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float32
0
29.9
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int64
0
299
episode_index
int64
0
9
index
int64
0
3k
task_index
int64
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0.1
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1
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1.1
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1.2
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1.9
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2
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2.1
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2.2
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2.3
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2.5
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2.8
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2.9
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3
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3.1
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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5.7
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57
0
[ -78.85017395019531, -50.85248565673828, 77.99400329589844, 49.238468170166016, -69.0190200805664, 9.887984275817871 ]
[ -78.33209228515625, -47.705265045166016, 78.49462127685547, 50.27766036987305, -69.22268676757812, 8.31117057800293 ]
5.8
58
0
58
0
[ -78.25812530517578, -51.85070037841797, 76.48320007324219, 50.480857849121094, -68.63731384277344, 12.01156997680664 ]
[ -79.3745346069336, -48.715789794921875, 78.76344299316406, 50.27766036987305, -69.22268676757812, 9.109042167663574 ]
5.9
59
0
59
0
[ -78.61996459960938, -51.80901336669922, 76.20469665527344, 48.97991943359375, -69.21017456054688, 12.19024658203125 ]
[ -79.00223541259766, -49.64210510253906, 78.8530502319336, 50.533958435058594, -68.9600830078125, 10.372340202331543 ]
6
60
0
60
0
[ -76.33250427246094, -54.08515167236328, 75.17108154296875, 50.72080993652344, -68.04067993164062, 13.79216194152832 ]
[ -78.92777252197266, -50.06315612792969, 78.8530502319336, 50.19222640991211, -69.06512451171875, 11.502659797668457 ]
6.1
61
0
61
0
[ -75.79495239257812, -53.4765739440918, 74.29295349121094, 50.03184127807617, -68.21504974365234, 14.199942588806152 ]
[ -78.03424835205078, -50.9052619934082, 78.8530502319336, 50.533958435058594, -68.59243774414062, 12.566489219665527 ]
6.2
62
0
62
0
[ -71.1732177734375, -52.941734313964844, 69.87968444824219, 51.555233001708984, -67.76170349121094, 15.267894744873047 ]
[ -76.84288787841797, -51.74736785888672, 78.8530502319336, 50.61939239501953, -68.329833984375, 13.497340202331543 ]
6.3
63
0
63
0
[ -73.31654357910156, -54.63190841674805, 73.18636322021484, 53.179969787597656, -67.6624526977539, 14.35800838470459 ]
[ -75.05584716796875, -51.74736785888672, 77.95698547363281, 51.217430114746094, -68.1197509765625, 14.361701965332031 ]
6.4
64
0
64
0
[ -68.7170181274414, -59.79405975341797, 72.11212158203125, 54.95500183105469, -66.26083374023438, 14.582550048828125 ]
[ -72.97096252441406, -52.50526428222656, 76.52330017089844, 52.24263000488281, -67.85713958740234, 14.494680404663086 ]
6.5
65
0
65
0
[ -65.28093719482422, -64.64335632324219, 71.69920349121094, 57.41717529296875, -65.31067657470703, 13.793536186218262 ]
[ -72.44973754882812, -54.35789489746094, 76.52330017089844, 54.03673553466797, -67.01680755615234, 14.494680404663086 ]
6.6
66
0
66
0
[ -57.239837646484375, -69.05171203613281, 69.46711730957031, 57.71555709838867, -63.58382034301758, 13.291206359863281 ]
[ -68.80119323730469, -58.65262985229492, 76.52330017089844, 56.172576904296875, -65.96638488769531, 14.428191184997559 ]
6.7
67
0
67
0
[ -55.10811233520508, -72.03131103515625, 69.75019836425781, 57.20477294921875, -63.022666931152344, 12.678009033203125 ]
[ -65.22710418701172, -63.3684196472168, 76.16487121582031, 57.539512634277344, -64.70587921142578, 13.763298034667969 ]
6.8
68
0
68
0
[ -48.078861236572266, -77.20751953125, 69.6392593383789, 58.33380126953125, -61.622886657714844, 11.616630554199219 ]
