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Datasets:
hugechen
/
cube

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
Polars
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action
list
observation.state
list
timestamp
float32
0
12.9
frame_index
int64
0
387
episode_index
int64
0
49
index
int64
0
19.4k
task_index
int64
0
0
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2.3
69
0
69
0
[ 2.337890625, 126.5185546875, 113.8623046875, 44.0859375, 15.15234375, 0.66796875, 61.06586837768555, -12.19921875, 120.2080078125, 112.18359375, 57.0849609375, -14.2470703125, -22.7197265625, 63.48195266723633 ]
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2.333333
70
0
70
0
[ 2.3994140625, 125.3759765625, 113.2998046875, 44.173828125, 15.1435546875, 1.2216796875, 63.85628890991211, -12.533203125, 119.7421875, 112.1748046875, 57.6123046875, -13.67578125, -22.6142578125, 64.79830169677734 ]
[ 2.4609375, 127.001953125, 119.267578125, 43.76953125, 14.677734375, -0.52734375, 55.05617904663086, -10.986328125, 119.70703125, 116.630859375, 55.72265625, -15.29296875, -22.236328125, 59.574466705322266 ]
2.366667
71
0
71
0
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2.4
72
0
72
0
[ 2.53125, 123.2314453125, 112.46484375, 44.3232421875, 15.1259765625, 2.5927734375, 69.05389404296875, -13.412109375, 118.6787109375, 112.11328125, 58.763671875, -12.1728515625, -22.4912109375, 67.04883575439453 ]
[ 2.4609375, 124.013671875, 117.7734375, 43.9453125, 14.677734375, 0.439453125, 59.7752799987793, -12.041015625, 118.740234375, 116.630859375, 56.77734375, -13.18359375, -22.236328125, 64.89361572265625 ]
2.433333
73
0
73
0
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[ 2.4609375, 122.783203125, 117.158203125, 43.9453125, 14.677734375, 1.23046875, 62.0224723815918, -12.12890625, 118.388671875, 116.54296875, 57.3046875, -12.3046875, -22.236328125, 66.48936462402344 ]
2.466667
74
0
74
0
[ 2.6015625, 121.2802734375, 112.0078125, 44.3408203125, 15.1171875, 4.0078125, 73.12574768066406, -14.4228515625, 117.474609375, 111.90234375, 60.310546875, -10.669921875, -22.5439453125, 68.50318908691406 ]
[ 2.4609375, 121.81640625, 116.630859375, 43.9453125, 14.677734375, 2.021484375, 64.71910095214844, -12.392578125, 117.685546875, 116.54296875, 57.744140625, -11.953125, -22.236328125, 67.2872314453125 ]
2.5
75
0
75
0
[ 2.63671875, 120.375, 111.9111328125, 44.349609375, 15.1171875, 4.53515625, 74.92215728759766, -14.8798828125, 116.8330078125, 111.7177734375, 61.1982421875, -10.125, -22.5703125, 68.81104278564453 ]
[ 2.4609375, 121.46484375, 116.3671875, 43.9453125, 14.677734375, 2.28515625, 67.41573333740234, -12.48046875, 117.333984375, 116.54296875, 58.447265625, -11.689453125, -22.236328125, 67.81914520263672 ]
2.533333
76
0
76
0
[ 2.689453125, 119.513671875, 111.8759765625, 44.3583984375, 15.1171875, 4.9130859375, 76.51496887207031, -15.2578125, 116.1826171875, 111.462890625, 62.103515625, -9.755859375, -22.60546875, 68.81104278564453 ]
[ 2.4609375, 120.673828125, 116.19140625, 43.9453125, 14.677734375, 2.63671875, 69.66291809082031, -12.568359375, 116.71875, 116.54296875, 58.623046875, -11.513671875, -22.236328125, 67.81914520263672 ]
2.566667
77
0
77
0
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[ 2.4609375, 119.619140625, 115.927734375, 43.9453125, 14.677734375, 3.427734375, 72.80899047851562, -12.65625, 116.19140625, 116.3671875, 58.88671875, -11.337890625, -22.236328125, 67.81914520263672 ]
