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Datasets:
AivexRoboticsGroup
/
omy_f3m_left_usb-insertion-air

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
1
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timestamp
float32
0
22.1
frame_index
int64
0
221
episode_index
int64
0
69
index
int64
0
9.12k
task_index
int64
0
0
observation.state
list
action
list
0
0
0
0
0
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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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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2.4
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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
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3
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3.1
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3.2
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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
42
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4.3
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4.4
44
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4.5
45
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4.6
46
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4.7
47
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47
0
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[ 0.10737865418195724, -0.33900976181030273, 1.7717478275299072, -1.182699203491211, 1.5646604299545288, 0.12118448317050934, 1.1848156452178955 ]
4.8
48
0
48
0
[ 0.10640793293714523, -0.3349950313568115, 1.7674814462661743, -1.1819441318511963, 1.5683156251907349, 0.12288624048233032, 1.1106021404266357 ]
[ 0.10431069135665894, -0.32520392537117004, 1.7579419612884521, -1.1842331886291504, 1.5692623853683472, 0.12118448317050934, 1.1848156452178955 ]
4.9
49
0
49
0
[ 0.1044425219297409, -0.3213450014591217, 1.7550058364868164, -1.1884156465530396, 1.5658947229385376, 0.12175972759723663, 1.1106021404266357 ]
[ 0.10277671366930008, -0.3098641335964203, 1.747204065322876, -1.1919031143188477, 1.5600584745407104, 0.12425244599580765, 1.1848156452178955 ]
5
50
0
50
0
[ 0.1031721904873848, -0.3073234558105469, 1.7478632926940918, -1.19210684299469, 1.5590038299560547, 0.12386894971132278, 1.1106021404266357 ]
[ 0.10277671366930008, -0.2991262674331665, 1.7441362142562866, -1.1995729207992554, 1.5539225339889526, 0.1227184608578682, 1.1848156452178955 ]
5.1
51
0
51
0
[ 0.1019737720489502, -0.29472804069519043, 1.744927167892456, -1.2054332494735718, 1.5504111051559448, 0.1227184608578682, 1.1106021404266357 ]
[ 0.09970875084400177, -0.2822524607181549, 1.7410682439804077, -1.211844801902771, 1.541650652885437, 0.12118448317050934, 1.1848156452178955 ]
5.2
52
0
52
0
[ 0.09946906566619873, -0.27912458777427673, 1.7370175123214722, -1.2102868556976318, 1.542094111442566, 0.11468902975320816, 1.1106021404266357 ]
[ 0.09817477315664291, -0.2684466242790222, 1.7272623777389526, -1.211844801902771, 1.538582682609558, 0.10431069135665894, 1.1848156452178955 ]
5.3
53
0
53
0
[ 0.09839048981666565, -0.2620111107826233, 1.720059871673584, -1.2115212678909302, 1.5390740633010864, 0.10544919222593307, 1.1106021404266357 ]
[ 0.09817477315664291, -0.2485048919916153, 1.7057865858078003, -1.211844801902771, 1.5355147123336792, 0.10277671366930008, 1.1848156452178955 ]
5.4
54
0
54
0
[ 0.09830659627914429, -0.24327977001667023, 1.7033418416976929, -1.2117369174957275, 1.5334774255752563, 0.1035197377204895, 1.1106021404266357 ]
