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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
-6.85546875,
96.064453125,
98.876953125,
60.64453125,
30.234375,
0.5882353186607361
] | [
-12.041015625,
94.658203125,
106.69921875,
59.765625,
30.05859375,
0.7628294229507446
] | 0 | 0 | 0 | 0 | 0 |
[
-6.416015625,
96.328125,
98.96484375,
60.64453125,
30.234375,
0.5882353186607361
] | [
-11.513671875,
94.658203125,
106.69921875,
59.765625,
30.05859375,
0.7628294229507446
] | 0.033333 | 1 | 0 | 1 | 0 |
[
-6.15234375,
96.416015625,
98.876953125,
60.64453125,
30.146484375,
0.5882353186607361
] | [
-10.986328125,
94.658203125,
106.69921875,
59.853515625,
30.05859375,
0.7628294229507446
] | 0.066667 | 2 | 0 | 2 | 0 |
[
-6.15234375,
96.328125,
98.349609375,
60.732421875,
30.146484375,
0.5882353186607361
] | [
-10.458984375,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.1 | 3 | 0 | 3 | 0 |
[
-6.064453125,
96.416015625,
98.26171875,
60.380859375,
30.146484375,
0.5882353186607361
] | [
-9.931640625,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.133333 | 4 | 0 | 4 | 0 |
[
-5.9765625,
96.416015625,
98.26171875,
60.1171875,
30.146484375,
0.5882353186607361
] | [
-9.580078125,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.166667 | 5 | 0 | 5 | 0 |
[
-5.625,
96.15234375,
98.26171875,
60.1171875,
30.146484375,
0.5882353186607361
] | [
-9.228515625,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.2 | 6 | 0 | 6 | 0 |
[
-4.5703125,
95.9765625,
98.26171875,
60.380859375,
30.146484375,
0.5882353186607361
] | [
-9.052734375,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.233333 | 7 | 0 | 7 | 0 |
[
-3.603515625,
95.888671875,
98.26171875,
60.64453125,
30.146484375,
0.5882353186607361
] | [
-8.701171875,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.266667 | 8 | 0 | 8 | 0 |
[
-2.900390625,
95.80078125,
98.26171875,
60.732421875,
30.146484375,
0.5882353186607361
] | [
-8.26171875,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.3 | 9 | 0 | 9 | 0 |
[
-2.548828125,
95.80078125,
98.4375,
60.732421875,
30.146484375,
0.5882353186607361
] | [
-7.734375,
94.658203125,
106.69921875,
59.94140625,
30.05859375,
0.7628294229507446
] | 0.333333 | 10 | 0 | 10 | 0 |
[
-2.4609375,
95.80078125,
98.349609375,
60.732421875,
30.05859375,
0.5882353186607361
] | [
-7.20703125,
94.658203125,
106.69921875,
59.94140625,
29.970703125,
0.7628294229507446
] | 0.366667 | 11 | 0 | 11 | 0 |
[
-2.548828125,
95.80078125,
98.26171875,
60.64453125,
29.619140625,
0.5882353186607361
] | [
-6.591796875,
94.658203125,
106.69921875,
60.205078125,
29.970703125,
0.7628294229507446
] | 0.4 | 12 | 0 | 12 | 0 |
[
-2.548828125,
95.80078125,
98.26171875,
60.380859375,
28.916015625,
0.5882353186607361
] | [
-6.064453125,
94.658203125,
106.69921875,
60.29296875,
29.970703125,
0.7628294229507446
] | 0.433333 | 13 | 0 | 13 | 0 |
[
-2.548828125,
95.80078125,
98.26171875,
60.205078125,
28.125,
0.5882353186607361
] | [
-5.80078125,
94.658203125,
106.69921875,
60.29296875,
29.970703125,
0.7628294229507446
] | 0.466667 | 14 | 0 | 14 | 0 |
[
-2.548828125,
95.712890625,
98.26171875,
60.205078125,
27.861328125,
0.5882353186607361
] | [
-5.44921875,
94.658203125,
106.69921875,
60.29296875,
29.619140625,
0.7628294229507446
] | 0.5 | 15 | 0 | 15 | 0 |
