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Datasets:
AivexRoboticsGroup
/
omy_f3m_left_MoveInsertionTaskV2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
omy_f3m_left
robotis
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
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timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
observation.state
list
action
list
0
0
0
0
0
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0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
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4
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0.5
5
0
5
0
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0.6
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6
0
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0.7
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7
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0.8
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8
0
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0.9
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0
9
0
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1
10
0
10
0
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1.1
11
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11
0
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1.2
12
0
12
0
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1.3
13
0
13
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1.4
14
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14
0
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1.5
15
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15
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1.6
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16
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1.7
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17
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1.8
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18
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1.9
19
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19
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2
20
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2.1
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21
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2.2
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2.3
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2.4
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24
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2.5
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2.6
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2.7
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2.8
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2.9
29
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3
30
0
30
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3.1
31
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31
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3.2
32
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3.3
33
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3.4
34
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3.5
35
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0
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3.6
36
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3.7
37
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3.8
38
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3.9
39
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39
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4
40
0
40
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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[ 1.2962137460708618, -0.6810874938964844, 1.8729904890060425, -1.2195147275924683, 2.0340585708618164, -0.012271846644580364, 1.0697671175003052 ]
5.2
52
0
52
0
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[ 1.2962137460708618, -0.6657476425170898, 1.871456503868103, -1.225650668144226, 2.0417284965515137, -0.019941750913858414, 1.0697671175003052 ]
5.3
53
0
53
0
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[ 1.2962137460708618, -0.6488738656044006, 1.859184741973877, -1.2271846532821655, 2.0478644371032715, -0.023009711876511574, 1.0697671175003052 ]
5.4
54
0
54
0
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[ 1.2962137460708618, -0.6335340738296509, 1.8499808311462402, -1.2363885641098022, 2.049398422241211, -0.023009711876511574, 1.0697671175003052 ]