[ 0.09817477315664291, -0.22702915966510773, 1.6889128684997559, -1.211844801902771, 1.5309128761291504, 0.1089126393198967, 1.1848156452178955 ]
5.5
55
0
55
0
[ 0.09825865924358368, -0.22489596903324127, 1.6864440441131592, -1.2118089199066162, 1.5307331085205078, 0.10710301995277405, 1.1106021404266357 ]
[ 0.09817477315664291, -0.2147573083639145, 1.6781749725341797, -1.211844801902771, 1.529378890991211, 0.11044661700725555, 1.1848156452178955 ]
5.6
56
0
56
0
[ 0.09829461574554443, -0.21319936215877533, 1.6800564527511597, -1.211844801902771, 1.5283482074737549, 0.11229218542575836, 1.1106021404266357 ]
[ 0.09817477315664291, -0.20555342733860016, 1.6781749725341797, -1.211844801902771, 1.529378890991211, 0.11351457983255386, 1.1848156452178955 ]
5.7
57
0
57
0
[ 0.09869009256362915, -0.20469056069850922, 1.6781630516052246, -1.211844801902771, 1.5280605554580688, 0.11009907722473145, 1.1121361255645752 ]
[ 0.09970875084400177, -0.1978835165500641, 1.6735730171203613, -1.211844801902771, 1.526310920715332, 0.1089126393198967, 1.1848156452178955 ]
5.8
58
0
58
0
[ 0.09871406108140945, -0.19359317421913147, 1.6684917211532593, -1.211844801902771, 1.5268381834030151, 0.10881676524877548, 1.1106021404266357 ]
[ 0.09817477315664291, -0.18254370987415314, 1.6582332849502563, -1.211844801902771, 1.526310920715332, 0.10584467649459839, 1.1848156452178955 ]
5.9
59
0
59
0
[ 0.09845040738582611, -0.1768631935119629, 1.6509348154067993, -1.211844801902771, 1.5264427661895752, 0.1067914292216301, 1.1106021404266357 ]
[ 0.09817477315664291, -0.16260196268558502, 1.633689522743225, -1.211844801902771, 1.526310920715332, 0.10737865418195724, 1.1848156452178955 ]
6
60
0
60
0
[ 0.0983785018324852, -0.16079235076904297, 1.628092885017395, -1.211844801902771, 1.5263828039169312, 0.10669555515050888, 1.1106021404266357 ]
[ 0.09817477315664291, -0.15033011138439178, 1.6137478351593018, -1.211844801902771, 1.526310920715332, 0.10277671366930008, 1.1848156452178955 ]
6.1
61
0
61
0
[ 0.09855826199054718, -0.14975488185882568, 1.615090012550354, -1.214457392692566, 1.5263707637786865, 0.10029597580432892, 1.1121361255645752 ]
[ 0.09970875084400177, -0.14419420063495636, 1.6091458797454834, -1.2164467573165894, 1.526310920715332, 0.09817477315664291, 1.1848156452178955 ]
6.2
62
0
62
0
[ 0.09861818701028824, -0.14393053948879242, 1.6115306615829468, -1.2159314155578613, 1.525280237197876, 0.10223742574453354, 1.1106021404266357 ]
[ 0.09817477315664291, -0.14112623035907745, 1.6106798648834229, -1.2164467573165894, 1.5232429504394531, 0.10584467649459839, 1.1848156452178955 ]
6.3
63
0
63
0
[ 0.09849834442138672, -0.14056296646595, 1.610296368598938, -1.2163748741149902, 1.5226197242736816, 0.10398712009191513, 1.1106021404266357 ]
[ 0.09817477315664291, -0.1365242898464203, 1.6106798648834229, -1.2164467573165894, 1.5217089653015137, 0.10584467649459839, 1.1848156452178955 ]
6.4
64
0
64
0
[ 0.09843842685222626, -0.13623666763305664, 1.6098768711090088, -1.2164348363876343, 1.5200791358947754, 0.10565292835235596, 1.1106021404266357 ]
[ 0.09817477315664291, -0.13345633447170258, 1.6106798648834229, -1.2164467573165894, 1.5186409950256348, 0.10431069135665894, 1.1848156452178955 ]
6.5
65
0
65
0
[ 0.0983545333147049, -0.13310877978801727, 1.6097689867019653, -1.2164467573165894, 1.5189286470413208, 0.10280068218708038, 1.1106021404266357 ]
[ 0.09817477315664291, -0.13038836419582367, 1.6091458797454834, -1.2164467573165894, 1.5171070098876953, 0.10124272853136063, 1.1848156452178955 ]
