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timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
observation.state
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action
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2.28
57
0
57
0
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[ 0.0337640643119812, -1.06918466091156, 0.6108226180076599, 1.668251633644104, 0.33150172233581543, 0.699495255947113 ]
2.32
58
0
58
0
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2.36
59
0
59
0
[ 0.03683352470397949, -1.0676506757736206, 0.6445866823196411, 1.6774600744247437, 0.3299669921398163, 0.689093828201294 ]
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2.4
60
0
60
0
[ 0.03836825489997864, -1.0339030027389526, 0.6123573184013367, 1.6605780124664307, 0.33150172233581543, 0.6798854470252991 ]
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2.44
61
0
61
0
[ 0.05831974744796753, -0.9863496422767639, 0.5924058556556702, 1.6344876289367676, 0.33150172233581543, 0.6798854470252991 ]
[ 0.15961194038391113, -0.8805049657821655, 0.541759729385376, 1.585376262664795, 0.3345711827278137, 0.6810874938964844 ]
2.48
62
0
62
0
[ 0.10282692313194275, -0.9387962222099304, 0.584732174873352, 1.614536166191101, 0.3330364525318146, 0.6798854470252991 ]
[ 0.2056538462638855, -0.8452234268188477, 0.5264124274253845, 1.5761678218841553, 0.3407101035118103, 0.6810874938964844 ]
2.52
63
0
63
0
[ 0.158077210187912, -0.8866409063339233, 0.5739890933036804, 1.5991888046264648, 0.3330364525318146, 0.6798854470252991 ]
[ 0.242487370967865, -0.809941828250885, 0.5110651254653931, 1.568494200706482, 0.34838375449180603, 0.6810874938964844 ]
2.56
64
0
64
0
[ 0.2087233066558838, -0.8390874862670898, 0.5571070313453674, 1.5899804830551147, 0.337640643119812, 0.6798854470252991 ]
[ 0.263973593711853, -0.7639224529266357, 0.49418312311172485, 1.5485427379608154, 0.3514532148838043, 0.6810874938964844 ]
2.6
65
0
65
0
[ 0.2501610219478607, -0.803805947303772, 0.5386902689933777, 1.5777026414871216, 0.3437795639038086, 0.6798854470252991 ]
[ 0.2701125144958496, -0.7071651220321655, 0.4726969003677368, 1.523987054824829, 0.3499184846878052, 0.6810874938964844 ]
2.64
66
0
66
0
[ 0.2701125144958496, -0.7501165866851807, 0.5264124274253845, 1.5592858791351318, 0.3468490242958069, 0.6798854470252991 ]
[ 0.26857778429985046, -0.6427379250526428, 0.4481412172317505, 1.5040355920791626, 0.3499184846878052, 0.6810874938964844 ]
2.68
67
0
67
0
[ 0.27164724469184875, -0.6933593153953552, 0.5110651254653931, 1.5316606760025024, 0.3468490242958069, 0.6798854470252991 ]
[ 0.2624388635158539, -0.5767768025398254, 0.41591188311576843, 1.4902230501174927, 0.34838375449180603, 0.6810874938964844 ]
2.72
68
0
68
0
[ 0.26857778429985046, -0.6350680589675903, 0.4895789325237274, 1.511709213256836, 0.3468490242958069, 0.6798854470252991 ]
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2.76
69
0
69
0
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[ 0.21639695763587952, -0.44025248289108276, 0.32536280155181885, 1.4856188297271729, 0.3407101035118103, 0.6810874938964844 ]
2.8
70
0
70
0
[ 0.253230482339859, -0.49547579884529114, 0.3974951207637787, 1.4994313716888428, 0.3437795639038086, 0.6798854470252991 ]
[ 0.17649397253990173, -0.36968937516212463, 0.2655083239078522, 1.4856188297271729, 0.32843226194381714, 0.6810874938964844 ]
2.84
71
0
71
0
[ 0.22714006900787354, -0.42337870597839355, 0.3499184846878052, 1.4932924509048462, 0.337640643119812, 0.6798854470252991 ]
[ 0.1350562572479248, -0.31139808893203735, 0.21179276704788208, 1.4856188297271729, 0.31461969017982483, 0.6810874938964844 ]
2.88
72
0
72
0
[ 0.18723708391189575, -0.3497476279735565, 0.29773765802383423, 1.4917577505111694, 0.32536280155181885, 0.6798854470252991 ]
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2.92
73
0
73
0
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2.96
74
0
74
0
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3
75
0
75
0
[ 0.05831974744796753, -0.18254370987415314, 0.14733409881591797, 1.4886882305145264, 0.28852927684783936, 0.6798854470252991 ]
[ 0.0076736509799957275, -0.0951068103313446, 0.0337640643119812, 1.484084129333496, 0.2655083239078522, 0.6810874938964844 ]
3.04
76
0
76
0
[ 0.0337640643119812, -0.13192234933376312, 0.1012921929359436, 1.4886882305145264, 0.2762514352798462, 0.6798854470252991 ]
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3.08
77
0
77
0
[ 0.010743111371994019, -0.07669904083013535, 0.056785017251968384, 1.4886882305145264, 0.263973593711853, 0.6798854470252991 ]
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3.12
78
0
78
0
[ -0.016873788088560104, -0.02454369328916073, 0.012277841567993164, 1.4886882305145264, 0.2593694031238556, 0.6798854470252991 ]
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3.16
79
0
79
0
[ -0.04908738657832146, 0.024555683135986328, -0.026077672839164734, 1.4871535301208496, 0.24709156155586243, 0.6798854470252991 ]
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3.2
80
0
80
0
