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float32
0
37.8
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int64
0
756
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int64
0
11
index
int64
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5.18k
task_index
int64
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[ -17.428464889526367, 5.9268598556518555, 10.659440040588379, 84.78727722167969, -59.21855926513672, 31.994646072387695 ]
2.85
57
0
57
0
[ -16.926292419433594, 6.650034427642822, 11.441950798034668, 84.06950378417969, -58.342987060546875, 31.17719268798828 ]
[ -17.428464889526367, 6.094997882843018, 10.840108871459961, 84.61538696289062, -59.07204055786133, 31.72690773010254 ]
2.9
58
0
58
0
[ -16.795507431030273, 7.091344833374023, 11.545148849487305, 83.94206237792969, -58.237525939941406, 31.223724365234375 ]
[ -17.428464889526367, 6.26313591003418, 11.382113456726074, 84.1856460571289, -58.876678466796875, 31.526103973388672 ]
2.95
59
0
59
0
[ -15.095317840576172, 10.474725723266602, 2.732089042663574, 87.637939453125, -56.837772369384766, 32.06132125854492 ]
[ -17.428464889526367, 6.935687065124512, 11.382113456726074, 84.44348907470703, -58.58363723754883, 31.459169387817383 ]
3
60
0
60
0
[ -15.226101875305176, 10.916035652160645, 3.309994697570801, 87.12815856933594, -57.010345458984375, 32.107852935791016 ]
[ -17.13117790222168, 7.44010066986084, 11.382113456726074, 84.1856460571289, -58.53479766845703, 31.392234802246094 ]
3.05
61
0
61
0
[ -15.029926300048828, 11.357346534729004, 3.640226364135742, 86.87327575683594, -57.067867279052734, 32.154388427734375 ]
[ -16.982534408569336, 7.692307472229004, 11.382113456726074, 84.1856460571289, -58.29059982299805, 31.392234802246094 ]
3.1
62
0
62
0
[ -15.029926300048828, 11.504449844360352, 3.557668447494507, 86.6183853149414, -57.12539291381836, 32.154388427734375 ]
[ -16.164995193481445, 10.1303071975708, 9.03342342376709, 85.90459442138672, -57.60683822631836, 31.860776901245117 ]
3.15
63
0
63
0
[ -15.095317840576172, 11.945760726928711, 3.309994697570801, 86.36349487304688, -57.16374206542969, 32.24745559692383 ]
[ -15.570420265197754, 11.307271957397461, 7.317073345184326, 85.90459442138672, -57.411476135253906, 31.860776901245117 ]
3.2
64
0
64
0
[ -15.160710334777832, 12.681278228759766, 3.309994697570801, 86.23605346679688, -57.12539291381836, 32.107852935791016 ]
[ -15.124488830566406, 11.643548011779785, 6.594399452209473, 86.16243743896484, -57.36263656616211, 31.860776901245117 ]
3.25
65
0
65
0
[ -15.160710334777832, 12.681278228759766, 3.7227842807769775, 86.10861206054688, -57.202091217041016, 31.921722412109375 ]
[ -15.124488830566406, 12.147961616516113, 5.962059497833252, 86.42028045654297, -57.36263656616211, 31.860776901245117 ]
3.3
66
0
66
0
[ -15.095317840576172, 12.975484848022461, 3.8879001140594482, 85.98116302490234, -57.0486946105957, 31.40985870361328 ]
[ -15.27313232421875, 12.904582023620605, 5.962059497833252, 85.90459442138672, -57.36263656616211, 31.860776901245117 ]
3.35
67
0
67
0
[ -15.160710334777832, 12.975484848022461, 3.557668447494507, 85.98116302490234, -57.08704376220703, 30.38612937927246 ]
[ -15.421775817871094, 13.07271957397461, 5.962059497833252, 85.90459442138672, -57.36263656616211, 31.793842315673828 ]
3.4
68
0
68
0
[ -15.35688591003418, 12.975484848022461, 4.218132019042969, 85.85372161865234, -57.202091217041016, 28.385204315185547 ]
[ -15.496098518371582, 12.98865032196045, 5.871725559234619, 85.90459442138672, -57.36263656616211, 31.526103973388672 ]
3.45
69
0
69
0
[ -15.487669944763184, 13.563899040222168, 4.630921363830566, 85.72628021240234, -57.317138671875, 25.3372859954834 ]
[ -15.496098518371582, 13.240857124328613, 5.871725559234619, 85.90459442138672, -57.36263656616211, 30.722890853881836 ]
3.5
70
0
70
0