6.6
66
0
66
0
[ 0.09798302501440048, -0.1299329698085785, 1.6073362827301025, -1.2164467573165894, 1.5169991254806519, 0.10210559517145157, 1.1106021404266357 ]
[ 0.09817477315664291, -0.1257864236831665, 1.604543924331665, -1.2164467573165894, 1.5140390396118164, 0.10277671366930008, 1.1848156452178955 ]
6.7
67
0
67
0
[ 0.096580870449543, -0.125858336687088, 1.6022309064865112, -1.2164467573165894, 1.5136915445327759, 0.1029205247759819, 1.1106021404266357 ]
[ 0.0951068103313446, -0.1227184608578682, 1.5968739986419678, -1.2164467573165894, 1.512505054473877, 0.10124272853136063, 1.1848156452178955 ]
6.8
68
0
68
0
[ 0.09457950294017792, -0.1197224035859108, 1.594381332397461, -1.216458797454834, 1.5122653245925903, 0.10157828778028488, 1.1121361255645752 ]
[ 0.0920388475060463, -0.11198059469461441, 1.5861361026763916, -1.2164467573165894, 1.5109710693359375, 0.09970875084400177, 1.1848156452178955 ]
6.9
69
0
69
0
[ 0.09267400950193405, -0.10997923463582993, 1.5807312726974487, -1.2164467573165894, 1.5126848220825195, 0.09855826199054718, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5692623853683472, -1.2164467573165894, 1.5140390396118164, 0.09050486981868744, 1.1848156452178955 ]
7
70
0
70
0
[ 0.09177519381046295, -0.10443053394556046, 1.5696938037872314, -1.216458797454834, 1.513931155204773, 0.08783238381147385, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.2164467573165894, 1.5140390396118164, 0.08436894416809082, 1.1848156452178955 ]
7.1
71
0
71
0
[ 0.09170328825712204, -0.10310028493404388, 1.5669134855270386, -1.216458797454834, 1.514614224433899, 0.0863223746418953, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5646604299545288, -1.2164467573165894, 1.5155730247497559, 0.08590292185544968, 1.1848156452178955 ]
7.2
72
0
72
0
[ 0.0918111503124237, -0.10269282013177872, 1.56570303440094, -1.2164467573165894, 1.5153213739395142, 0.08701745420694351, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.21491277217865, 1.5171070098876953, 0.0920388475060463, 1.1848156452178955 ]
7.3
73
0
73
0
[ 0.09195496141910553, -0.10270480811595917, 1.5657150745391846, -1.215428113937378, 1.5195398330688477, 0.09205082803964615, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.21491277217865, 1.5232429504394531, 0.09050486981868744, 1.1848156452178955 ]
7.4
74
0
74
0
[ 0.092985600233078, -0.10271678864955902, 1.5657390356063843, -1.2149008512496948, 1.52236807346344, 0.08930644392967224, 1.1106021404266357 ]
[ 0.09357282519340515, -0.10277671366930008, 1.5661944150924683, -1.211844801902771, 1.5232429504394531, 0.08743690699338913, 1.1848156452178955 ]
7.5
75
0
75
0
[ 0.09334512799978256, -0.10272877663373947, 1.565774917602539, -1.210862159729004, 1.5239620208740234, 0.0869455486536026, 1.1106021404266357 ]
[ 0.09357282519340515, -0.10277671366930008, 1.5661944150924683, -1.208776831626892, 1.5232429504394531, 0.08590292185544968, 1.1848156452178955 ]
7.6
76
0
76
0
[ 0.09279385209083557, -0.10274075716733932, 1.565834879875183, -1.2085851430892944, 1.5233267545700073, 0.08677776902914047, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.2026408910751343, 1.5217089653015137, 0.08897088468074799, 1.1848156452178955 ]
7.7
77
0
77
0
[ 0.09209876507520676, -0.10274075716733932, 1.5659546852111816, -1.1995370388031006, 1.5216370820999146, 0.08958207815885544, 1.1106021404266357 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.196505069732666, 1.5201749801635742, 0.09050486981868744, 1.1848156452178955 ]
7.8
78
0
78
0