2.6
78
0
78
0
[ 2.77734375, 117.6943359375, 111.9111328125, 44.3759765625, 15.1171875, 5.4580078125, 79.556884765625, -15.92578125, 114.85546875, 110.84765625, 63.720703125, -9.263671875, -22.623046875, 68.09978485107422 ]
[ 2.4609375, 118.65234375, 115.751953125, 43.9453125, 14.677734375, 4.04296875, 75.505615234375, -13.271484375, 115.400390625, 115.83984375, 59.58984375, -10.458984375, -22.236328125, 67.81914520263672 ]
2.633333
79
0
79
0
[ 2.7861328125, 116.736328125, 111.919921875, 44.384765625, 15.1171875, 5.7568359375, 80.59880065917969, -16.259765625, 114.1875, 110.4873046875, 64.5029296875, -9.0615234375, -22.693359375, 67.51592254638672 ]
[ 2.4609375, 117.509765625, 115.751953125, 43.9453125, 14.677734375, 4.39453125, 77.07865142822266, -14.0625, 114.609375, 115.400390625, 60.46875, -9.66796875, -22.236328125, 67.81914520263672 ]
2.666667
80
0
80
0
[ 2.759765625, 115.787109375, 111.90234375, 44.384765625, 15.1171875, 6.0556640625, 81.38922119140625, -16.6376953125, 113.5107421875, 110.091796875, 65.28515625, -8.8154296875, -22.7724609375, 67.15499114990234 ]
[ 2.4609375, 116.54296875, 115.751953125, 43.9453125, 14.677734375, 5.09765625, 78.42696380615234, -14.94140625, 114.2578125, 115.224609375, 61.69921875, -8.96484375, -22.236328125, 67.81914520263672 ]
2.7
81
0
81
0
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[ 2.4609375, 115.48828125, 115.751953125, 43.9453125, 14.677734375, 5.361328125, 79.32584381103516, -15.732421875, 113.466796875, 114.78515625, 63.544921875, -8.0859375, -22.5, 68.0851058959961 ]
2.733333
82
0
82
0
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[ 2.4609375, 114.521484375, 115.576171875, 43.9453125, 14.677734375, 5.44921875, 80.22471618652344, -16.171875, 112.412109375, 114.2578125, 64.775390625, -7.734375, -22.587890625, 68.0851058959961 ]
2.766667
83
0
83
0
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[ 2.373046875, 113.73046875, 115.48828125, 43.9453125, 14.677734375, 5.625, 80.4494400024414, -16.611328125, 111.4453125, 113.73046875, 65.7421875, -7.646484375, -22.587890625, 68.0851058959961 ]
2.8
84
0
84
0
[ 2.6103515625, 112.18359375, 111.41015625, 44.3671875, 15.1171875, 6.486328125, 82.65868377685547, -17.9208984375, 110.583984375, 107.89453125, 67.904296875, -8.4990234375, -22.67578125, 66.92144775390625 ]
[ 2.373046875, 112.587890625, 115.48828125, 43.9453125, 14.677734375, 5.712890625, 80.67415618896484, -16.787109375, 110.56640625, 113.5546875, 66.708984375, -7.734375, -22.587890625, 68.0851058959961 ]
2.833333
85
0
85
0
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[ 2.373046875, 111.708984375, 115.400390625, 43.9453125, 14.677734375, 5.712890625, 80.67415618896484, -16.787109375, 110.21484375, 113.203125, 67.236328125, -7.822265625, -22.587890625, 66.48936462402344 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
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[ 2.373046875, 110.302734375, 115.3125, 43.9453125, 14.677734375, 5.80078125, 80.67415618896484, -16.875, 109.248046875, 112.1484375, 67.763671875, -8.4375, -22.32421875, 65.69149017333984 ]
2.933333
88
0
88
0
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[ 2.373046875, 109.51171875, 115.224609375, 43.9453125, 14.677734375, 5.80078125, 80.67415618896484, -16.962890625, 108.45703125, 111.26953125, 67.763671875, -8.4375, -22.236328125, 65.42552947998047 ]
