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float32
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9.8
frame_index
int64
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294
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int64
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39
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11.8k
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2
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[ 0.30086320638656616, 0.6491904258728027, 0.30676278471946716, -1.8207260370254517, -0.30329346656799316, 2.4347665309906006, 1.5641025304794312, 0.03999999910593033, 0.03999999910593033 ]
2.566667
77
0
77
0
[ 0.2655344009399414, 0.5475760102272034, 0.3241840600967407, -1.8934706449508667, -0.2784406244754791, 2.4181573390960693, 1.5368436574935913, 0.03999229893088341, 0.039993446320295334 ]
[ 0.30681532621383667, 0.6665045022964478, 0.30345332622528076, -1.8065907955169678, -0.30618950724601746, 2.436398983001709, 1.5673552751541138, 0.03999999910593033, 0.03999999910593033 ]
2.6
78
0
78
0
[ 0.2655344009399414, 0.5475760102272034, 0.3241840600967407, -1.8934706449508667, -0.2784406244754791, 2.4181573390960693, 1.5368436574935913, 0.03999229893088341, 0.039993446320295334 ]
[ 0.3129183053970337, 0.6824349164962769, 0.29964637756347656, -1.7962650060653687, -0.3116094768047333, 2.441415309906006, 1.572588562965393, 0.03999999910593033, 0.03999999910593033 ]
2.633333
79
0
79
0
[ 0.2726004421710968, 0.56905597448349, 0.3201480209827423, -1.8788269758224487, -0.28339728713035583, 2.4217138290405273, 1.5423182249069214, 0.0399937778711319, 0.03999537229537964 ]
[ 0.3188014328479767, 0.6997717022895813, 0.2964182198047638, -1.7812308073043823, -0.3138875961303711, 2.4424386024475098, 1.5752012729644775, 0.03999999910593033, 0.03999999910593033 ]
2.666667
80
0
80
0
[ 0.2726004421710968, 0.56905597448349, 0.3201480209827423, -1.8788269758224487, -0.28339728713035583, 2.4217138290405273, 1.5423182249069214, 0.0399937778711319, 0.03999537229537964 ]
[ 0.3247484862804413, 0.7153381109237671, 0.2927109897136688, -1.770812749862671, -0.31889939308166504, 2.44708514213562, 1.5800549983978271, 0.03999999910593033, 0.03999999910593033 ]
2.7
81
0
81
0
[ 0.2804289162158966, 0.5922986268997192, 0.3156775236129761, -1.8625295162200928, -0.2887113094329834, 2.4255940914154053, 1.548097848892212, 0.03999510407447815, 0.03999710828065872 ]
[ 0.33035990595817566, 0.7322725653648376, 0.28972122073173523, -1.7552026510238647, -0.32045289874076843, 2.4473819732666016, 1.5819288492202759, 0.03999999910593033, 0.03999999910593033 ]
2.733333
82
0
82
0
[ 0.2804289162158966, 0.5922986268997192, 0.3156775236129761, -1.8625295162200928, -0.2887113094329834, 2.4255940914154053, 1.548097848892212, 0.03999510407447815, 0.03999710828065872 ]
[ 0.33598095178604126, 0.7470587491989136, 0.2862269878387451, -1.7449707984924316, -0.3249247372150421, 2.451531171798706, 1.5862761735916138, 0.03999999910593033, 0.03999999910593033 ]
2.766667
83
0
83
0
[ 0.28881219029426575, 0.6168544292449951, 0.31090831756591797, -1.8447716236114502, -0.29413270950317383, 2.4295618534088135, 1.5539442300796509, 0.0399959534406662, 0.039997395128011703 ]
[ 0.3411286175251007, 0.7631521224975586, 0.28361785411834717, -1.7292040586471558, -0.3257176876068115, 2.451051712036133, 1.5873732566833496, 0.03999999910593033, 0.03999999910593033 ]
2.8
84
0
84
0
[ 0.28881219029426575, 0.6168544292449951, 0.31090831756591797, -1.8447716236114502, -0.29413270950317383, 2.4295618534088135, 1.5539442300796509, 0.0399959534406662, 0.039997395128011703 ]
[ 0.34625476598739624, 0.7767353653907776, 0.28044822812080383, -1.7194809913635254, -0.3295499384403229, 2.4546055793762207, 1.5911154747009277, 0.03999999910593033, 0.03999999910593033 ]
2.833333
85
0
85
0
[ 0.2975181043148041, 0.6422109603881836, 0.30599385499954224, -1.825831651687622, -0.29942822456359863, 2.433394432067871, 1.5596336126327515, 0.03999587893486023, 0.039996664971113205 ]
[ 0.3507657051086426, 0.7915292382240295, 0.27833476662635803, -1.7040718793869019, -0.32961031794548035, 2.4533631801605225, 1.591455101966858, 0.03999999910593033, 0.03999999910593033 ]
2.866667
86
0
86
0
[ 0.2975181043148041, 0.6422109603881836, 0.30599385499954224, -1.825831651687622, -0.29942822456359863, 2.433394432067871, 1.5596336126327515, 0.03999587893486023, 0.039996664971113205 ]
[ 0.3552323579788208, 0.8034793734550476, 0.275595098733902, -1.6952260732650757, -0.3327363431453705, 2.456254243850708, 1.5945230722427368, 0.03999999910593033, 0.03999999910593033 ]
2.9
87
0
87
0
[ 0.30629807710647583, 0.6677978038787842, 0.3010976016521454, -1.8060799837112427, -0.30439886450767517, 2.43689227104187, 1.5649725198745728, 0.03999548405408859, 0.039996013045310974 ]