[
-2.548828125,
95.712890625,
98.26171875,
60.205078125,
27.7734375,
0.5882353186607361
] | [
-5.361328125,
94.658203125,
106.69921875,
60.29296875,
28.916015625,
0.7628294229507446
] | 0.533333 | 16 | 0 | 16 | 0 |
[
-2.4609375,
95.712890625,
98.26171875,
60.380859375,
27.861328125,
0.5882353186607361
] | [
-5.09765625,
94.658203125,
106.69921875,
60.29296875,
28.388671875,
0.7628294229507446
] | 0.566667 | 17 | 0 | 17 | 0 |
[
-2.4609375,
95.712890625,
98.26171875,
60.29296875,
27.94921875,
0.5882353186607361
] | [
-4.921875,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.6 | 18 | 0 | 18 | 0 |
[
-2.4609375,
95.712890625,
98.26171875,
60.205078125,
27.94921875,
0.5882353186607361
] | [
-4.921875,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.633333 | 19 | 0 | 19 | 0 |
[
-2.4609375,
95.712890625,
98.173828125,
60.029296875,
28.037109375,
0.5882353186607361
] | [
-4.833984375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.666667 | 20 | 0 | 20 | 0 |
[
-2.548828125,
95.712890625,
98.173828125,
59.853515625,
28.037109375,
0.5882353186607361
] | [
-4.74609375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.7 | 21 | 0 | 21 | 0 |
[
-2.63671875,
95.712890625,
98.0859375,
59.765625,
28.125,
0.5882353186607361
] | [
-4.74609375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.733333 | 22 | 0 | 22 | 0 |
[
-2.724609375,
95.712890625,
97.822265625,
59.765625,
28.125,
0.5882353186607361
] | [
-4.74609375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.766667 | 23 | 0 | 23 | 0 |
[
-2.900390625,
95.537109375,
97.294921875,
59.765625,
28.125,
0.5882353186607361
] | [
-4.74609375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.8 | 24 | 0 | 24 | 0 |
[
-2.98828125,
95.44921875,
96.767578125,
59.94140625,
28.212890625,
0.5882353186607361
] | [
-4.74609375,
94.658203125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.833333 | 25 | 0 | 25 | 0 |
[
-3.1640625,
95.2734375,
96.240234375,
59.94140625,
28.4765625,
0.5882353186607361
] | [
-4.74609375,
94.5703125,
106.69921875,
60.29296875,
28.125,
0.7628294229507446
] | 0.866667 | 26 | 0 | 26 | 0 |
[
-3.427734375,
95.009765625,
95.625,
60.029296875,
29.267578125,
0.5882353186607361
] | [
-4.74609375,
94.5703125,
106.611328125,
60.29296875,
28.125,
0.7628294229507446
] | 0.9 | 27 | 0 | 27 | 0 |
[
-3.427734375,
94.5703125,
94.833984375,
60.205078125,
30.05859375,
0.5882353186607361
] | [
-4.74609375,
94.306640625,
106.259765625,
60.29296875,
28.125,
0.7628294229507446
] | 0.933333 | 28 | 0 | 28 | 0 |
[
-3.427734375,
94.04296875,
93.955078125,
60.46875,
30.5859375,
0.5882353186607361
] | [
-4.74609375,
93.955078125,
105.8203125,
60.29296875,
28.212890625,
0.7628294229507446
] | 0.966667 | 29 | 0 | 29 | 0 |
[
-3.779296875,
93.33984375,
93.1640625,
60.556640625,
30.76171875,
0.5882353186607361
] | [
-4.74609375,
93.603515625,
105.29296875,
60.29296875,
28.65234375,
0.7628294229507446
] | 1 | 30 | 0 | 30 | 0 |
[
-4.482421875,
92.4609375,
92.373046875,
60.556640625,
30.76171875,
0.5882353186607361
] | [
-4.74609375,
93.251953125,
104.58984375,
60.29296875,
29.1796875,
0.7628294229507446
] | 1.033333 | 31 | 0 | 31 | 0 |
[
-4.921875,
91.40625,
91.7578125,
60.380859375,
30.76171875,
0.5882353186607361
] | [
-4.74609375,
92.724609375,
103.88671875,
