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observation.image.left_img
imagewidth (px)
320
320
observation.image.right_img
imagewidth (px)
320
320
observation.state
list
action
list
timestamp
float32
0
52
frame_index
int64
0
260
episode_index
int64
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74
index
int64
0
15.2k
task_index
int64
0
0
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0
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4
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4.2
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7.2
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7.8
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8
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8.2
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10.4
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10.6
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10.8
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11
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11.2
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11.4
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11.6
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12.2
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14.2
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14.8
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15
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15.2
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15.4
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15.6
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15.8
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16.200001
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16.4
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16.6
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16.799999
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18.6
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19.200001
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0
[ 0.4021899998188019, 0.10238000005483627, 0.3000999987125397 ]
[ 0.00016000866889953613, -0.003859996795654297, 0.00014001131057739258 ]
19.4
97
0
97
0
[ 0.4023500084877014, 0.09852000325918198, 0.30024001002311707 ]
[ 0.0016700029373168945, -0.0021400004625320435, -0.0007600188255310059 ]
19.6
98
0
98
0
[ 0.4040200114250183, 0.09638000279664993, 0.29947999119758606 ]
[ 0.003949999809265137, -0.00007000565528869629, 0.00010001659393310547 ]
19.799999
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": "dvrk",
    "total_episodes": 75,
    "total_frames": 15187,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5.0,
    "splits": {
        "train": "0:75"
    },
    "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": {
        "observation.image.left_img": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.image.right_img": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "D_state"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "D_act"
            ]
        },
        "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
        }
    }
}

Citation

BibTeX:

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