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action
sequence
observation.state
sequence
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float32
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int64
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[ -3.603515625, 100.283203125, 93.251953125, 51.943359375, 11.77734375, 1.3720742464065552, -1.669921875, 195.380859375, 177.099609375, 27.7734375, 8.525390625, 12.637828826904297 ]
2.4
72
0
72
0
[ -0.449725866317749, 100.14015197753906, 90.73802185058594, 39.48371124267578, 8.955155372619629, 0.7232203483581543, -2.6348509788513184, 191.87062072753906, 174.77682495117188, 16.41897964477539, 5.72098445892334, 15.621892929077148 ]
[ -2.900390625, 100.1953125, 92.900390625, 49.833984375, 10.8984375, 1.3720742464065552, -1.7578125, 195.029296875, 176.66015625, 24.78515625, 7.3828125, 13.146734237670898 ]
2.433333
73
0
73
0
[ 0.4832383394241333, 99.3123779296875, 91.30364990234375, 35.448543548583984, 8.473170280456543, 0.7651047706604004, -2.825207471847534, 189.24734497070312, 173.3644256591797, 15.156713485717773, 5.4633097648620605, 16.338979721069336 ]
[ -2.197265625, 100.1953125, 92.900390625, 47.197265625, 10.1953125, 1.3720742464065552, -1.93359375, 194.501953125, 175.95703125, 21.97265625, 6.943359375, 13.486004829406738 ]
2.466667
74
0
74
0
[ 0.9577160477638245, 98.08110046386719, 91.48333740234375, 32.350502014160156, 8.277341842651367, 0.6786689758300781, -2.953679084777832, 184.05421447753906, 170.0682830810547, 14.726362228393555, 5.201156139373779, 17.25634765625 ]
[ -1.7578125, 99.931640625, 92.8125, 44.6484375, 9.31640625, 1.3720742464065552, -1.93359375, 193.359375, 175.25390625, 19.775390625, 6.240234375, 14.079728126525879 ]
2.5
75
0
75
0
[ 1.4141188859939575, 96.87596893310547, 90.89602661132812, 29.9936466217041, 8.128753662109375, 0.711207389831543, -3.0673329830169678, 180.07855224609375, 167.2010040283203, 14.283418655395508, 4.655174255371094, 17.938705444335938 ]
[ -1.23046875, 99.140625, 92.8125, 41.30859375, 8.61328125, 1.3720742464065552, -1.93359375, 191.337890625, 174.55078125, 18.28125, 5.712890625, 14.927905082702637 ]
2.533333
76
0
76
0
[ 2.1367299556732178, 95.2385482788086, 90.77955627441406, 26.62746810913086, 7.860390663146973, 0.8091840744018555, -3.137897253036499, 172.98590087890625, 161.76666259765625, 14.308576583862305, 3.9766902923583984, 18.710264205932617 ]
[ -0.87890625, 98.173828125, 92.8125, 38.056640625, 8.61328125, 1.3720742464065552, -1.7578125, 188.96484375, 173.759765625, 16.875, 5.537109375, 15.691264152526855 ]
2.566667
77
0
77
0
[ 2.3803770542144775, 94.47819519042969, 90.61300659179688, 25.28864288330078, 7.744412422180176, 0.8315792083740234, -3.111672878265381, 168.8083038330078, 158.59092712402344, 14.507120132446289, 3.5849552154541016, 19.13515281677246 ]
[ -0.17578125, 96.943359375, 92.724609375, 34.98046875, 8.61328125, 1.3720742464065552, -1.93359375, 185.888671875, 172.353515625, 16.259765625, 4.74609375, 16.200170516967773 ]
2.6
78
0
78
0
[ 2.6418089866638184, 93.86105346679688, 90.34358215332031, 24.191144943237305, 7.671013832092285, 0.875798225402832, -3.1349644660949707, 165.7835693359375, 156.0688018798828, 14.605487823486328, 3.1940412521362305, 19.395557403564453 ]
[ 0.52734375, 95.625, 92.63671875, 31.81640625, 8.0859375, 1.3720742464065552, -2.4609375, 182.021484375, 169.98046875, 15.8203125, 4.04296875, 16.878711700439453 ]
2.633333
79
0
79
0
[ 2.9670584201812744, 93.14326477050781, 89.77642822265625, 23.182315826416016, 7.505154609680176, 0.8495349884033203, -3.135650157928467, 159.98257446289062, 151.62916564941406, 15.00400161743164, 2.631053924560547, 19.87434959411621 ]
[ 1.142578125, 94.39453125, 92.63671875, 29.267578125, 7.55859375, 1.3720742464065552, -2.8125, 177.451171875, 166.640625, 15.556640625, 3.515625, 17.811704635620117 ]