[ -58.82352828979492, -67.91578674316406, 75.71684265136719, 57.62494659423828, -63.550418853759766, 13.16489315032959 ]
6.9
69
0
69
0
[ -38.401695251464844, -84.16326141357422, 69.86624145507812, 53.779605865478516, -59.58625793457031, 9.971062660217285 ]
[ -54.95159912109375, -71.70526123046875, 75.3584213256836, 58.13754653930664, -62.447479248046875, 12.300532341003418 ]
7
70
0
70
0
[ -31.368003845214844, -89.32450866699219, 70.77216339111328, 48.27425003051758, -58.45097732543945, 8.735522270202637 ]
[ -47.87788391113281, -76.75789642333984, 75.26881408691406, 57.19778060913086, -60.976890563964844, 11.03723430633545 ]
7.1
71
0
71
0
[ -24.24091339111328, -94.73260498046875, 74.14956665039062, 37.35411071777344, -56.45711135864258, 7.396627902984619 ]
[ -39.389427185058594, -83.3263168334961, 75.17921447753906, 53.865867614746094, -59.40126037597656, 9.707447052001953 ]
7.2
72
0
72
0
[ -22.613563537597656, -95.78005981445312, 74.55865478515625, 35.97160339355469, -56.38776397705078, 7.264688491821289 ]
[ -32.01787185668945, -89.55789184570312, 75.44802856445312, 48.825286865234375, -57.878150939941406, 8.444149017333984 ]
7.3
73
0
73
0
[ -17.37189483642578, -97.51612854003906, 78.6376953125, 22.032798767089844, -55.60721206665039, 6.775804042816162 ]
[ -25.539836883544922, -94.10526275634766, 75.71684265136719, 41.05083465576172, -56.775211334228516, 7.712766170501709 ]
7.4
74
0
74
0
[ -12.153082847595215, -101.33976745605469, 81.202880859375, 7.972400188446045, -54.51204299926758, 5.997199535369873 ]
[ -22.710350036621094, -96.63157653808594, 77.1505355834961, 36.351985931396484, -55.987396240234375, 7.180850982666016 ]
7.5
75
0
75
0
[ -13.851524353027344, -99.41996765136719, 81.53356170654297, 10.251996994018555, -54.582576751708984, 6.509257793426514 ]
[ -17.498138427734375, -97.726318359375, 81.09319305419922, 24.733020782470703, -55.042015075683594, 6.515957355499268 ]
7.6
76
0
76
0
[ -6.238288402557373, -103.37846374511719, 85.82144165039062, -12.096723556518555, -53.1806526184082, 5.4889655113220215 ]
[ -14.296351432800293, -99.24210357666016, 82.4372787475586, 14.053823471069336, -54.88445281982422, 6.382978916168213 ]
7.7
77
0
77
0
[ -3.5042471885681152, -105.30250549316406, 89.99317932128906, -26.710283279418945, -52.33000946044922, 5.2969560623168945 ]
[ -13.25390911102295, -99.3263168334961, 84.2293930053711, 10.294745445251465, -54.1491584777832, 5.984042644500732 ]
7.8
78
0
78
0
[ -2.3069071769714355, -105.45872497558594, 90.85150146484375, -32.11390686035156, -52.07537078857422, 5.0743913650512695 ]
[ -7.073715686798096, -98.82105255126953, 88.62007141113281, -3.3746261596679688, -52.99369812011719, 5.651595592498779 ]
7.9
79
0
79
0
[ -1.3680634498596191, -106.20549011230469, 92.36302185058594, -36.300201416015625, -52.05205154418945, 5.194050312042236 ]
[ -3.9463887214660645, -99.49473571777344, 91.3978500366211, -20.29047393798828, -52.3109245300293, 5.452127456665039 ]
8
80
0
80
0
[ 1.8458609580993652, -105.08122253417969, 96.8897705078125, -58.88388442993164, -51.13992691040039, 5.159939765930176 ]
[ -2.5316455364227295, -99.66315460205078, 92.38351440429688, -30.0299015045166, -52.25840377807617, 5.452127456665039 ]
8.1
81
0
81
0
[ 2.1517128944396973, -106.26625061035156, 96.4951171875, -57.71782302856445, -51.06745147705078, 4.881834983825684 ]
[ -0.6701414585113525, -99.66315460205078, 94.53404998779297, -36.6082878112793, -52.04832077026367, 5.452127456665039 ]
8.2
82
0
82
0
[ 3.2818713188171387, -106.25941467285156, 97.01209259033203, -61.65279769897461, -51.01728439331055, 4.751303195953369 ]
[ 1.638123631477356, -99.57894897460938, 97.22222137451172, -48.22725296020508, -51.47058868408203, 5.452127456665039 ]
8.3
83
0
83
0
[ 3.4273648262023926, -106.09002685546875, 97.91566467285156, -65.53673553466797, -50.811485290527344, 4.796132564544678 ]
[ 2.233804941177368, -99.74736785888672, 97.40143585205078, -57.11234664916992, -51.155460357666016, 5.319149017333984 ]
8.4
84
0
84
0
[ 4.327793598175049, -105.50328063964844, 98.96007537841797, -72.94672393798828, -50.73988723754883, 4.752350807189941 ]
