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Datasets:
Arururu12
/
UR5e_Gello_Cube_bin_v5

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
73.4
frame_index
int64
0
734
episode_index
int64
0
160
index
int64
0
58.5k
task_index
int64
0
0
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1.4
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3
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4
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4.1
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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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51
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5.2
52
0
52
0
[ 0.1733398288488388, -1.1936689615249634, 1.8193012475967407, -2.1935925483703613, -1.5339809656143188, 3.1001923084259033, 0 ]
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5.3
53
0
53
0
[ 0.1733398288488388, -1.1706597805023193, 1.8177825212478638, -2.1935925483703613, -1.5339808464050293, 3.100175380706787, 0 ]
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5.4
54
0
54
0
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5.5
55
0
55
0
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[ 0.1752210259437561, -1.2040585279464722, 1.8185194730758667, -2.189720869064331, -1.542617678642273, 3.112799882888794, 0 ]
5.6
56
0
56
0
[ 0.11681540310382843, -1.0391230583190918, 1.813211441040039, -2.213426351547241, -1.5370484590530396, 3.1001598834991455, 0 ]
[ 0.16923658549785614, -1.1793150901794434, 1.8186391592025757, -2.193187952041626, -1.5395935773849487, 3.107470989227295, 0 ]
5.7
57
0
57
0
[ 0.11202894896268845, -0.9656164050102234, 1.8116470575332642, -2.224163770675659, -1.5370486974716187, 3.100174903869629, 0 ]
[ 0.15804944932460785, -1.1468638181686401, 1.81784188747406, -2.197675943374634, -1.538227915763855, 3.104199171066284, 0 ]
5.8
58
0
58
0
[ 0.11198107898235321, -0.9572881460189819, 1.8101128339767456, -2.239457368850708, -1.5385674238204956, 3.100175142288208, 0 ]
[ 0.14497698843479156, -1.1042553186416626, 1.8164790868759155, -2.20377516746521, -1.537615180015564, 3.1024246215820312, 0 ]
5.9
59
0
59
0
[ 0.10894332081079483, -0.9496116638183594, 1.764538288116455, -2.2365732192993164, -1.5385825634002686, 3.100175142288208, 0 ]
[ 0.13410602509975433, -1.0604360103607178, 1.8147400617599487, -2.212048292160034, -1.5374830961227417, 3.1014509201049805, 0 ]
6
60
0
60
0
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[ 0.12563617527484894, -1.0243098735809326, 1.8073080778121948, -2.22015118598938, -1.5376394987106323, 3.1009066104888916, 0 ]
6.1
61
0
61
0
[ 0.10888226330280304, -0.9418801665306091, 1.7182605266571045, -2.2334914207458496, -1.535499930381775, 3.0986413955688477, 0 ]
[ 0.11918357759714127, -0.9968163371086121, 1.7923482656478882, -2.225809335708618, -1.537427306175232, 3.1003828048706055, 0 ]
6.2
62
0
62
0
[ 0.11346825212240219, -0.9418643712997437, 1.6983181238174438, -2.23195743560791, -1.5355145931243896, 3.1001598834991455, 0 ]
[ 0.11484649032354355, -0.9770123958587646, 1.773455023765564, -2.2292640209198, -1.5367506742477417, 3.099879264831543, 0 ]
6.3
63
0
63
0
[ 0.121107317507267, -0.9403455853462219, 1.6753391027450562, -2.228904962539673, -1.5385520458221436, 3.100174903869629, 0 ]
[ 0.11284364014863968, -0.9635553956031799, 1.7529205083847046, -2.2309787273406982, -1.5362671613693237, 3.099644899368286, 0 ]
6.4
64
0
64
0
[ 0.11966507136821747, -0.9403303861618042, 1.6584043502807617, -2.2303929328918457, -1.5370638370513916, 3.098656415939331, 0 ]
[ 0.11362595111131668, -0.9547063112258911, 1.7321408987045288, -2.2311723232269287, -1.536361575126648, 3.0996482372283936, 0 ]
6.5
65
0
65
0
[ 0.11813200265169144, -0.9388116002082825, 1.6476044654846191, -2.231926441192627, -1.5355302095413208, 3.091048240661621, 0 ]
[ 0.11521104723215103, -0.9491954445838928, 1.7113827466964722, -2.2310402393341064, -1.5366114377975464, 3.0996482372283936, 0 ]
6.6
66
0
66
0
[ 0.11204211413860321, -0.9387964010238647, 1.641421914100647, -2.2319419384002686, -1.5339962244033813, 3.0575618743896484, 0 ]
[ 0.11642975360155106, -0.9454774856567383, 1.692334532737732, -2.231011152267456, -1.536690592765808, 3.098362445831299, 0 ]
6.7
67
0
67
0
[ 0.10286936908960342, -0.9387962222099304, 1.6337668895721436, -2.2334606647491455, -1.5324623584747314, 3.052671194076538, 0 ]