2.666667
80
0
80
0
[ 3.290308952331543, 92.34823608398438, 89.27989196777344, 22.341983795166016, 7.4244303703308105, 0.8878426551818848, -3.195242404937744, 156.47671508789062, 148.73060607910156, 15.143495559692383, 2.043107032775879, 20.183862686157227 ]
[ 1.669921875, 93.427734375, 92.63671875, 27.421875, 7.470703125, 1.3720742464065552, -2.8125, 172.96875, 163.30078125, 15.29296875, 3.603515625, 18.150976181030273 ]
2.7
81
0
81
0
[ 3.559959888458252, 91.80229187011719, 88.69728088378906, 21.90479278564453, 7.281492233276367, 0.9102082252502441, -3.2080912590026855, 151.93490600585938, 144.94126892089844, 15.343048095703125, 1.6696596145629883, 20.6674747467041 ]
[ 1.845703125, 92.8125, 92.373046875, 26.015625, 7.3828125, 1.3720742464065552, -2.63671875, 168.486328125, 159.9609375, 15.29296875, 3.076171875, 18.405427932739258 ]
2.733333
82
0
82
0
[ 3.8293566703796387, 91.12031555175781, 88.137939453125, 21.35912322998047, 7.223055839538574, 0.9625201225280762, -3.2096972465515137, 148.11697387695312, 141.80369567871094, 15.25843620300293, 1.2784833908081055, 21.1246395111084 ]
[ 1.93359375, 92.109375, 92.109375, 24.697265625, 7.3828125, 1.3720742464065552, -2.4609375, 163.828125, 156.533203125, 15.29296875, 2.548828125, 18.9991512298584 ]
2.766667
83
0
83
0
[ 4.346240997314453, 90.69441223144531, 87.65328979492188, 20.858240127563477, 6.952412128448486, 0.8919286727905273, -3.2260332107543945, 143.2503204345703, 138.0078582763672, 15.621545791625977, 0.9023256301879883, 21.926910400390625 ]
[ 1.93359375, 91.23046875, 91.23046875, 23.466796875, 7.3828125, 1.3720742464065552, -2.373046875, 159.345703125, 153.017578125, 15.29296875, 2.021484375, 19.338422775268555 ]
2.8
84
0
84
0
[ 4.604070663452148, 90.092529296875, 87.14904022216797, 20.77655601501465, 6.934848308563232, 0.9380598068237305, -3.2272026538848877, 140.20999145507812, 135.5269317626953, 15.661676406860352, 0.684117317199707, 22.419321060180664 ]
[ 2.197265625, 90.87890625, 90.87890625, 22.67578125, 7.3828125, 1.3720742464065552, -2.373046875, 155.0390625, 149.326171875, 15.29296875, 1.58203125, 19.847328186035156 ]
2.833333
85
0
85
0
[ 5.001504898071289, 89.80117797851562, 86.73637390136719, 20.353744506835938, 6.7267608642578125, 0.9092717170715332, -3.354581594467163, 136.73501586914062, 132.36190795898438, 15.711776733398438, 0.36004066467285156, 22.920602798461914 ]
[ 2.63671875, 90.17578125, 90.52734375, 21.884765625, 6.943359375, 1.3720742464065552, -2.548828125, 150.732421875, 145.8984375, 15.29296875, 0.966796875, 20.27141571044922 ]
2.866667
86
0
86
0
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[ 3.1640625, 89.6484375, 89.912109375, 21.357421875, 6.591796875, 1.3720742464065552, -2.63671875, 146.6015625, 142.55859375, 15.29296875, 0.615234375, 20.86513900756836 ]
2.9
87
0
87
0
[ 5.418657302856445, 88.89224243164062, 85.93505859375, 20.106645584106445, 6.609805107116699, 0.9258217811584473, -3.383457660675049, 132.49900817871094, 128.54550170898438, 15.738666534423828, 0.035866737365722656, 23.600814819335938 ]
[ 3.779296875, 89.033203125, 89.384765625, 21.181640625, 6.50390625, 1.3720742464065552, -2.8125, 142.55859375, 139.39453125, 15.29296875, 0.439453125, 21.289228439331055 ]
2.933333
88
0
88
0
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[ 4.39453125, 88.76953125, 88.9453125, 21.005859375, 6.50390625, 1.3720742464065552, -2.8125, 139.130859375, 136.845703125, 15.29296875, 0.3515625, 21.882951736450195 ]
2.966667
89
0
89
0
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[ 4.74609375, 88.2421875, 88.505859375, 21.005859375, 6.50390625, 1.3720742464065552, -2.8125, 136.40625, 134.736328125, 15.29296875, 0.3515625, 22.307039260864258 ]
3
90
0
90
0
