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action
sequence
observation.state
sequence
timestamp
float32
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7.3
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int64
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2.233333
67
0
67
0
[ 29.507137298583984, 121.18580627441406, 109.39601135253906, 75.7331314086914, 118.26638793945312, -0.348846435546875 ]
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2.266667
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68
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[ 25.400390625, 114.873046875, 108.10546875, 73.564453125, 114.2578125, 0.2744739353656769 ]
2.3
69
0
69
0
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[ 27.685546875, 114.873046875, 109.16015625, 74.53125, 116.806640625, 0.2744739353656769 ]
2.333333
70
0
70
0
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2.366667
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71
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[ 34.62890625, 118.4765625, 111.09375, 76.46484375, 122.607421875, 0.2744739353656769 ]
2.4
72
0
72
0
[ 45.635581970214844, 128.3351593017578, 115.61011505126953, 78.24771881103516, 132.85166931152344, -0.4050483703613281 ]
[ 36.38671875, 119.794921875, 112.060546875, 76.728515625, 124.013671875, 0.2744739353656769 ]
2.433333
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0
73
0
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2.466667
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0
74
0
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[ 44.033203125, 123.22265625, 114.873046875, 77.431640625, 130.693359375, 0.2744739353656769 ]
2.5
75
0
75
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2.533333
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76
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2.566667
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77
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2.6
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2.633333
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80
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2.7
81
0
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2.733333
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0
82
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
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2.9
87
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87
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2.933333
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0
88
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2.966667
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89
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3
90
0
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3.033333
91
0
91
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3.066667
92
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92
0
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3.1
93
0
93
0
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3.133333
94
0
94
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3.166667
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95
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3.2
96
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3.233333
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3.266667
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98
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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": 2,
    "total_frames": 425,
    "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": {
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            "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": {
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            "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": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "has_audio": false
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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