[ -15.35688591003418, 13.269691467285156, 4.54836368560791, 85.72628021240234, -57.25961685180664, 21.521568298339844 ]
[ -15.496098518371582, 13.493063926696777, 5.871725559234619, 85.90459442138672, -57.36263656616211, 29.38420295715332 ]
3.55
71
0
71
0
[ -15.35688591003418, 13.269691467285156, 4.630921363830566, 85.85372161865234, -57.240440368652344, 18.799381256103516 ]
[ -15.496098518371582, 13.829339981079102, 5.871725559234619, 85.81864929199219, -57.36263656616211, 26.840696334838867 ]
3.6
72
0
72
0
[ -15.29149341583252, 13.563899040222168, 4.754758358001709, 86.10861206054688, -57.240440368652344, 15.728195190429688 ]
[ -15.496098518371582, 13.913409233093262, 5.871725559234619, 85.81864929199219, -57.36263656616211, 24.163320541381836 ]
3.65
73
0
73
0
[ -15.095317840576172, 12.975484848022461, 4.713479518890381, 86.36349487304688, -57.12539291381836, 11.074883460998535 ]
[ -15.347454071044922, 13.913409233093262, 5.871725559234619, 85.81864929199219, -57.655677795410156, 21.68674659729004 ]
3.7
74
0
74
0
[ -14.964533805847168, 12.828381538391113, 4.796037673950195, 86.4909439086914, -56.97199630737305, 6.0493059158325195 ]
[ -15.050167083740234, 13.829339981079102, 5.781391143798828, 85.81864929199219, -57.21611785888672, 20.414993286132812 ]
3.75
75
0
75
0
[ -14.637574195861816, 12.534173965454102, 4.630921363830566, 86.7458267211914, -56.91447067260742, 3.2573184967041016 ]
[ -15.050167083740234, 13.829339981079102, 5.781391143798828, 85.81864929199219, -57.31379699707031, 19.611780166625977 ]
3.8
76
0
76
0
[ -14.506791114807129, 12.092864036560059, 4.54836368560791, 87.12815856933594, -56.876121520996094, 2.140523672103882 ]
[ -15.050167083740234, 13.829339981079102, 5.781391143798828, 85.81864929199219, -57.21611785888672, 19.41097640991211 ]
3.85
77
0
77
0
[ -14.179831504821777, 11.6515531539917, 4.135573863983154, 87.637939453125, -56.79942321777344, 1.3029274940490723 ]
[ -15.050167083740234, 13.829339981079102, 5.781391143798828, 85.90459442138672, -57.020755767822266, 19.41097640991211 ]
3.9
78
0
78
0
[ -13.983654975891113, 11.210243225097656, 4.91987419128418, 87.892822265625, -56.81859588623047, 0.9306624531745911 ]
[ -15.050167083740234, 13.829339981079102, 5.781391143798828, 86.33433532714844, -57.16727828979492, 19.41097640991211 ]
3.95
79
0
79
0
[ -14.245223045349121, 19.742244720458984, -8.660905838012695, 92.09847259521484, -57.240440368652344, 6.514636993408203 ]
[ -14.827201843261719, 13.829339981079102, 5.781391143798828, 86.6781234741211, -56.97191619873047, 19.41097640991211 ]
4
80
0
80
0
[ -14.376007080078125, 19.742244720458984, -8.165558815002441, 91.84358978271484, -57.3363151550293, 6.142372131347656 ]
[ -14.45559310913086, 13.829339981079102, 5.781391143798828, 87.10786437988281, -56.97191619873047, 19.41097640991211 ]
4.05
81
0
81
0
[ -14.441398620605469, 19.742244720458984, -7.670210838317871, 91.84358978271484, -57.41301345825195, 5.677041053771973 ]
[ -14.45559310913086, 13.829339981079102, 5.781391143798828, 87.36570739746094, -57.020755767822266, 19.41097640991211 ]
4.1
82
0
82
0
[ -14.637574195861816, 20.036453247070312, -7.5050950050354, 91.84358978271484, -57.432186126708984, 5.3978424072265625 ]
[ -14.45559310913086, 16.015132904052734, 2.619692802429199, 90.20198059082031, -57.16727828979492, 19.41097640991211 ]
4.15
83
0
83
0
[ -14.76835823059082, 20.036453247070312, -7.5050950050354, 91.84358978271484, -57.41301345825195, 5.583974838256836 ]
[ -14.45559310913086, 18.957544326782227, -1.8970190286636353, 91.06145477294922, -57.16727828979492, 19.41097640991211 ]
4.2
84
0
84
0
[ -14.964533805847168, 20.330659866333008, -7.670210838317871, 91.84358978271484, -57.240440368652344, 6.142372131347656 ]
[ -14.45559310913086, 19.71416473388672, -3.4327011108398438, 91.31929779052734, -57.16727828979492, 19.41097640991211 ]
4.25
85
0
85
0
