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float32
0
22
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int64
0
220
episode_index
int64
0
291
index
int64
0
43.2k
task_index
int64
0
15
[ 0.007669903803616762, 0.0567421019077301, -0.009188546799123287, -1.4465440511703491, -0.0061357696540653706, 1.4787575006484985, -0.06902913749217987, 0.5282275080680847 ]
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0.1
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1
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0.2
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0.3
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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
11
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1.2
12
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12
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1.3
13
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13
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1.4
14
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14
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1.5
15
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15
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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
21
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2.2
22
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2.3
23
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23
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2.4
24
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24
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2.5
25
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25
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2.6
26
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26
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2.7
27
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2.8
28
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28
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2.9
29
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29
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3
30
0
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3.1
31
0
31
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3.2
32
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32
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3.3
33
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33
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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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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[ 0.14552755653858185, 0.5628682971000671, -0.005194709170609713, -0.8994302749633789, 0.309354305267334, 2.3365862369537354, -0.205007866024971, 0.3203622102737427 ]
4.8
48
0
48
0
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[ 0.14604122936725616, 0.5630061030387878, -0.004777888301759958, -0.903813362121582, 0.30936896800994873, 2.3380815982818604, -0.2053624391555786, 0.3203622102737427 ]
4.9
49
0
49
0
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[ 0.14672020077705383, 0.5582835078239441, -0.004764122422784567, -0.9120268821716309, 0.30935585498809814, 2.345249891281128, -0.2053750455379486, 0.3203622102737427 ]
5
50
0
50
0
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[ 0.14685645699501038, 0.5325980186462402, -0.00502024358138442, -0.9418060183525085, 0.30933141708374023, 2.3431994915008545, -0.20536071062088013, 0.3203622102737427 ]
5.1
51
0
51
0
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[ 0.14574475586414337, 0.47314736247062683, -0.006618445739150047, -0.9871857762336731, 0.3093678057193756, 2.3405277729034424, -0.20534788072109222, 0.3203622102737427 ]
5.2
52
0
52
0
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[ 0.14290064573287964, 0.3900966942310333, -0.01400203350931406, -1.045383095741272, 0.30933865904808044, 2.3161046504974365, -0.20533643662929535, 0.3203622102737427 ]
5.3
53
0
53
0
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[ 0.1383333057165146, 0.30100521445274353, -0.02191326580941677, -1.1192376613616943, 0.3093312978744507, 2.261939287185669, -0.20534290373325348, 0.3203622102737427 ]
5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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[ 0.12994295358657837, 0.04132845252752304, -0.09884961694478989, -1.4326362609863281, 0.28928959369659424, 2.0878403186798096, -0.23355789482593536, 0.3203622102737427 ]
5.8
58
0
58
0
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[ 0.1328401267528534, -0.03674251213669777, -0.0989483892917633, -1.5313029289245605, 0.25382962822914124, 2.0386667251586914, -0.23565620183944702, 0.3203622102737427 ]
5.9
59
0
59
0
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6
60
0
60
0
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[ 0.14062325656414032, -0.15712223947048187, -0.09756121039390564, -1.6625137329101562, 0.20081765949726105, 1.926426649093628, -0.23879919946193695, 0.3203622102737427 ]
6.1
61
0
61
0
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[ 0.14670665562152863, -0.18513326346874237, -0.09254078567028046, -1.6928461790084839, 0.1912403404712677, 1.8774110078811646, -0.23890960216522217, 0.3203622102737427 ]
