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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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| 0 | 0 | 0 | 0 | 0 |
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| 0.533333 | 16 | 0 | 16 | 0 |
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| 0.666667 | 20 | 0 | 20 | 0 |
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| 0.8 | 24 | 0 | 24 | 0 |
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| 1 | 30 | 0 | 30 | 0 |
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| 1.033333 | 31 | 0 | 31 | 0 |
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| 1.1 | 33 | 0 | 33 | 0 |
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| 1.2 | 36 | 0 | 36 | 0 |
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| 1.233333 | 37 | 0 | 37 | 0 |
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| 1.3 | 39 | 0 | 39 | 0 |
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| 1.466667 | 44 | 0 | 44 | 0 |
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| 1.5 | 45 | 0 | 45 | 0 |
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| 1.533333 | 46 | 0 | 46 | 0 |
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| 3.2 | 96 | 0 | 96 | 0 |
[
11.608176231384277,
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24.442378997802734,
81.6112060546875,
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82.33788299560547,
0.35149383544921875,
36.149471282958984
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| 3.233333 | 97 | 0 | 97 | 0 |
[
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81.6112060546875,
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| 3.266667 | 98 | 0 | 98 | 0 |
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82.2525634765625,
0.35149383544921875,
36.149471282958984
]
| 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 2,
"total_frames": 1010,
"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": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top_down": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.on_robot": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"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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