[ 0.11625523865222931, -0.9429650902748108, 1.67621648311615, -2.231132745742798, -1.5362147092819214, 3.091827154159546, 0 ]
6.8
68
0
68
0
[ 0.08607258647680283, -0.9387962222099304, 1.633690357208252, -2.233475923538208, -1.530928373336792, 3.0495848655700684, 0 ]
[ 0.11418748646974564, -0.9413056373596191, 1.6629756689071655, -2.231628179550171, -1.5353535413742065, 3.081796646118164, 0 ]
6.9
69
0
69
0
[ 0.07679277658462524, -0.9387962222099304, 1.6321709156036377, -2.236513376235962, -1.53091299533844, 3.0480353832244873, 0 ]
[ 0.10886608064174652, -0.9403105974197388, 1.6527332067489624, -2.232167959213257, -1.5343035459518433, 3.0720198154449463, 0 ]
7
70
0
70
0
[ 0.06455084681510925, -0.9236098527908325, 1.6351929903030396, -2.2380623817443848, -1.5293941497802734, 3.0313148498535156, 0 ]
[ 0.10097663849592209, -0.9398979544639587, 1.6454871892929077, -2.2330124378204346, -1.5332516431808472, 3.0641651153564453, 0 ]
7.1
71
0
71
0
[ 0.047723378986120224, -0.9052342772483826, 1.6367418766021729, -2.2380778789520264, -1.5293790102005005, 3.0265917778015137, 0 ]
[ 0.09169880300760269, -0.9372108578681946, 1.6409043073654175, -2.2342307567596436, -1.5322273969650269, 3.0561139583587646, 0 ]
7.2
72
0
72
0
[ 0.04148054122924805, -0.8929014205932617, 1.6382759809494019, -2.2380778789520264, -1.529378890991211, 3.0250258445739746, 0 ]
[ 0.08085959404706955, -0.9310694932937622, 1.6385773420333862, -2.2354214191436768, -1.5313457250595093, 3.04770565032959, 0 ]
7.3
73
0
73
0
[ 0.038380831480026245, -0.8912594318389893, 1.6413285732269287, -2.2395966053009033, -1.529378890991211, 3.021972894668579, 0 ]
[ 0.06951595842838287, -0.9217724204063416, 1.6378611326217651, -2.236332654953003, -1.5306252241134644, 3.040334701538086, 0 ]
7.4
74
0
74
0
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[ 0.05962848290801048, -0.9126458764076233, 1.6380571126937866, -2.2372052669525146, -1.5301841497421265, 3.0345571041107178, 0 ]
7.5
75
0
75
0
[ 0.03681569546461105, -0.8912428617477417, 1.6444119215011597, -2.242664337158203, -1.529378890991211, 3.021942138671875, 0 ]
[ 0.05199044197797775, -0.9053586721420288, 1.6390351057052612, -2.2381646633148193, -1.5298494100570679, 3.0301036834716797, 0 ]
7.6
76
0
76
0
[ 0.03833417966961861, -0.8912428617477417, 1.6444272994995117, -2.2441983222961426, -1.527860164642334, 3.021942138671875, 0 ]
[ 0.04651699587702751, -0.9000779390335083, 1.640311598777771, -2.2392919063568115, -1.5296882390975952, 3.02703595161438, 0 ]
7.7
77
0
77
0
[ 0.038349367678165436, -0.8912428617477417, 1.647464632987976, -2.244213819503784, -1.527845025062561, 3.021942138671875, 0 ]
[ 0.042967189103364944, -0.8966689109802246, 1.6416348218917847, -2.2405736446380615, -1.5293434858322144, 3.025071620941162, 0 ]
7.8
78
0
78
0
[ 0.038349516689777374, -0.8912428617477417, 1.6490137577056885, -2.244213819503784, -1.5278449058532715, 3.021942138671875, 0 ]
[ 0.040958791971206665, -0.8945169448852539, 1.6429938077926636, -2.241717576980591, -1.5289477109909058, 3.023838996887207, 0 ]
7.9
79
0
79
0
[ 0.03834952041506767, -0.8912428617477417, 1.6520664691925049, -2.245732545852661, -1.5293635129928589, 3.021942138671875, 0 ]
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8
80
0
80
0
[ 0.03834952041506767, -0.8912428617477417, 1.6536155939102173, -2.257896900177002, -1.5278600454330444, 3.021942138671875, 0 ]
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8.1
81
0
81
0
[ 0.03834952041506767, -0.8912428617477417, 1.6551498174667358, -2.2671303749084473, -1.527845025062561, 3.021942138671875, 1 ]
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8.2
82
0
82
0
[ 0.03986816108226776, -0.8912428617477417, 1.6551650762557983, -2.2672226428985596, -1.5278449058532715, 3.021942138671875, 1 ]
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8.3
83
0
83
0
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8.4
84
0
84
0
[ 0.04140213876962662, -0.8897241950035095, 1.6536465883255005, -2.2687573432922363, -1.5293786525726318, 3.0204083919525146, 1 ]
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8.5
85
0
85
0
[ 0.03989868611097336, -0.8897089958190918, 1.655150055885315, -2.273313522338867, -1.529378890991211, 3.0204081535339355, 1 ]
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8.6
86
0
86
0