5.5
55
0
55
0
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[ 1.2962137460708618, -0.6151263117790222, 1.842310905456543, -1.240990400314331, 2.0586023330688477, -0.023009711876511574, 1.0697671175003052 ]
5.6
56
0
56
0
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[ 1.2977477312088013, -0.5967185497283936, 1.8315730094909668, -1.24405837059021, 2.066272020339966, -0.019941750913858414, 1.0697671175003052 ]
5.7
57
0
57
0
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[ 1.2992817163467407, -0.5721748471260071, 1.8116313219070435, -1.2486603260040283, 2.0678060054779053, -0.019941750913858414, 1.0697671175003052 ]
5.8
58
0
58
0
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[ 1.303883671760559, -0.552233099937439, 1.79322350025177, -1.2532622814178467, 2.066272020339966, -0.01840776950120926, 1.0697671175003052 ]
5.9
59
0
59
0
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[ 1.310019612312317, -0.5322913527488708, 1.7840197086334229, -1.2624661922454834, 2.066272020339966, -0.01840776950120926, 1.0697671175003052 ]
6
60
0
60
0
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[ 1.3161555528640747, -0.5184854865074158, 1.7840197086334229, -1.2640001773834229, 2.066272020339966, -0.013805827125906944, 1.0697671175003052 ]
6.1
61
0
61
0
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[ 1.323825478553772, -0.5077476501464844, 1.7840197086334229, -1.2686021327972412, 2.0647380352020264, -0.01073786523193121, 1.0697671175003052 ]
6.2
62
0
62
0
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[ 1.3253593444824219, -0.5016117095947266, 1.7840197086334229, -1.274738073348999, 2.0616700649261475, -0.01073786523193121, 1.0697671175003052 ]
6.3
63
0
63
0
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[ 1.3299612998962402, -0.49240782856941223, 1.7840197086334229, -1.2916117906570435, 2.057068347930908, -0.013805827125906944, 1.0697671175003052 ]
6.4
64
0
64
0
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[ 1.336097240447998, -0.4862719178199768, 1.7855536937713623, -1.293145775794983, 2.057068347930908, -0.013805827125906944, 1.0697671175003052 ]
6.5
65
0
65
0
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[ 1.3406991958618164, -0.480135977268219, 1.7824857234954834, -1.3023496866226196, 2.0555343627929688, -0.015339807607233524, 1.0697671175003052 ]
6.6
66
0
66
0
[ 1.342149257659912, -0.4778350293636322, 1.7829769849777222, -1.3035601377487183, 2.05580997467041, -0.01587909832596779, 1.0630487203598022 ]
[ 1.3468351364135742, -0.47400006651878357, 1.780951738357544, -1.306951642036438, 2.0555343627929688, -0.016873788088560104, 1.0697671175003052 ]
6.7
67
0
67
0
[ 1.348129391670227, -0.47000932693481445, 1.781023621559143, -1.307934284210205, 2.0537126064300537, -0.016634104773402214, 1.0630487203598022 ]
[ 1.352971076965332, -0.46172821521759033, 1.780951738357544, -1.3130875825881958, 2.0540003776550293, -0.015339807607233524, 1.0697671175003052 ]
6.8
68
0
68
0
[ 1.3548645973205566, -0.45945122838020325, 1.7809756994247437, -1.3159278631210327, 2.052945613861084, -0.016646089032292366, 1.0630487203598022 ]
[ 1.3606410026550293, -0.452524334192276, 1.780951738357544, -1.320757508277893, 2.05246639251709, -0.016873788088560104, 1.0697671175003052 ]
6.9
69
0
69
0
[ 1.3621389865875244, -0.45041510462760925, 1.780963659286499, -1.326162338256836, 2.050321102142334, -0.018072210252285004, 1.0630487203598022 ]
[ 1.368310809135437, -0.44332045316696167, 1.780951738357544, -1.3406991958618164, 2.043262481689453, -0.019941750913858414, 1.0697671175003052 ]
7
70
0
70
0
[ 1.3691737651824951, -0.4428171217441559, 1.7807480096817017, -1.3432159423828125, 2.0429508686065674, -0.021511683240532875, 1.0630487203598022 ]
[ 1.3729127645492554, -0.43718451261520386, 1.780951738357544, -1.356039047241211, 2.0417284965515137, -0.023009711876511574, 1.0697671175003052 ]
7.1
71
0
71
0
[ 1.3739794492721558, -0.4345000684261322, 1.7806401252746582, -1.3620191812515259, 2.040625810623169, -0.02347709611058235, 1.0630487203598022 ]
[ 1.3790487051010132, -0.429514616727829, 1.780951738357544, -1.3790487051010132, 2.0371265411376953, -0.02454369328916073, 1.0697671175003052 ]
7.2
72
0
72
0
[ 1.381241798400879, -0.43064114451408386, 1.780664086341858, -1.376508116722107, 2.03753399848938, -0.023381222039461136, 1.0630487203598022 ]