60.29296875,
29.53125,
0.7628294229507446
] | 1.066667 | 32 | 0 | 32 | 0 |
[
-5.009765625,
90.263671875,
91.0546875,
60.380859375,
30.849609375,
0.5882353186607361
] | [
-4.74609375,
92.021484375,
103.095703125,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.1 | 33 | 0 | 33 | 0 |
[
-5.009765625,
89.12109375,
90.439453125,
60.556640625,
30.849609375,
0.5882353186607361
] | [
-4.74609375,
91.0546875,
102.48046875,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.133333 | 34 | 0 | 34 | 0 |
[
-5.009765625,
88.06640625,
90,
60.64453125,
30.849609375,
0.5882353186607361
] | [
-4.74609375,
90.087890625,
101.953125,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.166667 | 35 | 0 | 35 | 0 |
[
-5.009765625,
87.1875,
89.82421875,
60.64453125,
30.849609375,
0.5882353186607361
] | [
-4.74609375,
89.12109375,
101.337890625,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.2 | 36 | 0 | 36 | 0 |
[
-5.009765625,
86.396484375,
89.6484375,
60.556640625,
30.849609375,
0.5882353186607361
] | [
-4.74609375,
87.978515625,
100.72265625,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.233333 | 37 | 0 | 37 | 0 |
[
-5.009765625,
85.869140625,
89.560546875,
60.205078125,
30.9375,
0.5882353186607361
] | [
-4.74609375,
87.1875,
100.107421875,
60.29296875,
29.619140625,
0.7628294229507446
] | 1.266667 | 38 | 0 | 38 | 0 |
[
-5.09765625,
85.341796875,
89.384765625,
59.94140625,
30.9375,
0.5882353186607361
] | [
-4.74609375,
86.220703125,
99.4921875,
60.29296875,
29.70703125,
0.7628294229507446
] | 1.3 | 39 | 0 | 39 | 0 |
[
-5.185546875,
84.90234375,
89.12109375,
59.853515625,
30.9375,
0.5882353186607361
] | [
-4.74609375,
85.4296875,
98.96484375,
60.29296875,
29.794921875,
0.7628294229507446
] | 1.333333 | 40 | 0 | 40 | 0 |
[
-5.537109375,
84.462890625,
88.681640625,
59.853515625,
30.9375,
0.5882353186607361
] | [
-4.74609375,
84.90234375,
98.525390625,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.366667 | 41 | 0 | 41 | 0 |
[
-5.80078125,
84.287109375,
88.06640625,
60.29296875,
30.9375,
0.5882353186607361
] | [
-4.74609375,
84.462890625,
98.173828125,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.4 | 42 | 0 | 42 | 0 |
[
-5.80078125,
84.19921875,
87.275390625,
60.64453125,
30.9375,
0.5882353186607361
] | [
-4.74609375,
84.0234375,
97.55859375,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.433333 | 43 | 0 | 43 | 0 |
[
-5.80078125,
84.19921875,
86.748046875,
61.083984375,
30.9375,
0.5042017102241516
] | [
-4.74609375,
83.671875,
96.943359375,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.466667 | 44 | 0 | 44 | 0 |
[
-5.80078125,
84.19921875,
86.220703125,
61.787109375,
30.9375,
0.5042017102241516
] | [
-4.74609375,
83.3203125,
96.328125,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.5 | 45 | 0 | 45 | 0 |
[
-5.80078125,
84.287109375,
85.693359375,
62.490234375,
30.9375,
0.5042017102241516
] | [
-4.74609375,
83.056640625,
95.888671875,
60.29296875,
29.970703125,
0.7628294229507446
] | 1.533333 | 46 | 0 | 46 | 0 |
[
-5.625,
84.287109375,
84.990234375,
63.28125,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.880859375,
95.44921875,
60.380859375,
29.970703125,
0.7628294229507446
] | 1.566667 | 47 | 0 | 47 | 0 |
[
-5.537109375,
84.287109375,
84.375,
