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so100_test

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so100
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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68
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[ 0.263671875, 78.310546875, 18.896484375, -15.99609375, -227.548828125, 0.17331022024154663 ]
[ 0.087890625, 64.775390625, 4.921875, -16.171875, -227.548828125, 0.47233468294143677 ]
2.3
69
0
69
0
[ 0.3515625, 81.826171875, 24.697265625, -15.99609375, -227.548828125, 0.17331022024154663 ]
[ 0.087890625, 67.67578125, 8.876953125, -16.171875, -227.63671875, 0.47233468294143677 ]
2.333333
70
0
70
0
[ 0.52734375, 85.78125, 30.849609375, -15.99609375, -227.548828125, 0.17331022024154663 ]
[ 0.3515625, 70.751953125, 12.83203125, -16.171875, -227.63671875, 0.47233468294143677 ]
2.366667
71
0
71
0
[ 1.0546875, 90.087890625, 37.177734375, -16.083984375, -227.548828125, 0.17331022024154663 ]
[ 0.52734375, 74.1796875, 17.578125, -16.171875, -227.548828125, 0.47233468294143677 ]
2.4
72
0
72
0
[ 2.197265625, 94.921875, 43.59375, -16.083984375, -227.548828125, 0.17331022024154663 ]
[ 0.615234375, 77.783203125, 22.587890625, -16.171875, -227.4609375, 0.47233468294143677 ]
2.433333
73
0
73
0
[ 3.515625, 100.01953125, 49.74609375, -16.083984375, -227.63671875, 0.17331022024154663 ]
[ 0.615234375, 81.5625, 27.94921875, -16.171875, -227.548828125, 0.47233468294143677 ]
2.466667
74
0
74
0
[ 5.09765625, 104.765625, 56.42578125, -16.083984375, -227.724609375, 0.17331022024154663 ]
[ 1.142578125, 85.60546875, 33.486328125, -16.171875, -227.63671875, 0.47233468294143677 ]
2.5
75
0
75
0
[ 6.767578125, 109.072265625, 63.369140625, -16.083984375, -227.724609375, 0.17331022024154663 ]
[ 2.109375, 89.912109375, 39.638671875, -16.171875, -227.63671875, 0.47233468294143677 ]
2.533333
76
0
76
0
[ 8.173828125, 112.763671875, 70.576171875, -16.083984375, -227.724609375, 0.17331022024154663 ]
[ 3.33984375, 94.39453125, 45.703125, -16.171875, -227.63671875, 0.47233468294143677 ]
2.566667
77
0
77
0
[ 9.31640625, 116.015625, 77.607421875, -16.171875, -227.724609375, 0.17331022024154663 ]
[ 4.74609375, 99.140625, 51.767578125, -16.171875, -227.63671875, 0.47233468294143677 ]
2.6
78
0
78
0
[ 10.37109375, 119.1796875, 84.638671875, -16.5234375, -227.724609375, 0.17331022024154663 ]
[ 6.328125, 103.7109375, 57.919921875, -16.171875, -227.63671875, 0.47233468294143677 ]
2.633333
79
0
79
0
[ 11.25, 121.552734375, 91.494140625, -16.611328125, -227.724609375, 0.17331022024154663 ]
[ 7.91015625, 108.28125, 64.6875, -16.171875, -227.28515625, 0.47233468294143677 ]
2.666667
80
0
80
0
[ 12.041015625, 123.92578125, 97.822265625, -16.611328125, -227.724609375, 0.17331022024154663 ]
[ 9.052734375, 112.412109375, 71.19140625, -16.171875, -227.373046875, 0.47233468294143677 ]
2.7
81
0
81
0
[ 12.83203125, 126.123046875, 103.53515625, -16.611328125, -228.33984375, 0.17331022024154663 ]
[ 10.107421875, 116.015625, 78.046875, -16.171875, -227.373046875, 0.47233468294143677 ]
2.733333
82
0
82
0
[ 13.53515625, 128.056640625, 108.984375, -16.611328125, -229.482421875, 0.17331022024154663 ]
[ 10.986328125, 119.00390625, 84.375, -16.171875, -227.373046875, 0.47233468294143677 ]
2.766667
83
0
83
0
[ 13.974609375, 129.55078125, 113.90625, -16.611328125, -231.328125, 0.17331022024154663 ]