[ 2.9039463996887207, -99.66315460205078, 97.93907165527344, -62.15292739868164, -50.840335845947266, 5.1861701011657715 ]
8.5
85
0
85
0
[ 4.724959850311279, -105.65702819824219, 99.96652221679688, -76.68051147460938, -50.49554443359375, 4.790050506591797 ]
[ 3.797468423843384, -99.66315460205078, 98.2078857421875, -66.42460632324219, -50.89285659790039, 5.1861701011657715 ]
8.6
86
0
86
0
[ 4.427684307098389, -105.78591918945312, 99.16539001464844, -73.53278350830078, -50.693382263183594, 4.648769855499268 ]
[ 4.3931498527526855, -99.66315460205078, 98.83512878417969, -73.25929260253906, -50.78781509399414, 5.1861701011657715 ]
8.7
87
0
87
0
[ 5.023098468780518, -105.31707763671875, 100.70930480957031, -80.05814361572266, -50.58234405517578, 4.716789245605469 ]
[ 4.318689346313477, -99.66315460205078, 98.92472839355469, -74.62622833251953, -50.78781509399414, 5.1861701011657715 ]
8.8
88
0
88
0
[ 5.567773342132568, -104.71536254882812, 101.24143981933594, -84.42581939697266, -50.453914642333984, 4.7534284591674805 ]
[ 4.690990447998047, -99.66315460205078, 99.01433563232422, -75.90773010253906, -50.78781509399414, 5.1861701011657715 ]
8.9
89
0
89
0
[ 5.571993350982666, -105.04939270019531, 101.01038360595703, -84.76776885986328, -50.38316345214844, 4.644331932067871 ]
[ 5.13775110244751, -99.66315460205078, 99.01433563232422, -80.7774429321289, -50.78781509399414, 5.1861701011657715 ]
9
90
0
90
0
[ 5.713684558868408, -104.67127990722656, 102.01264953613281, -87.99696350097656, -50.52323532104492, 4.824267387390137 ]
[ 5.36113166809082, -99.66315460205078, 99.01433563232422, -83.93848419189453, -50.78781509399414, 5.1861701011657715 ]
9.1
91
0
91
0
[ 5.350241184234619, -103.76982879638672, 102.12451934814453, -90.74419403076172, -50.5390625, 5.010015487670898 ]
[ 5.36113166809082, -99.66315460205078, 99.01433563232422, -86.15975952148438, -50.78781509399414, 5.1861701011657715 ]
9.2
92
0
92
0
[ 5.869321346282959, -104.88929748535156, 101.6672592163086, -86.9990005493164, -50.327518463134766, 4.7708330154418945 ]
[ 5.36113166809082, -99.66315460205078, 99.01433563232422, -89.06449890136719, -50.78781509399414, 5.1861701011657715 ]
9.3
93
0
93
0
[ 6.050426959991455, -104.6388931274414, 101.56745910644531, -89.86409759521484, -50.21194076538086, 4.781539440155029 ]
[ 5.51005220413208, -99.66315460205078, 99.01433563232422, -89.32080078125, -50.78781509399414, 5.1861701011657715 ]
9.4
94
0
94
0
[ 6.792846202850342, -104.38365936279297, 102.14683532714844, -93.82762908935547, -50.14586639404297, 4.708269119262695 ]
[ 5.807892799377441, -99.66315460205078, 99.01433563232422, -89.23536682128906, -50.78781509399414, 5.1861701011657715 ]
9.5
95
0
95
0
[ 6.0345635414123535, -103.5732650756836, 102.42799377441406, -93.56057739257812, -50.24342727661133, 4.906894207000732 ]
[ 6.1801934242248535, -99.66315460205078, 99.01433563232422, -91.4566421508789, -50.57773208618164, 5.1861701011657715 ]
9.6
96
0
96
0
[ 6.0425848960876465, -103.99322509765625, 102.15792083740234, -92.2077407836914, -50.26970672607422, 4.786462783813477 ]
[ 6.1801934242248535, -99.66315460205078, 99.01433563232422, -93.25074768066406, -50.47269058227539, 5.1861701011657715 ]
9.7
97
0
97
0
[ 6.20366907119751, -104.16722106933594, 102.10305786132812, -91.92176818847656, -50.22190856933594, 4.736139297485352 ]
[ 6.1801934242248535, -99.66315460205078, 99.01433563232422, -93.07987976074219, -50.47269058227539, 5.1861701011657715 ]
9.8
98
0
98
0
[ 6.4901509284973145, -104.40543365478516, 102.75133514404297, -92.71710968017578, -50.273006439208984, 4.759799003601074 ]
[ 6.1801934242248535, -99.66315460205078, 99.01433563232422, -92.99444580078125, -50.47269058227539, 5.1861701011657715 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 10,
    "total_frames": 2998,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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
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            "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.wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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