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8.7
87
0
87
0
[ 0.03988350182771683, -0.8881902098655701, 1.6582177877426147, -2.273359537124634, -1.529378890991211, 3.0204081535339355, 1 ]
[ 0.03992664813995361, -0.890687108039856, 1.6544207334518433, -2.2681710720062256, -1.5289920568466187, 3.020862340927124, 1 ]
8.8
88
0
88
0
[ 0.03988350182771683, -0.8881750106811523, 1.6597517728805542, -2.273359537124634, -1.5308974981307983, 3.0188894271850586, 1 ]
[ 0.039959073066711426, -0.8905604481697083, 1.655173659324646, -2.2700655460357666, -1.5290840864181519, 3.020691394805908, 1 ]
8.9
89
0
89
0
[ 0.03684621676802635, -0.8881748914718628, 1.6597670316696167, -2.271840810775757, -1.5339499711990356, 3.0173556804656982, 1 ]
[ 0.03997115418314934, -0.8903054594993591, 1.6560243368148804, -2.27156138420105, -1.5293844938278198, 3.0203521251678467, 1 ]
9
90
0
90
0
[ 0.026185357943177223, -0.8957681059837341, 1.6597672700881958, -2.2687883377075195, -1.5370177030563354, 2.994560718536377, 1 ]
[ 0.03982720896601677, -0.8899498581886292, 1.6567920446395874, -2.272351026535034, -1.530016303062439, 3.019760847091675, 1 ]
9.1
91
0
91
0
[ 0.018485546112060547, -0.9155863523483276, 1.6582485437393188, -2.2657206058502197, -1.538567066192627, 2.992814064025879, 1 ]
[ 0.03787017986178398, -0.8903484344482422, 1.6579750776290894, -2.271662950515747, -1.531469702720642, 3.0161197185516357, 1 ]
9.2
92
0
92
0
[ 0.009296701289713383, -0.9613437652587891, 1.658233404159546, -2.261133909225464, -1.5385825634002686, 2.986722230911255, 1 ]
[ 0.03324894607067108, -0.8927264213562012, 1.6592358350753784, -2.269768476486206, -1.5338510274887085, 3.0100479125976562, 1 ]
9.3
93
0
93
0
[ 0.0031302489805966616, -0.9982486963272095, 1.6491214036941528, -2.2580509185791016, -1.538582682609558, 2.9760308265686035, 1 ]
[ 0.027456749230623245, -0.9038460850715637, 1.6599229574203491, -2.268568754196167, -1.5351685285568237, 3.003791093826294, 1 ]
9.4
94
0
94
0
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[ 0.02122478559613228, -0.9263071417808533, 1.6573280096054077, -2.2661774158477783, -1.5363420248031616, 2.996821641921997, 1 ]
9.5
95
0
95
0
[ -0.031967081129550934, -1.0474457740783691, 1.6368043422698975, -2.256485939025879, -1.5674976110458374, 2.962148666381836, 1 ]
[ 0.013886474072933197, -0.9511868953704834, 1.6542991399765015, -2.26322340965271, -1.5380343198776245, 2.988723039627075, 1 ]
9.6
96
0
96
0
[ -0.06106530874967575, -1.0720045566558838, 1.6337206363677979, -2.254967212677002, -1.5996174812316895, 2.9605984687805176, 1 ]
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9.7
97
0
97
0
[ -0.12513920664787292, -1.0904737710952759, 1.6078729629516602, -2.2397654056549072, -1.6120878458023071, 2.9499526023864746, 1 ]
[ -0.010826412588357925, -1.003495693206787, 1.6452702283859253, -2.259145975112915, -1.554200530052185, 2.974259614944458, 1 ]
9.8
98
0
98
0
[ -0.1743764579296112, -1.102807641029358, 1.589390754699707, -2.178867816925049, -1.6122125387191772, 2.934659719467163, 1 ]
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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": "ur5e_gello",
    "total_episodes": 20,
    "total_frames": 7967,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:20"
    },
    "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": [
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            "names": [
                "main_motor_0",
                "main_motor_1",
                "main_motor_2",
                "main_motor_3",
                "main_motor_4",
                "main_motor_5",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_motor_0",
                "main_motor_1",
                "main_motor_2",
                "main_motor_3",
                "main_motor_4",
                "main_motor_5",
                "main_gripper"
            ]
        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.front": {
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            "names": [
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        "timestamp": {
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        "frame_index": {
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        },
        "episode_index": {
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}

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