ]
[ 33.486328125, 92.373046875, 100.37109375, 80.33203125, -158.466796875, 24.586091995239258 ]
3.7
74
0
74
0
[ 33.310546875, 94.39453125, 101.513671875, 79.013671875, -158.642578125, 24.63503646850586 ]
[ 33.486328125, 92.4609375, 100.810546875, 80.15625, -158.466796875, 24.586091995239258 ]
3.75
75
0
75
0
[ 33.310546875, 94.39453125, 102.392578125, 78.662109375, -158.203125, 24.63503646850586 ]
[ 33.486328125, 92.4609375, 101.337890625, 79.892578125, -158.466796875, 24.586091995239258 ]
3.8
76
0
76
0
[ 33.3984375, 94.39453125, 103.095703125, 78.662109375, -157.763671875, 24.63503646850586 ]
[ 33.486328125, 92.4609375, 101.953125, 79.365234375, -158.466796875, 24.586091995239258 ]
3.85
77
0
77
0
[ 33.3984375, 94.39453125, 103.623046875, 78.662109375, -155.478515625, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 102.83203125, 78.837890625, -158.203125, 24.586091995239258 ]
3.9
78
0
78
0
[ 33.310546875, 94.482421875, 103.974609375, 79.1015625, -151.787109375, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 103.53515625, 79.189453125, -157.763671875, 24.586091995239258 ]
3.95
79
0
79
0
[ 33.22265625, 94.482421875, 104.150390625, 79.365234375, -148.974609375, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 103.88671875, 79.1015625, -155.7421875, 24.586091995239258 ]
4
80
0
80
0
[ 33.22265625, 94.5703125, 104.326171875, 79.365234375, -146.865234375, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 104.150390625, 78.75, -152.75390625, 24.586091995239258 ]
4.05
81
0
81
0
[ 33.22265625, 94.658203125, 104.501953125, 79.453125, -145.458984375, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 104.4140625, 79.365234375, -150.205078125, 24.586091995239258 ]
4.1
82
0
82
0
[ 33.22265625, 94.921875, 105.1171875, 79.453125, -144.228515625, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 104.677734375, 79.365234375, -148.18359375, 24.586091995239258 ]
4.15
83
0
83
0
[ 33.22265625, 94.833984375, 105.46875, 79.27734375, -143.525390625, 24.54379653930664 ]
[ 33.486328125, 92.4609375, 104.94140625, 79.013671875, -146.42578125, 24.586091995239258 ]
4.2
84
0
84
0
[ 33.22265625, 94.5703125, 105.556640625, 79.1015625, -142.646484375, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 105.46875, 78.837890625, -145.01953125, 24.586091995239258 ]
4.25
85
0
85
0
[ 33.22265625, 94.482421875, 105.8203125, 78.75, -142.119140625, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 105.732421875, 79.541015625, -144.052734375, 24.586091995239258 ]
4.3
86
0
86
0
[ 33.22265625, 94.482421875, 106.435546875, 78.3984375, -142.294921875, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 105.908203125, 79.1015625, -143.61328125, 24.586091995239258 ]
4.35
87
0
87
0
[ 33.22265625, 94.39453125, 106.962890625, 76.9921875, -142.294921875, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 106.171875, 78.57421875, -143.0859375, 24.586091995239258 ]
4.4
88
0
88
0
[ 33.310546875, 94.306640625, 108.10546875, 74.8828125, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 106.875, 78.662109375, -142.91015625, 24.586091995239258 ]
4.45
89
0
89
0
[ 33.310546875, 93.427734375, 109.072265625, 72.24609375, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 107.40234375, 77.431640625, -142.646484375, 24.586091995239258 ]
4.5
90
0
90
0
[ 33.310546875, 91.58203125, 109.423828125, 69.873046875, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 92.4609375, 108.369140625, 75.234375, -142.55859375, 24.586091995239258 ]
4.55
91
0
91
0
[ 33.22265625, 89.296875, 109.3359375, 68.291015625, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 92.28515625, 109.3359375, 73.4765625, -142.55859375, 24.586091995239258 ]
4.6
92
0
92
0
[ 33.22265625, 87.802734375, 109.16015625, 67.236328125, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 90.966796875, 109.423828125, 70.751953125, -142.55859375, 24.586091995239258 ]
4.65
93
0
93
0
[ 33.134765625, 86.572265625, 109.072265625, 66.4453125, -142.20703125, 24.45255470275879 ]
[ 33.486328125, 89.208984375, 109.423828125, 69.43359375, -142.55859375, 24.586091995239258 ]
4.7
94
0
94
0
[ 33.046875, 86.220703125, 109.072265625, 65.654296875, -142.20703125, 24.36131477355957 ]
[ 33.486328125, 87.626953125, 109.51171875, 68.37890625, -142.55859375, 24.586091995239258 ]
4.75
95
0
95
0
[ 32.16796875, 86.044921875, 109.16015625, 65.126953125, -142.20703125, 24.27007293701172 ]
[ 33.486328125, 86.66015625, 109.423828125, 67.32421875, -142.470703125, 24.834436416625977 ]
4.8
96
0
96
0
[ 31.81640625, 85.95703125, 109.51171875, 65.0390625, -142.3828125, 22.627737045288086 ]
[ 33.22265625, 86.30859375, 109.423828125, 66.62109375, -142.470703125, 24.834436416625977 ]
4.85
97
0
97
0
[ 31.640625, 85.869140625, 109.775390625, 65.0390625, -142.91015625, 18.15693473815918 ]
[ 32.607421875, 86.220703125, 109.51171875, 66.26953125, -142.470703125, 24.420530319213867 ]
4.9
98
0
98
0
[ 31.552734375, 85.78125, 109.86328125, 65.126953125, -143.0859375, 12.956204414367676 ]
[ 32.16796875, 86.220703125, 109.6875, 66.181640625, -142.55859375, 23.178808212280273 ]
4.95
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": 16,
    "total_frames": 4784,
    "total_tasks": 1,
    "total_videos": 32,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:16"
    },
    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "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.images.laptop": {
            "dtype": "video",
            "shape": [
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        "observation.images.phone": {
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            "info": {
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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