[ -15.029926300048828, 20.036453247070312, -7.5050950050354, 91.84358978271484, -57.240440368652344, 5.490908622741699 ]
[ -14.45559310913086, 20.218578338623047, -4.24570894241333, 91.40524291992188, -57.16727828979492, 19.41097640991211 ]
4.3
86
0
86
0
[ -15.095317840576172, 19.44803810119629, -8.000442504882812, 92.22592163085938, -57.29796600341797, 4.281047344207764 ]
[ -14.45559310913086, 20.554855346679688, -4.697380542755127, 91.57714080810547, -57.16727828979492, 19.41097640991211 ]
4.35
87
0
87
0
[ -15.029926300048828, 19.153831481933594, -8.330674171447754, 92.48080444335938, -57.35548782348633, 3.443451166152954 ]
[ -14.529914855957031, 20.554855346679688, -4.78771448135376, 91.6630859375, -57.16727828979492, 19.41097640991211 ]
4.4
88
0
88
0
[ -15.160710334777832, 18.8596248626709, -8.495790481567383, 92.8631362915039, -57.374664306640625, 3.164252281188965 ]
[ -14.678558349609375, 20.554855346679688, -5.239385604858398, 91.8349838256836, -57.16727828979492, 19.41097640991211 ]
4.45
89
0
89
0
[ -15.029926300048828, 18.565418243408203, -9.321369171142578, 93.37291717529297, -57.29796600341797, 2.791987419128418 ]
[ -14.975845336914062, 20.63892364501953, -5.3297200202941895, 91.57714080810547, -57.16727828979492, 19.41097640991211 ]
4.5
90
0
90
0
[ -15.160710334777832, 18.565418243408203, -10.312065124511719, 94.0101318359375, -57.317138671875, 2.6058549880981445 ]
[ -15.27313232421875, 20.63892364501953, -5.510388374328613, 92.09282684326172, -57.16727828979492, 19.41097640991211 ]
4.55
91
0
91
0
[ -15.226101875305176, 18.271211624145508, -11.632991790771484, 94.64735412597656, -57.317138671875, 2.3266561031341553 ]
[ -15.347454071044922, 20.63892364501953, -6.323396682739258, 92.6944580078125, -57.16727828979492, 19.41097640991211 ]
4.6
92
0
92
0
[ -15.095317840576172, 17.97700309753418, -12.128338813781738, 95.1571273803711, -57.12539291381836, 2.047457456588745 ]
[ -15.347454071044922, 20.63892364501953, -7.226738929748535, 93.38203430175781, -57.16727828979492, 19.41097640991211 ]
4.65
93
0
93
0
[ -15.095317840576172, 17.682796478271484, -12.788803100585938, 95.41201782226562, -57.08704376220703, 1.9543911218643188 ]
[ -15.347454071044922, 20.63892364501953, -8.401083946228027, 93.98367309570312, -57.16727828979492, 19.41097640991211 ]
4.7
94
0
94
0
[ -14.899142265319824, 17.38858985900879, -13.284150123596191, 95.79434967041016, -57.010345458984375, 1.6751924753189087 ]
[ -15.347454071044922, 20.63892364501953, -9.214092254638672, 94.49935913085938, -57.16727828979492, 19.41097640991211 ]
4.75
95
0
95
0
[ -14.572182655334473, 16.50596809387207, -13.779498100280762, 96.04924011230469, -56.81859588623047, 1.4890599250793457 ]
[ -15.347454071044922, 20.63892364501953, -9.846431732177734, 94.84314727783203, -57.16727828979492, 19.41097640991211 ]
4.8
96
0
96
0
[ -14.114439010620117, 15.623348236083984, -13.614381790161133, 96.30412292480469, -56.5885009765625, 1.395993709564209 ]
[ -15.27313232421875, 20.554855346679688, -10.478771209716797, 95.35883331298828, -57.16727828979492, 19.41097640991211 ]
4.85
97
0
97
0
[ -13.068168640136719, 14.152313232421875, -12.788803100585938, 96.43157196044922, -56.26253128051758, 1.3029274940490723 ]
[ -15.050167083740234, 20.134510040283203, -10.749773979187012, 95.53072357177734, -57.118438720703125, 19.41097640991211 ]
4.9
98
0
98
0
[ -12.18537712097168, 11.945760726928711, -11.302760124206543, 96.55901336669922, -55.89821243286133, 1.1167949438095093 ]
[ -14.604236602783203, 19.37788963317871, -10.749773979187012, 95.87451934814453, -56.82539749145508, 19.41097640991211 ]
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": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 12,
    "total_frames": 5181,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:12"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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