[ 0.0920628160238266, -0.10274075716733932, 1.5659786462783813, -1.1973319053649902, 1.5196475982666016, 0.09008541703224182, 1.1106021404266357 ]
[ 0.09050486981868744, -0.10277671366930008, 1.5661944150924683, -1.196505069732666, 1.5186409950256348, 0.08743690699338913, 1.1848156452178955 ]
7.9
79
0
79
0
[ 0.09199091047048569, -0.10275274515151978, 1.5660386085510254, -1.1966848373413086, 1.5188326835632324, 0.0881200060248375, 1.1121361255645752 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.196505069732666, 1.5186409950256348, 0.08590292185544968, 1.1848156452178955 ]
8
80
0
80
0
[ 0.09199091047048569, -0.10275274515151978, 1.5661104917526245, -1.1965529918670654, 1.5182454586029053, 0.0872211903333664, 1.1121361255645752 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.196505069732666, 1.5155730247497559, 0.08897088468074799, 1.1848156452178955 ]
8.1
81
0
81
0
[ 0.09199091047048569, -0.10271678864955902, 1.5660865306854248, -1.196505069732666, 1.5151176452636719, 0.08827579766511917, 1.1121361255645752 ]
[ 0.0920388475060463, -0.10277671366930008, 1.5661944150924683, -1.196505069732666, 1.5140390396118164, 0.08590292185544968, 1.1848156452178955 ]
8.2
82
0
82
0
[ 0.09221860766410828, -0.10215353220701218, 1.566062569618225, -1.1964930295944214, 1.5146502256393433, 0.0869695171713829, 1.1106021404266357 ]
[ 0.09357282519340515, -0.09817477315664291, 1.5661944150924683, -1.196505069732666, 1.5155730247497559, 0.08590292185544968, 1.1848156452178955 ]
8.3
83
0
83
0
[ 0.09321330487728119, -0.09640110284090042, 1.565990686416626, -1.1965769529342651, 1.516100287437439, 0.08446481823921204, 1.1106021404266357 ]
[ 0.0951068103313446, -0.0920388475060463, 1.5646604299545288, -1.1980390548706055, 1.5171070098876953, 0.08283495903015137, 1.1848156452178955 ]
8.4
84
0
84
0
[ 0.09387243539094925, -0.09304552525281906, 1.5655711889266968, -1.1975476741790771, 1.5167953968048096, 0.08456069231033325, 1.1121361255645752 ]
[ 0.0951068103313446, -0.0920388475060463, 1.5646604299545288, -1.1980390548706055, 1.5171070098876953, 0.08743690699338913, 1.1848156452178955 ]
8.5
85
0
85
0
[ 0.09468735754489899, -0.09207479655742645, 1.562239646911621, -1.1978472471237183, 1.5172148942947388, 0.08406934142112732, 1.1121361255645752 ]
[ 0.0951068103313446, -0.0920388475060463, 1.555456519126892, -1.1980390548706055, 1.5186409950256348, 0.08283495903015137, 1.1848156452178955 ]
8.6
86
0
86
0
[ 0.09495101124048233, -0.09196694195270538, 1.5547494888305664, -1.197859287261963, 1.5201150178909302, 0.08151669800281525, 1.1121361255645752 ]
[ 0.0951068103313446, -0.0920388475060463, 1.5508545637130737, -1.1980390548706055, 1.5232429504394531, 0.07976700365543365, 1.1848156452178955 ]
8.7
87
0
87
0
[ 0.09496299922466278, -0.09161940217018127, 1.551789402961731, -1.1978951692581177, 1.5215890407562256, 0.08434497565031052, 1.1106021404266357 ]
[ 0.0951068103313446, -0.09050486981868744, 1.5508545637130737, -1.1980390548706055, 1.5201749801635742, 0.08743690699338913, 1.1848156452178955 ]
8.8
88
0
88
0
[ 0.09503490477800369, -0.08870723098516464, 1.550830602645874, -1.1980270147323608, 1.5205105543136597, 0.08720920234918594, 1.1106021404266357 ]
[ 0.0951068103313446, -0.08743690699338913, 1.5508545637130737, -1.1980390548706055, 1.5201749801635742, 0.09050486981868744, 1.1848156452178955 ]
8.9
89
0
89
0
[ 0.09507085382938385, -0.08782040327787399, 1.5507466793060303, -1.1980630159378052, 1.520270824432373, 0.08972588926553726, 1.1106021404266357 ]