[ -0.08436894416809082, 0.0675281286239624, -0.0613592304289341, 1.4871535301208496, 0.2363484501838684, 0.6798854470252991 ]
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3.24
81
0
81
0
[ -0.11198059469461441, 0.1012921929359436, -0.08743690699338913, 1.4856188297271729, 0.22714006900787354, 0.6798854470252991 ]
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3.28
82
0
82
0
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3.32
83
0
83
0
[ -0.12885437905788422, 0.17035505175590515, -0.12118448317050934, 1.4825493097305298, 0.21793168783187866, 0.6798854470252991 ]
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3.36
84
0
84
0
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3.4
85
0
85
0
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3.44
86
0
86
0
[ -0.17640778422355652, 0.242487370967865, -0.15493206679821014, 1.4702714681625366, 0.21179276704788208, 0.6798854470252991 ]
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3.48
87
0
87
0
[ -0.18867963552474976, 0.24862629175186157, -0.1564660370349884, 1.4702714681625366, 0.21793168783187866, 0.6798854470252991 ]
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3.52
88
0
88
0
[ -0.1871456503868103, 0.253230482339859, -0.1564660370349884, 1.471806287765503, 0.21793168783187866, 0.6798854470252991 ]
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3.56
89
0
89
0
[ -0.17640778422355652, 0.2624388635158539, -0.15800002217292786, 1.4733409881591797, 0.21332749724388123, 0.6798854470252991 ]
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3.6
90
0
90
0
[ -0.16566991806030273, 0.27164724469184875, -0.1564660370349884, 1.4733409881591797, 0.21639695763587952, 0.6798854470252991 ]
[ -0.16566991806030273, 0.2562999427318573, -0.1871456503868103, 1.4687367677688599, 0.21486222743988037, 0.6672816276550293 ]
3.64
91
0
91
0
[ -0.16260196268558502, 0.27471670508384705, -0.1564660370349884, 1.471806287765503, 0.21639695763587952, 0.6706770658493042 ]
[ -0.16566991806030273, 0.2593694031238556, -0.1902136206626892, 1.467202067375183, 0.21486222743988037, 0.6657476425170898 ]
3.68
92
0
92
0
[ -0.16413594782352448, 0.2762514352798462, -0.1564660370349884, 1.4702714681625366, 0.21639695763587952, 0.6676076054573059 ]
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3.72
93
0
93
0
[ -0.1672039031982422, 0.27471670508384705, -0.1564660370349884, 1.4702714681625366, 0.2194664180278778, 0.6676076054573059 ]
[ -0.16106797754764557, 0.2931334674358368, -0.20248545706272125, 1.467202067375183, 0.21025803685188293, 0.6657476425170898 ]
3.76
94
0
94
0
[ -0.1672039031982422, 0.28085562586784363, -0.16106797754764557, 1.4702714681625366, 0.21793168783187866, 0.6676076054573059 ]
[ -0.1564660370349884, 0.3207586109638214, -0.21629129350185394, 1.467202067375183, 0.21025803685188293, 0.6657476425170898 ]
3.8
95
0
95
0
[ -0.16413594782352448, 0.30234184861183167, -0.1733398288488388, 1.4702714681625366, 0.21025803685188293, 0.6676076054573059 ]
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3.84
96
0
96
0
[ -0.16106797754764557, 0.33610591292381287, -0.18867963552474976, 1.4702714681625366, 0.21025803685188293, 0.6676076054573059 ]
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3.88
97
0
97
0
[ -0.1564660370349884, 0.36986997723579407, -0.20555342733860016, 1.4702714681625366, 0.21025803685188293, 0.6676076054573059 ]
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3.92
98
0
98
0
[ -0.15493206679821014, 0.39596039056777954, -0.21935924887657166, 1.4702714681625366, 0.21179276704788208, 0.6676076054573059 ]
[ -0.15186409652233124, 0.4020993113517761, -0.28378644585609436, 1.467202067375183, 0.20718857645988464, 0.6227961778640747 ]
3.96
99
0
99
0
[ -0.15186409652233124, 0.411307692527771, -0.23316508531570435, 1.4702714681625366, 0.21179276704788208, 0.6553297638893127 ]
[ -0.15186409652233124, 0.41284242272377014, -0.30066022276878357, 1.467202067375183, 0.19951492547988892, 0.5721748471260071 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "omx_f",
    "total_episodes": 15,
    "total_frames": 3274,
    "total_tasks": 2,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:15"
    },
    "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": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
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        "observation.images.wrist_cam": {
            "dtype": "video",
            "names": [
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                "channels"
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            "shape": [
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        },
        "observation.images.top_cam": {
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "gripper_joint_1"
            ],
            "shape": [
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        },
        "action": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "gripper_joint_1"
            ],
            "shape": [
                6
            ]
        }
    }
}

Citation

BibTeX:

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