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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[ 2.373046875, 107.138671875, 113.994140625, 43.9453125, 14.677734375, 5.80078125, 80.67415618896484, -17.314453125, 105.46875, 108.896484375, 67.8515625, -8.701171875, -21.357421875, 65.42552947998047 ]
3.066667
92
0
92
0
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[ 2.373046875, 106.5234375, 113.818359375, 43.9453125, 14.677734375, 5.80078125, 80.67415618896484, -17.40234375, 105.029296875, 108.193359375, 67.8515625, -8.701171875, -20.654296875, 66.48936462402344 ]
3.1
93
0
93
0
[ 2.6455078125, 105.9345703125, 107.4287109375, 44.296875, 15.1787109375, 5.4404296875, 82.37126159667969, -18.791015625, 103.81640625, 101.9267578125, 68.5546875, -9.2724609375, -19.5908203125, 68.90657806396484 ]
[ 2.373046875, 106.259765625, 113.203125, 43.9453125, 14.677734375, 5.537109375, 80.67415618896484, -17.490234375, 104.23828125, 107.314453125, 67.8515625, -8.701171875, -19.951171875, 67.55319213867188 ]
3.133333
94
0
94
0
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[ 2.373046875, 105.556640625, 112.67578125, 43.9453125, 14.677734375, 5.361328125, 80.67415618896484, -17.490234375, 103.447265625, 106.435546875, 67.8515625, -8.701171875, -19.51171875, 67.81914520263672 ]
3.166667
95
0
95
0
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[ 2.373046875, 105.205078125, 112.060546875, 43.9453125, 14.677734375, 5.361328125, 80.67415618896484, -17.490234375, 102.48046875, 105.64453125, 67.8515625, -8.701171875, -18.80859375, 67.81914520263672 ]
3.2
96
0
96
0
[ 2.900390625, 104.185546875, 105.4775390625, 44.296875, 15.205078125, 4.8427734375, 82.11975860595703, -18.966796875, 101.953125, 100.529296875, 68.5546875, -8.8330078125, -18.80859375, 69.19320678710938 ]
[ 2.373046875, 104.4140625, 111.796875, 43.9453125, 14.677734375, 5.361328125, 80.67415618896484, -17.40234375, 101.513671875, 104.94140625, 67.8515625, -8.701171875, -18.544921875, 68.0851058959961 ]
3.233333
97
0
97
0
[ 3.005859375, 103.60546875, 104.90625, 44.296875, 15.205078125, 4.728515625, 82.07185363769531, -19.01953125, 101.4169921875, 100.2216796875, 68.5546875, -8.6484375, -18.6943359375, 69.05520629882812 ]
[ 2.4609375, 103.623046875, 111.005859375, 43.9453125, 14.677734375, 5.2734375, 80.67415618896484, -17.40234375, 100.986328125, 104.853515625, 67.8515625, -8.701171875, -18.369140625, 68.35106658935547 ]
3.266667
98
0
98
0
[ 3.1025390625, 103.0166015625, 104.3525390625, 44.296875, 15.205078125, 4.587890625, 82.09580993652344, -19.0810546875, 100.951171875, 99.9931640625, 68.5546875, -8.4462890625, -18.6416015625, 68.84288787841797 ]
[ 2.4609375, 103.271484375, 110.390625, 43.9453125, 14.677734375, 5.185546875, 80.67415618896484, -17.490234375, 100.283203125, 104.4140625, 67.8515625, -8.4375, -18.28125, 68.35106658935547 ]
3.3
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": "so100",
    "total_episodes": 50,
    "total_frames": 19392,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        },
        "observation.images.grippeer_left": {
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            "names": [
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            "info": {
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        "observation.images.gripper_right": {
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        "timestamp": {
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}

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