Datasets:
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action
list | observation.state
list | timestamp
float32 0
14.9
| frame_index
int64 0
448
| episode_index
int64 0
39
| index
int64 0
17.3k
| task_index
int64 0
2
|
|---|---|---|---|---|---|---|
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| 79
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| 80
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| 80
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| 81
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| 81
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96.4737777709961,
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| 82
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| 82
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| 83
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| 83
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96.4737777709961,
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| 84
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| 84
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96.4737777709961,
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| 85
| 0
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96.4737777709961,
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96.66065216064453,
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| 86
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| 86
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96.4737777709961,
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96.66065216064453,
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| 87
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| 87
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[
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96.4737777709961,
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96.66065216064453,
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| 88
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| 88
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[
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96.4737777709961,
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96.66065216064453,
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| 89
| 0
| 89
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[
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96.4737777709961,
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96.66065216064453,
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| 90
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| 90
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96.4737777709961,
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96.66065216064453,
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| 91
| 0
| 91
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[
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96.66065216064453,
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| 92
| 0
| 92
| 0
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[
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96.4737777709961,
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96.66065216064453,
58.077091217041016,
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1.5820698738098145
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| 93
| 0
| 93
| 0
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[
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96.4737777709961,
57.96786880493164,
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96.66065216064453,
58.077091217041016,
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1.5820698738098145
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| 94
| 0
| 94
| 0
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[
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96.4737777709961,
57.96786880493164,
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[
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96.66065216064453,
58.077091217041016,
0,
1.5820698738098145
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| 95
| 0
| 95
| 0
|
[
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-98.65771484375,
96.4737777709961,
57.96786880493164,
-0.18205460906028748,
1.4832162857055664
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[
-5.239687919616699,
-98.46612548828125,
96.66065216064453,
58.077091217041016,
0,
1.5820698738098145
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| 96
| 0
| 96
| 0
|
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-98.65771484375,
96.4737777709961,
57.96786880493164,
-0.18205460906028748,
1.4832162857055664
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[
-5.239687919616699,
-98.46612548828125,
96.66065216064453,
58.077091217041016,
0,
1.5820698738098145
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| 97
| 0
| 97
| 0
|
[
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-98.65771484375,
96.4737777709961,
57.96786880493164,
-0.18205460906028748,
1.4832162857055664
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[
-5.239687919616699,
-98.46612548828125,
96.66065216064453,
58.077091217041016,
0,
1.5820698738098145
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| 98
| 0
| 98
| 0
|
[
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-98.65771484375,
96.4737777709961,
57.96786880493164,
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1.4832162857055664
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[
-5.239687919616699,
-98.46612548828125,
96.66065216064453,
58.077091217041016,
0,
1.5820698738098145
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 40,
"total_frames": 17295,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:40"
},
"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.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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.webcam": {
"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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