6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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[ 0.20599214732646942, -0.18702508509159088, -0.07811328768730164, -1.7561050653457642, 0.19075825810432434, 1.7726671695709229, -0.2330446094274521, 0.3203622102737427 ]
6.5
65
0
65
0
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[ 0.23887290060520172, -0.18528014421463013, -0.07573874294757843, -1.8005871772766113, 0.19091174006462097, 1.7602519989013672, -0.20281827449798584, 0.3203622102737427 ]
6.6
66
0
66
0
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6.7
67
0
67
0
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[ 0.2801365256309509, -0.18489253520965576, -0.037918053567409515, -1.8890740871429443, 0.19015929102897644, 1.718262791633606, -0.08153863996267319, 0.3203622102737427 ]
6.8
68
0
68
0
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[ 0.28134018182754517, -0.18634837865829468, -0.020153166726231575, -1.8995407819747925, 0.1905164122581482, 1.6898727416992188, -0.02376345917582512, 0.31204110383987427 ]
6.9
69
0
69
0
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[ 0.28266483545303345, -0.1862063705921173, -0.0002456979127600789, -1.9092903137207031, 0.19078432023525238, 1.6778240203857422, 0.024219747632741928, 0.31204110383987427 ]
7
70
0
70
0
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[ 0.28583067655563354, -0.18520250916481018, 0.023848842829465866, -1.9282957315444946, 0.19087761640548706, 1.675850749015808, 0.0812230110168457, 0.31204110383987427 ]
7.1
71
0
71
0
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[ 0.28624552488327026, -0.18288181722164154, 0.04199319705367088, -1.9371681213378906, 0.19110871851444244, 1.6756715774536133, 0.14513243734836578, 0.31204110383987427 ]
7.2
72
0
72
0
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[ 0.2867855131626129, -0.1549636423587799, 0.057546764612197876, -1.9488168954849243, 0.19115664064884186, 1.6765062808990479, 0.19735591113567352, 0.31204110383987427 ]
7.3
73
0
73
0
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[ 0.28695958852767944, -0.09601688385009766, 0.06935866177082062, -1.955734372138977, 0.19200940430164337, 1.6822450160980225, 0.26015058159828186, 0.31204110383987427 ]
7.4
74
0
74
0
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[ 0.2873033285140991, -0.003472475800663233, 0.07584506273269653, -1.9507473707199097, 0.1972462683916092, 1.7050915956497192, 0.296203076839447, 0.31204110383987427 ]
7.5
75
0
75
0
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[ 0.28796038031578064, 0.055109791457653046, 0.0817183405160904, -1.93511962890625, 0.21008923649787903, 1.7267038822174072, 0.31434738636016846, 0.31204110383987427 ]
7.6
76
0
76
0
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[ 0.2885856330394745, 0.11233507841825485, 0.09463944286108017, -1.9051892757415771, 0.21306556463241577, 1.7455397844314575, 0.34592321515083313, 0.31204110383987427 ]
7.7
77
0
77
0
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[ 0.28928542137145996, 0.15357229113578796, 0.10494082421064377, -1.8656678199768066, 0.21421103179454803, 1.7473984956741333, 0.36827602982521057, 0.31204110383987427 ]
7.8
78
0
78
0
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[ 0.28906670212745667, 0.1718214452266693, 0.11746851354837418, -1.8415921926498413, 0.21647846698760986, 1.7479100227355957, 0.39013949036598206, 0.31620165705680847 ]
7.9
79
0
79
0
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[ 0.29087814688682556, 0.18530969321727753, 0.143374964594841, -1.8166548013687134, 0.22368590533733368, 1.7537463903427124, 0.42779281735420227, 0.31620165705680847 ]
8
80
0
80
0
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[ 0.2929530441761017, 0.19740983843803406, 0.1698026806116104, -1.807049036026001, 0.24964392185211182, 1.7707587480545044, 0.4592416286468506, 0.31204110383987427 ]
8.1
81
0
81
0
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[ 0.2934117019176483, 0.21976521611213684, 0.18629130721092224, -1.8000566959381104, 0.27044299244880676, 1.7794758081436157, 0.4841901957988739, 0.31204110383987427 ]
8.2
82
0
82
0
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[ 0.2929672300815582, 0.2447628676891327, 0.1948287934064865, -1.7944356203079224, 0.27414247393608093, 1.7813317775726318, 0.5091499090194702, 0.31204110383987427 ]
8.3
83
0
83
0
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[ 0.2924954295158386, 0.2769671082496643, 0.1999310404062271, -1.782997965812683, 0.27410486340522766, 1.7883143424987793, 0.5251039862632751, 0.31204110383987427 ]
8.4
84
0
84
0
[ 0.24862852692604065, 0.4397279620170593, 0.21322348713874817, -1.713610053062439, 0.2442253977060318, 1.9000318050384521, 0.536908745765686, 0.68521648645401 ]
[ 0.2847816050052643, 0.3381488621234894, 0.19922392070293427, -1.7712222337722778, 0.2734842002391815, 1.8337225914001465, 0.5272707343101501, 0.31620165705680847 ]
8.5
85
0
85
0
[ 0.24395020306110382, 0.46150821447372437, 0.21322333812713623, -1.7073835134506226, 0.22720111906528473, 1.9188201427459717, 0.5384120941162109, 0.6831035614013672 ]
[ 0.27320224046707153, 0.3828529715538025, 0.19819042086601257, -1.76069974899292, 0.26928022503852844, 1.866861343383789, 0.5272316932678223, 0.31204110383987427 ]
8.6
86
0
86
0