[ 1.3867186307907104, -0.43104860186576843, 1.780951738357544, -1.382116675376892, 2.040194511413574, -0.023009711876511574, 1.0697671175003052 ]
7.3
73
0
73
0
[ 1.3943525552749634, -0.43064114451408386, 1.7806880474090576, -1.3828117847442627, 2.038816213607788, -0.022410500794649124, 1.0615147352218628 ]
[ 1.414330244064331, -0.43104860186576843, 1.780951738357544, -1.3913205862045288, 2.035592555999756, -0.019941750913858414, 1.0697671175003052 ]
7.4
74
0
74
0
[ 1.4307845830917358, -0.43082091212272644, 1.7806041240692139, -1.39236319065094, 2.0328481197357178, -0.01852761209011078, 1.0630487203598022 ]
[ 1.466485619544983, -0.43104860186576843, 1.7794177532196045, -1.3959225416183472, 2.0248546600341797, -0.016873788088560104, 1.0697671175003052 ]
7.5
75
0
75
0
[ 1.478649616241455, -0.43086883425712585, 1.7774882316589355, -1.394831895828247, 2.018826484680176, -0.017904432490468025, 1.0630487203598022 ]
[ 1.5079030990600586, -0.4325825870037079, 1.7702138423919678, -1.3943885564804077, 2.0079808235168457, -0.01840776950120926, 1.0697671175003052 ]
7.6
76
0
76
0
[ 1.5005089044570923, -0.43396076560020447, 1.7635865211486816, -1.3926148414611816, 2.0087478160858154, -0.01818006858229637, 1.0630487203598022 ]
[ 1.5063691139221191, -0.43718451261520386, 1.7502720355987549, -1.38825261592865, 2.001844882965088, -0.016873788088560104, 1.0697671175003052 ]
7.7
77
0
77
0
[ 1.5038883686065674, -0.43738827109336853, 1.7505836486816406, -1.386610746383667, 2.0025758743286133, -0.014345116913318634, 1.0630487203598022 ]
[ 1.5048351287841797, -0.4387184977531433, 1.7456700801849365, -1.3805826902389526, 2.0003108978271484, -0.01073786523193121, 1.0697671175003052 ]
7.8
78
0
78
0
[ 1.504751205444336, -0.43810731172561646, 1.7471561431884766, -1.3802471160888672, 2.0016770362854004, -0.011552792973816395, 1.0630487203598022 ]
[ 1.5048351287841797, -0.4387184977531433, 1.7456700801849365, -1.3759807348251343, 2.001844882965088, -0.01073786523193121, 1.0697671175003052 ]
7.9
79
0
79
0
[ 1.5048590898513794, -0.4366452395915985, 1.7460296154022217, -1.378066062927246, 2.0017130374908447, -0.010953581891953945, 1.0630487203598022 ]
[ 1.5048351287841797, -0.4325825870037079, 1.7456700801849365, -1.3759807348251343, 2.001844882965088, -0.01073786523193121, 1.0697671175003052 ]
8
80
0
80
0
[ 1.5050148963928223, -0.4323309063911438, 1.7458618879318237, -1.3769874572753906, 2.0008862018585205, -0.007693872321397066, 1.0630487203598022 ]
[ 1.5048351287841797, -0.43104860186576843, 1.7456700801849365, -1.3744467496871948, 1.998776912689209, -0.0015339808305725455, 1.0697671175003052 ]
8.1
81
0
81
0
[ 1.5049309730529785, -0.4304374158382416, 1.7454783916473389, -1.3669565916061401, 1.998776912689209, 0.0007070692954584956, 1.0630487203598022 ]
[ 1.5048351287841797, -0.4279806315898895, 1.7456700801849365, -1.3606410026550293, 1.998776912689209, 0.006135923322290182, 1.0697671175003052 ]
8.2
82
0
82
0
[ 1.504871129989624, -0.4293348491191864, 1.7454783916473389, -1.3609524965286255, 1.9977103471755981, 0.004506068769842386, 1.0630487203598022 ]
[ 1.5048351287841797, -0.429514616727829, 1.7456700801849365, -1.3591070175170898, 1.9941750764846802, 0.004601942375302315, 1.0697671175003052 ]
8.3
83
0
83
0
[ 1.5048351287841797, -0.4300898611545563, 1.7454904317855835, -1.359574317932129, 1.992952585220337, 0.0035233621019870043, 1.0630487203598022 ]
[ 1.5048351287841797, -0.43104860186576843, 1.7456700801849365, -1.3591070175170898, 1.9895731210708618, 0.0015339808305725455, 1.0697671175003052 ]
8.4
84
0
84
0
[ 1.50481116771698, -0.43294212222099304, 1.7455023527145386, -1.353714108467102, 1.9900164604187012, 0.002600576728582382, 1.0630487203598022 ]
[ 1.5048351287841797, -0.44025248289108276, 1.7456700801849365, -1.3453011512756348, 1.9880391359329224, 0.006135923322290182, 1.0697671175003052 ]
8.5
85
0
85
0
[ 1.50481116771698, -0.44234973192214966, 1.745538353919983, -1.3409987688064575, 1.987032413482666, 0.007562045939266682, 1.0630487203598022 ]
[ 1.5048351287841797, -0.45099034905433655, 1.7456700801849365, -1.3314952850341797, 1.9849711656570435, 0.01073786523193121, 1.0697671175003052 ]
8.6
86
0
86
0
[ 1.50481116771698, -0.45445379614830017, 1.7456341981887817, -1.330117106437683, 1.9830536842346191, 0.009707221761345863, 1.0630487203598022 ]
