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sequence | observation.state
sequence | timestamp
float32 0
69.6
| frame_index
int64 0
2.09k
| episode_index
int64 0
19
| index
int64 0
41.8k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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| 1.933333 | 58 | 0 | 58 | 0 |
[
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| 1.966667 | 59 | 0 | 59 | 0 |
[
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| 2 | 60 | 0 | 60 | 0 |
[
27.59765625,
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| 2.033333 | 61 | 0 | 61 | 0 |
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| 2.1 | 63 | 0 | 63 | 0 |
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| 2.133333 | 64 | 0 | 64 | 0 |
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| 2.2 | 66 | 0 | 66 | 0 |
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| 2.3 | 69 | 0 | 69 | 0 |
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| 2.5 | 75 | 0 | 75 | 0 |
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| 2.566667 | 77 | 0 | 77 | 0 |
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| 2.7 | 81 | 0 | 81 | 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 | 86 | 0 | 86 | 0 |
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| 2.9 | 87 | 0 | 87 | 0 |
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| 2.933333 | 88 | 0 | 88 | 0 |
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| 2.966667 | 89 | 0 | 89 | 0 |
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| 3 | 90 | 0 | 90 | 0 |
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| 3.033333 | 91 | 0 | 91 | 0 |
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| 3.066667 | 92 | 0 | 92 | 0 |
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| 3.1 | 93 | 0 | 93 | 0 |
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| 3.133333 | 94 | 0 | 94 | 0 |
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| 3.166667 | 95 | 0 | 95 | 0 |
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| 3.2 | 96 | 0 | 96 | 0 |
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| 3.233333 | 97 | 0 | 97 | 0 |
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| 3.266667 | 98 | 0 | 98 | 0 |
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| 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 41800,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.logitech_1": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.logitech_2": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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