[ 0.24390341341495514, 0.4769124388694763, 0.21322332322597504, -1.707321286201477, 0.21943767368793488, 1.9311572313308716, 0.5369084477424622, 0.6685804724693298 ]
[ 0.2582847774028778, 0.42713242769241333, 0.19741930067539215, -1.748279333114624, 0.2595544457435608, 1.9111143350601196, 0.5266108512878418, 0.31620165705680847 ]
8.7
87
0
87
0
[ 0.24390295147895813, 0.4831410348415375, 0.21322332322597504, -1.7073205709457397, 0.208729550242424, 1.9312806129455566, 0.5368934273719788, 0.5834952592849731 ]
[ 0.25024598836898804, 0.46165138483047485, 0.19813455641269684, -1.7339807748794556, 0.24969685077667236, 1.9245867729187012, 0.5265533328056335, 0.3203622102737427 ]
8.8
88
0
88
0
[ 0.24238429963588715, 0.48320332169532776, 0.21322332322597504, -1.7088392972946167, 0.17065644264221191, 1.9282444715499878, 0.5368932485580444, 0.5122063159942627 ]
[ 0.25021985173225403, 0.47817477583885193, 0.19892670214176178, -1.724674105644226, 0.2413354218006134, 1.9318007230758667, 0.5266672372817993, 0.3328438699245453 ]
8.9
89
0
89
0
[ 0.2438877522945404, 0.4832039475440979, 0.21474197506904602, -1.7073358297348022, 0.15508930385112762, 1.9191023111343384, 0.535374641418457, 0.48248952627182007 ]
[ 0.25097525119781494, 0.48211348056793213, 0.20064103603363037, -1.7213988304138184, 0.2245933711528778, 1.9320803880691528, 0.5267629623413086, 0.420215368270874 ]
9
90
0
90
0
[ 0.243902787566185, 0.4832039475440979, 0.21475715935230255, -1.7073208093643188, 0.15189634263515472, 1.908380389213562, 0.5353594422340393, 0.4324713945388794 ]
[ 0.25046756863594055, 0.4823356568813324, 0.20066431164741516, -1.7213375568389893, 0.19905588030815125, 1.932172179222107, 0.5269885659217834, 0.43685755133628845 ]
9.1
91
0
91
0
[ 0.24390293657779694, 0.4832039475440979, 0.2147573083639145, -1.7073205709457397, 0.14882713556289673, 1.887012243270874, 0.5353593230247498, 0.33045753836631775 ]
[ 0.2539709806442261, 0.48275238275527954, 0.2063397616147995, -1.718698263168335, 0.18779240548610687, 1.9325159788131714, 0.5270202159881592, 0.5242290496826172 ]
9.2
92
0
92
0
[ 0.24390295147895813, 0.4801666736602783, 0.21627594530582428, -1.7058019638061523, 0.1503150910139084, 1.8625003099441528, 0.5353593230247498, 0.32529395818710327 ]
[ 0.2553463876247406, 0.48336783051490784, 0.2072594165802002, -1.7179514169692993, 0.1872585415840149, 1.9321506023406982, 0.5269854664802551, 0.569995105266571 ]
9.3
93
0
93
0
[ 0.24390295147895813, 0.47102445363998413, 0.2178097814321518, -1.7057868242263794, 0.15184861421585083, 1.8470687866210938, 0.5338406562805176, 0.32938575744628906 ]
[ 0.2554248571395874, 0.48370933532714844, 0.20783594250679016, -1.7179040908813477, 0.1868358552455902, 1.92823326587677, 0.5269772410392761, 0.5741556286811829 ]
9.4
94
0
94
0
[ 0.2469402253627777, 0.43752291798591614, 0.21478784084320068, -1.7057865858078003, 0.15034529566764832, 1.793761968612671, 0.5140831470489502, 0.32735496759414673 ]
[ 0.2565792500972748, 0.48374149203300476, 0.21440838277339935, -1.7149085998535156, 0.18714672327041626, 1.922575831413269, 0.5269880890846252, 0.6781693696975708 ]
9.5
95
0
95
0
[ 0.2439333200454712, 0.38707274198532104, 0.21323896944522858, -1.7057865858078003, 0.14881162345409393, 1.7127408981323242, 0.47743818163871765, 0.3356214761734009 ]
[ 0.2558119595050812, 0.4817819595336914, 0.21446731686592102, -1.7073699235916138, 0.1866757720708847, 1.8999459743499756, 0.5260970592498779, 0.674008846282959 ]
9.6
96
0
96
0
[ 0.22567956149578094, 0.3379717469215393, 0.21322348713874817, -1.704267978668213, 0.10779298841953278, 1.6572597026824951, 0.42391929030418396, 0.337775856256485 ]
[ 0.2551417350769043, 0.4618222713470459, 0.21453139185905457, -1.695401906967163, 0.18517109751701355, 1.83847975730896, 0.5210273861885071, 0.674008846282959 ]
9.7
97
0
97
0
[ 0.18145643174648285, 0.2645859718322754, 0.20866741240024567, -1.70425283908844, 0.08764046430587769, 1.6278506517410278, 0.35352662205696106, 0.3377974033355713 ]
[ 0.2513910233974457, 0.41304945945739746, 0.21321256458759308, -1.6869821548461914, 0.17043709754943848, 1.7454606294631958, 0.494653582572937, 0.6656877398490906 ]
9.8
98
0
98
0
[ 0.15671594440937042, 0.2228488028049469, 0.19495408236980438, -1.6814730167388916, 0.073771171271801, 1.621482014656067, 0.2738533616065979, 0.337797611951828 ]
[ 0.22717954218387604, 0.34959718585014343, 0.20543968677520752, -1.6863973140716553, 0.12319106608629227, 1.6677343845367432, 0.4413057863712311, 0.6656877398490906 ]
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": "v3.0",
    "robot_type": "gello",
    "total_episodes": 292,
    "total_frames": 43236,
    "total_tasks": 16,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:292"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.images.wrist_camera": {
            "shape": [
                270,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 270,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_1_camera": {
            "shape": [
                270,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 270,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_2_camera": {
            "shape": [
                270,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 270,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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