[ 1.5048351287841797, -0.4663301706314087, 1.7456700801849365, -1.3192235231399536, 1.9773012399673462, 0.01073786523193121, 1.0713011026382446 ]
8.7
87
0
87
0
[ 1.504140019416809, -0.46991345286369324, 1.7456941604614258, -1.315112829208374, 1.975803256034851, 0.012152004055678844, 1.0630487203598022 ]
[ 1.5033011436462402, -0.480135977268219, 1.747204065322876, -1.303883671760559, 1.9711652994155884, 0.015339807607233524, 1.0697671175003052 ]
8.8
88
0
88
0
[ 1.5034090280532837, -0.4824249744415283, 1.7457900047302246, -1.298059344291687, 1.9714769124984741, 0.018971027806401253, 1.0615147352218628 ]
[ 1.5033011436462402, -0.49240782856941223, 1.747204065322876, -1.2793400287628174, 1.9680973291397095, 0.02761165425181389, 1.0697671175003052 ]
8.9
89
0
89
0
[ 1.50332510471344, -0.4946848452091217, 1.746353268623352, -1.2769430875778198, 1.9671626091003418, 0.02942127175629139, 1.0630487203598022 ]
[ 1.5033011436462402, -0.5046796798706055, 1.7456700801849365, -1.2670681476593018, 1.9634953737258911, 0.03374757617712021, 1.0697671175003052 ]
9
90
0
90
0
[ 1.5032892227172852, -0.5069087743759155, 1.7464251518249512, -1.2670202255249023, 1.9612903594970703, 0.033723607659339905, 1.0630487203598022 ]
[ 1.5033011436462402, -0.5169515013694763, 1.747204065322876, -1.2563302516937256, 1.9558254480361938, 0.03681553900241852, 1.0697671175003052 ]
9.1
91
0
91
0
[ 1.5032892227172852, -0.5184854865074158, 1.7465689182281494, -1.2473900318145752, 1.9571317434310913, 0.03838547319173813, 1.0630487203598022 ]
[ 1.5033011436462402, -0.526155412197113, 1.747204065322876, -1.2302526235580444, 1.954291582107544, 0.04601942375302315, 1.0697671175003052 ]
9.2
92
0
92
0
[ 1.5032892227172852, -0.5286241769790649, 1.7502001523971558, -1.2326374053955078, 1.953320860862732, 0.04454536363482475, 1.0630487203598022 ]
[ 1.5033011436462402, -0.5399612188339233, 1.7579419612884521, -1.228718638420105, 1.9496896266937256, 0.04908738657832146, 1.0697671175003052 ]
9.3
93
0
93
0
[ 1.5032892227172852, -0.5418427586555481, 1.7637662887573242, -1.2278677225112915, 1.948479175567627, 0.04826047271490097, 1.0630487203598022 ]
[ 1.5033011436462402, -0.552233099937439, 1.7763497829437256, -1.225650668144226, 1.9450876712799072, 0.05215534567832947, 1.0697671175003052 ]
9.4
94
0
94
0
[ 1.5031813383102417, -0.5543423295021057, 1.7771766185760498, -1.2255067825317383, 1.9435776472091675, 0.052934322506189346, 1.0630487203598022 ]
[ 1.5017671585083008, -0.5629709362983704, 1.7855536937713623, -1.2225826978683472, 1.93741774559021, 0.05522330850362778, 1.0697671175003052 ]
9.5
95
0
95
0
[ 1.502809762954712, -0.565092146396637, 1.7861888408660889, -1.2232178449630737, 1.9338464736938477, 0.05468401685357094, 1.0630487203598022 ]
[ 1.5033011436462402, -0.5721748471260071, 1.7901555299758911, -1.2225826978683472, 1.9251458644866943, 0.05522330850362778, 1.0697671175003052 ]
9.6
96
0
96
0
[ 1.5026899576187134, -0.5716355443000793, 1.78836989402771, -1.2225826978683472, 1.923899531364441, 0.0550435446202755, 1.0630487203598022 ]
[ 1.5033011436462402, -0.5767768025398254, 1.7901555299758911, -1.2225826978683472, 1.917475938796997, 0.05522330850362778, 1.0697671175003052 ]
9.7
97
0
97
0
[ 1.5027499198913574, -0.5785384774208069, 1.7891489267349243, -1.2179927825927734, 1.915690302848816, 0.05572664737701416, 1.0630487203598022 ]
[ 1.5017671585083008, -0.5829126834869385, 1.7886215448379517, -1.2103108167648315, 1.9098061323165894, 0.05675728991627693, 1.0697671175003052 ]
9.8
98
0
98
0
[ 1.5022345781326294, -0.5856211185455322, 1.789184808731079, -1.2047860622406006, 1.9081522226333618, 0.05998104438185692, 1.0630487203598022 ]
[ 1.5017671585083008, -0.5890486240386963, 1.7901555299758911, -1.1949710845947266, 1.905204176902771, 0.06442718952894211, 1.0697671175003052 ]
9.9
99
0
99
0
[ 1.5019110441207886, -0.5881737470626831, 1.789232850074768, -1.1971521377563477, 1.9037660360336304, 0.06373210996389389, 1.0630487203598022 ]
[ 1.5017671585083008, -0.5890486240386963, 1.7886215448379517, -1.1949710845947266, 1.9006022214889526, 0.06442718952894211, 1.0697671175003052 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 5,
    "total_frames": 1152,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.left_cam_wrist": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "rh_r1_joint"
            ],
            "shape": [
                7
            ]
        }
    }
}

Citation

BibTeX:

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