[ 0.0951068103313446, -0.08743690699338913, 1.5508545637130737, -1.1980390548706055, 1.5201749801635742, 0.09050486981868744, 1.1848156452178955 ]
9
90
0
90
0
[ 0.0950828418135643, -0.0875447615981102, 1.5507466793060303, -1.1980630159378052, 1.520198941230774, 0.09196694195270538, 1.1106021404266357 ]
[ 0.0951068103313446, -0.08743690699338913, 1.5508545637130737, -1.1980390548706055, 1.5201749801635742, 0.0920388475060463, 1.1848156452178955 ]
9.1
91
0
91
0
[ 0.09523863345384598, -0.08660999685525894, 1.5507347583770752, -1.1980630159378052, 1.5201629400253296, 0.09221860766410828, 1.1106021404266357 ]
[ 0.0951068103313446, -0.08590292185544968, 1.5508545637130737, -1.1980390548706055, 1.5201749801635742, 0.0920388475060463, 1.1848156452178955 ]
9.2
92
0
92
0
[ 0.09547831863164902, -0.08326639235019684, 1.550435185432434, -1.1980869770050049, 1.5195038318634033, 0.09402822703123093, 1.1106021404266357 ]
[ 0.09664078801870346, -0.08130098134279251, 1.5477865934371948, -1.1980390548706055, 1.5186409950256348, 0.09817477315664291, 1.1848156452178955 ]
9.3
93
0
93
0
[ 0.09552625566720963, -0.08072573691606522, 1.5484098196029663, -1.1980869770050049, 1.519288182258606, 0.0983545333147049, 1.1106021404266357 ]
[ 0.0951068103313446, -0.07976700365543365, 1.5477865934371948, -1.1980390548706055, 1.5201749801635742, 0.09817477315664291, 1.1848156452178955 ]
9.4
94
0
94
0
[ 0.09537046402692795, -0.08034224063158035, 1.54700767993927, -1.1980749368667603, 1.5208820104599, 0.0953824445605278, 1.1106021404266357 ]
[ 0.0951068103313446, -0.08130098134279251, 1.5462526082992554, -1.1980390548706055, 1.5217089653015137, 0.09357282519340515, 1.1848156452178955 ]
9.5
95
0
95
0
[ 0.09537046402692795, -0.07955128699541092, 1.5463964939117432, -1.1980749368667603, 1.5203787088394165, 0.0972040519118309, 1.1121361255645752 ]
[ 0.0951068103313446, -0.0782330185174942, 1.5462526082992554, -1.1980390548706055, 1.5186409950256348, 0.09970875084400177, 1.1848156452178955 ]
9.6
96
0
96
0
[ 0.0953345075249672, -0.07711848616600037, 1.5459051132202148, -1.1980749368667603, 1.5190603733062744, 0.09919343143701553, 1.1106021404266357 ]
[ 0.09664078801870346, -0.07363107800483704, 1.5462526082992554, -1.1980390548706055, 1.5171070098876953, 0.09970875084400177, 1.1848156452178955 ]
9.7
97
0
97
0
[ 0.09556221216917038, -0.07457783073186874, 1.5451500415802002, -1.1980749368667603, 1.5175623893737793, 0.09916946291923523, 1.1106021404266357 ]
[ 0.09664078801870346, -0.07209710031747818, 1.544718623161316, -1.1980390548706055, 1.5171070098876953, 0.09664078801870346, 1.1848156452178955 ]
9.8
98
0
98
0
[ 0.0963052287697792, -0.07183344662189484, 1.544490933418274, -1.1980869770050049, 1.5171430110931396, 0.0986781045794487, 1.1121361255645752 ]
[ 0.09664078801870346, -0.07056311517953873, 1.544718623161316, -1.1980390548706055, 1.5171070098876953, 0.09970875084400177, 1.1848156452178955 ]
9.9
99
0
99
0
[ 0.09648499637842178, -0.06821420788764954, 1.5426453351974487, -1.1982067823410034, 1.5170111656188965, 0.10069146007299423, 1.1106021404266357 ]
[ 0.09664078801870346, -0.06442718952894211, 1.541650652885437, -1.1980390548706055, 1.5171070098876953, 0.10277671366930008, 1.1848156452178955 ]
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": 70,
    "total_frames": 9120,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:70"
    },
    "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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License:
apache-2.0
Number of rows:
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