64.16015625,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.705078125,
94.921875,
60.908203125,
29.970703125,
0.7628294229507446
] | 1.6 | 48 | 0 | 48 | 0 |
[
-5.44921875,
84.19921875,
83.84765625,
64.951171875,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.529296875,
94.482421875,
61.34765625,
29.970703125,
0.7628294229507446
] | 1.633333 | 49 | 0 | 49 | 0 |
[
-5.44921875,
84.19921875,
83.583984375,
65.478515625,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.353515625,
93.955078125,
62.05078125,
29.970703125,
0.7628294229507446
] | 1.666667 | 50 | 0 | 50 | 0 |
[
-5.44921875,
84.19921875,
83.49609375,
65.830078125,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.177734375,
93.427734375,
62.666015625,
29.970703125,
0.7628294229507446
] | 1.7 | 51 | 0 | 51 | 0 |
[
-5.44921875,
84.287109375,
83.49609375,
65.91796875,
30.9375,
0.5042017102241516
] | [
-4.74609375,
82.08984375,
92.98828125,
63.28125,
29.970703125,
0.7628294229507446
] | 1.733333 | 52 | 0 | 52 | 0 |
[
-5.625,
84.287109375,
83.49609375,
65.91796875,
30.9375,
0.5882353186607361
] | [
-4.74609375,
82.08984375,
92.63671875,
63.80859375,
29.970703125,
0.7628294229507446
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-5.888671875,
84.375,
83.49609375,
65.91796875,
30.9375,
0.9243698120117188
] | [
-4.74609375,
82.08984375,
92.28515625,
64.16015625,
29.970703125,
0.7628294229507446
] | 1.8 | 54 | 0 | 54 | 0 |
[
-5.9765625,
84.375,
83.49609375,
65.91796875,
30.9375,
0.9243698120117188
] | [
-4.74609375,
82.08984375,
92.109375,
64.423828125,
29.970703125,
0.7628294229507446
] | 1.833333 | 55 | 0 | 55 | 0 |
[
-6.064453125,
84.462890625,
83.49609375,
65.7421875,
30.498046875,
1.0084034204483032
] | [
-4.74609375,
82.08984375,
91.845703125,
64.775390625,
29.970703125,
0.7628294229507446
] | 1.866667 | 56 | 0 | 56 | 0 |
[
-6.591796875,
84.814453125,
83.49609375,
65.7421875,
30.498046875,
1.0084034204483032
] | [
-4.921875,
82.08984375,
91.7578125,
64.951171875,
29.970703125,
0.7628294229507446
] | 1.9 | 57 | 0 | 57 | 0 |
[
-6.767578125,
84.990234375,
83.49609375,
65.7421875,
30.41015625,
1.0084034204483032
] | [
-5.09765625,
82.08984375,
91.7578125,
64.951171875,
29.970703125,
0.7628294229507446
] | 1.933333 | 58 | 0 | 58 | 0 |
[
-7.03125,
85.166015625,
83.49609375,
65.478515625,
30.322265625,
1.0924370288848877
] | [
-5.361328125,
82.08984375,
91.7578125,
65.0390625,
29.970703125,
0.7628294229507446
] | 1.966667 | 59 | 0 | 59 | 0 |
[
-7.119140625,
85.341796875,
83.49609375,
65.390625,
30.322265625,
1.0924370288848877
] | [
-5.537109375,
82.08984375,
91.669921875,
65.0390625,
29.970703125,
0.7628294229507446
] | 2 | 60 | 0 | 60 | 0 |
[
-7.119140625,
85.341796875,
83.49609375,
65.390625,
30.234375,
1.0924370288848877
] | [
-5.80078125,
82.08984375,
91.669921875,
65.0390625,
29.970703125,
0.7628294229507446
] | 2.033333 | 61 | 0 | 61 | 0 |
[
-7.119140625,
85.4296875,
83.49609375,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 2,
"total_frames": 1791,
"total_tasks": 1,
"total_videos": 2,
"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": [
"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.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
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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