[ 11.77734375, 121.728515625, 91.0546875, -16.171875, -227.98828125, 0.47233468294143677 ]
2.8
84
0
84
0
[ 14.150390625, 130.869140625, 118.388671875, -16.69921875, -234.052734375, 0.17331022024154663 ]
[ 12.392578125, 123.92578125, 97.822265625, -16.171875, -228.779296875, 0.47233468294143677 ]
2.833333
85
0
85
0
[ 14.150390625, 131.923828125, 121.904296875, -16.787109375, -237.392578125, 0.17331022024154663 ]
[ 12.919921875, 125.595703125, 104.0625, -16.171875, -230.537109375, 0.47233468294143677 ]
2.866667
86
0
86
0
[ 14.150390625, 132.71484375, 124.453125, -16.787109375, -241.5234375, 0.17331022024154663 ]
[ 13.271484375, 126.9140625, 109.6875, -16.171875, -232.03125, 0.47233468294143677 ]
2.9
87
0
87
0
[ 14.150390625, 133.41796875, 126.2109375, -16.875, -246.62109375, 0.17331022024154663 ]
[ 13.623046875, 128.232421875, 114.873046875, -16.171875, -234.228515625, 0.47233468294143677 ]
2.933333
88
0
88
0
[ 14.23828125, 133.9453125, 127.265625, -16.875, -252.94921875, 0.17331022024154663 ]
[ 13.798828125, 129.287109375, 119.35546875, -16.171875, -236.953125, 0.47233468294143677 ]
2.966667
89
0
89
0
[ 14.58984375, 134.47265625, 127.6171875, -16.875, -260.068359375, 0.17331022024154663 ]
[ 13.974609375, 130.25390625, 122.958984375, -16.171875, -240.8203125, 0.47233468294143677 ]
3
90
0
90
0
[ 15.205078125, 134.912109375, 127.79296875, -16.962890625, -267.36328125, 0.17331022024154663 ]
[ 13.974609375, 130.869140625, 125.15625, -16.171875, -245.126953125, 0.47233468294143677 ]
3.033333
91
0
91
0
[ 16.171875, 135.17578125, 127.880859375, -17.05078125, 84.90234375, 0.25996533036231995 ]
[ 14.0625, 131.484375, 126.5625, -16.171875, -250.3125, 0.47233468294143677 ]
3.066667
92
0
92
0
[ 17.578125, 135.263671875, 127.96875, -16.962890625, 77.431640625, 0.6932408809661865 ]
[ 14.501953125, 132.099609375, 127.353515625, -16.171875, -255.41015625, 0.47233468294143677 ]
3.1
93
0
93
0
[ 19.248046875, 135.263671875, 127.96875, -16.435546875, 70.576171875, 0.6932408809661865 ]
[ 15.29296875, 132.71484375, 127.79296875, -16.171875, -260.068359375, 0.47233468294143677 ]
3.133333
94
0
94
0
[ 20.91796875, 135, 128.056640625, -16.34765625, 64.3359375, 0.6932408809661865 ]
[ 16.259765625, 132.978515625, 127.880859375, -16.171875, -262.79296875, 0.5398110747337341 ]
3.166667
95
0
95
0
[ 22.67578125, 134.560546875, 128.232421875, -16.259765625, 58.623046875, 0.6932408809661865 ]
[ 17.578125, 133.154296875, 127.880859375, -16.171875, -263.583984375, 0.5398110747337341 ]
3.2
96
0
96
0
[ 24.08203125, 134.384765625, 128.671875, -15.99609375, 53.7890625, 0.6932408809661865 ]
[ 19.072265625, 133.154296875, 128.232421875, -16.171875, -262.177734375, 0.5398110747337341 ]
3.233333
97
0
97
0
[ 25.400390625, 134.384765625, 129.814453125, -15.46875, 49.921875, 0.6932408809661865 ]
[ 20.654296875, 133.154296875, 128.49609375, -16.083984375, -258.662109375, 0.5398110747337341 ]
3.266667
98
0
98
0
[ 26.455078125, 134.208984375, 131.30859375, -14.765625, 46.58203125, 0.6065858006477356 ]
[ 22.1484375, 133.154296875, 129.0234375, -15.99609375, -252.7734375, 0.5398110747337341 ]
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": 2,
    "total_frames": 1746,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.CRANE": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.TOP": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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