[ 0.358956515789032, 0.8164936304092407, 0.2740577161312103, -1.6807781457901, -0.3321476876735687, 2.454320192337036, 1.5941743850708008, 0.03999999910593033, 0.03999999910593033 ]
2.933333
88
0
88
0
[ 0.30629807710647583, 0.6677978038787842, 0.3010976016521454, -1.8060799837112427, -0.30439886450767517, 2.43689227104187, 1.5649725198745728, 0.03999548405408859, 0.039996013045310974 ]
[ 0.36260589957237244, 0.8263713717460632, 0.27184322476387024, -1.6732254028320312, -0.3345320224761963, 2.456512928009033, 1.5965267419815063, 0.03999999910593033, 0.03999999910593033 ]
2.966667
89
0
89
0
[ 0.31489408016204834, 0.6929914355278015, 0.29638466238975525, -1.7859861850738525, -0.3088819682598114, 2.439894437789917, 1.5698002576828003, 0.03999500349164009, 0.039995525032281876 ]
[ 0.36541682481765747, 0.8371038436889648, 0.27092480659484863, -1.6604183912277222, -0.3334101140499115, 2.454014301300049, 1.59559166431427, 0.03999999910593033, 0.03999999910593033 ]
3
90
0
90
0
[ 0.31489408016204834, 0.6929914355278015, 0.29638466238975525, -1.7859861850738525, -0.3088819682598114, 2.439894437789917, 1.5698002576828003, 0.03999500349164009, 0.039995525032281876 ]
[ 0.36809930205345154, 0.8444603681564331, 0.26931828260421753, -1.654618501663208, -0.3350437879562378, 2.4555022716522217, 1.5972119569778442, 0.03999999910593033, 0.03999999910593033 ]
3.033333
91
0
91
0
[ 0.3230452537536621, 0.717117428779602, 0.29201436042785645, -1.7661224603652954, -0.31275588274002075, 2.442282199859619, 1.57399320602417, 0.03999456763267517, 0.03999529406428337 ]
[ 0.36988645792007446, 0.8523838520050049, 0.269031286239624, -1.644190788269043, -0.3335149884223938, 2.4526028633117676, 1.5958073139190674, 0.03999999910593033, 0.03999999910593033 ]
3.066667
92
0
92
0
[ 0.3230452537536621, 0.717117428779602, 0.29201436042785645, -1.7661224603652954, -0.31275588274002075, 2.442282199859619, 1.57399320602417, 0.03999456763267517, 0.03999529406428337 ]
[ 0.3714603781700134, 0.8567607402801514, 0.26810264587402344, -1.6406413316726685, -0.334408700466156, 2.4534053802490234, 1.5966980457305908, 0.03999999910593033, 0.03999999910593033 ]
3.1
93
0
93
0
[ 0.3304721415042877, 0.7394048571586609, 0.28818604350090027, -1.7470649480819702, -0.31614118814468384, 2.444350481033325, 1.5768872499465942, 0.039513763040304184, 0.03855089098215103 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0.03999999910593033, 0.03999999910593033 ]
3.133333
94
0
94
0
[ 0.3304721415042877, 0.7394048571586609, 0.28818604350090027, -1.7470649480819702, -0.31614118814468384, 2.444350481033325, 1.5768872499465942, 0.039513763040304184, 0.03855089098215103 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0, 0 ]
3.166667
95
0
95
0
[ 0.3382774591445923, 0.7570784687995911, 0.28554660081863403, -1.7276804447174072, -0.32816576957702637, 2.4450786113739014, 1.5800395011901855, 0.03415713086724281, 0.035720426589250565 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0, 0 ]
3.2
96
0
96
0
[ 0.3382774591445923, 0.7570784687995911, 0.28554660081863403, -1.7276804447174072, -0.32816576957702637, 2.4450786113739014, 1.5800395011901855, 0.03415713086724281, 0.035720426589250565 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0, 0 ]
3.233333
97
0
97
0
[ 0.34662628173828125, 0.770775556564331, 0.28359776735305786, -1.7104121446609497, -0.3432108163833618, 2.449021816253662, 1.5833442211151123, 0.030117783695459366, 0.03150172904133797 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0, 0 ]
3.266667
98
0
98
0
[ 0.34662628173828125, 0.770775556564331, 0.28359776735305786, -1.7104121446609497, -0.3432108163833618, 2.449021816253662, 1.5833442211151123, 0.030117783695459366, 0.03150172904133797 ]
[ 0.3721276521682739, 0.8613020181655884, 0.26840460300445557, -1.6334747076034546, -0.3327089250087738, 2.450636386871338, 1.5946612358093262, 0, 0 ]
3.3
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",
    "fps": 30,
    "features": {
        "observation.images.third_person": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "panda_joint1",
                "panda_joint2",
                "panda_joint3",
                "panda_joint4",
                "panda_joint5",
                "panda_joint6",
                "panda_joint7",
                "panda_finger_joint1",
                "panda_finger_joint2"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "panda_joint1",
                "panda_joint2",
                "panda_joint3",
                "panda_joint4",
                "panda_joint5",
                "panda_joint6",
                "panda_joint7",
                "panda_finger_joint1",
                "panda_finger_joint2"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    },
    "total_episodes": 40,
    "total_frames": 11800,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "franka",
    "splits": {
        "train": "0:40"
    }
}

Citation

BibTeX:

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