[ 6.4450507164001465, 87.80224609375, 85.05091857910156, 19.226228713989258, 6.0661845207214355, 0.7425947189331055, -3.5169577598571777, 124.22276306152344, 121.15831756591797, 15.675012588500977, -0.41123294830322266, 25.527732849121094 ]
[ 4.74609375, 87.71484375, 87.978515625, 20.478515625, 6.50390625, 1.3720742464065552, -2.8125, 133.154296875, 132.099609375, 15.29296875, 0.3515625, 22.985580444335938 ]
3.033333
91
0
91
0
[ 6.4736504554748535, 87.44403076171875, 84.88206481933594, 18.81377410888672, 6.039840221405029, 0.8022232055664062, -3.5325450897216797, 122.90074157714844, 119.69544982910156, 15.477970123291016, -0.4855918884277344, 25.481689453125 ]
[ 4.833984375, 87.099609375, 87.802734375, 20.126953125, 6.50390625, 1.3720742464065552, -2.8125, 129.90234375, 129.375, 15.29296875, 0.3515625, 23.748939514160156 ]
3.066667
92
0
92
0
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[ 5.009765625, 86.66015625, 87.71484375, 19.951171875, 6.50390625, 1.3720742464065552, -2.8125, 127.177734375, 126.826171875, 15.29296875, 0.3515625, 24.17302703857422 ]
3.1
93
0
93
0
[ 6.97532844543457, 86.44438934326172, 84.4455337524414, 18.08740997314453, 5.772054672241211, 0.7000288963317871, -3.530177593231201, 119.02102661132812, 115.96271514892578, 15.341543197631836, -0.7124319076538086, 26.245357513427734 ]
[ 5.09765625, 86.572265625, 87.36328125, 19.51171875, 6.50390625, 1.3720742464065552, -2.8125, 124.716796875, 124.62890625, 15.29296875, 0.3515625, 24.342662811279297 ]
3.133333
94
0
94
0
[ 7.076658248901367, 86.15599060058594, 84.27195739746094, 18.046031951904297, 5.7971673011779785, 0.7074823379516602, -3.5740725994110107, 117.84234619140625, 114.89665222167969, 15.268325805664062, -0.7244234085083008, 26.398571014404297 ]
[ 5.361328125, 85.95703125, 87.099609375, 19.072265625, 5.888671875, 1.3720742464065552, -2.8125, 122.51953125, 122.51953125, 15.29296875, 0.3515625, 24.512298583984375 ]
3.166667
95
0
95
0
[ 7.040824890136719, 86.03016662597656, 84.31620788574219, 17.65257453918457, 5.711033821105957, 0.6527080535888672, -3.5035908222198486, 117.24671936035156, 114.26202392578125, 15.279035568237305, -0.7195892333984375, 26.449302673339844 ]
[ 5.712890625, 85.693359375, 86.748046875, 18.984375, 5.625, 1.3720742464065552, -2.900390625, 120.673828125, 120.498046875, 15.29296875, 0.3515625, 25.106021881103516 ]
3.2
96
0
96
0
[ 7.1450700759887695, 85.330078125, 83.8218994140625, 17.290313720703125, 5.757837295532227, 0.6176729202270508, -3.538395404815674, 115.919189453125, 112.97268676757812, 15.2645263671875, -0.8285617828369141, 26.577260971069336 ]
[ 5.9765625, 85.60546875, 86.66015625, 18.896484375, 5.44921875, 1.3720742464065552, -2.8125, 119.091796875, 118.828125, 15.29296875, 0.3515625, 25.360475540161133 ]
3.233333
97
0
97
0
[ 7.057724475860596, 85.1910400390625, 83.74211883544922, 17.185373306274414, 5.758119583129883, 0.6165375709533691, -3.509007453918457, 115.72044372558594, 112.78573608398438, 15.297845840454102, -0.7696676254272461, 26.559877395629883 ]
[ 6.240234375, 85.517578125, 86.66015625, 18.544921875, 5.2734375, 1.3720742464065552, -2.8125, 117.94921875, 117.7734375, 15.29296875, 0.3515625, 25.530109405517578 ]
3.266667
98
0
98
0
[ 7.0312418937683105, 84.75604248046875, 83.68251037597656, 16.708444595336914, 5.732916831970215, 0.6146430969238281, -3.5220675468444824, 115.04928588867188, 112.271728515625, 15.224597930908203, -0.6506891250610352, 26.54283905029297 ]
[ 6.416015625, 85.078125, 86.220703125, 18.193359375, 5.2734375, 1.3720742464065552, -2.8125, 116.630859375, 116.71875, 15.29296875, 0.3515625, 25.614927291870117 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 2675,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                12
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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