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float32
0
15
frame_index
int64
0
299
episode_index
int64
0
3
index
int64
0
1.2k
task_index
int64
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2.1
42
0
42
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2.15
43
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2.2
44
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2.25
45
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45
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2.3
46
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2.35
47
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47
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2.4
48
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2.45
49
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2.5
50
0
50
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2.55
51
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51
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2.6
52
0
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2.65
53
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2.7
54
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2.75
55
0
55
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2.8
56
0
56
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2.85
57
0
57
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2.9
58
0
58
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
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3.25
65
0
65
0
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3.3
66
0
66
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3.35
67
0
67
0
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3.4
68
0
68
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
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3.75
75
0
75
0
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3.8
76
0
76
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
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4
80
0
80
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4.05
81
0
81
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4.1
82
0
82
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4.15
83
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0
[ 0.26941150426864624, 0.03848382830619812, -0.17331549525260925, -0.046263426542282104, -0.016029872000217438, -0.05221402645111084, 1.0091230869293213 ]
[ 0.1736171692609787, 0.7810981869697571, 0.09237904101610184, -2.44543719291687, -0.24002346396446228, 3.30790376663208, 0.2982233166694641, 0.008874211460351944, -0.014883375726640224 ]
4.2
84
0
84
0
[ 0.22801941633224487, 0.03901919722557068, -0.1747165024280548, -0.05669292435050011, -0.009843409061431885, -0.0450039803981781, 1.0004725456237793 ]
[ 0.17896351218223572, 0.7825116515159607, 0.08522551506757736, -2.4398996829986572, -0.23553019762039185, 3.3070921897888184, 0.3002249300479889, 0.005324793513864279, -0.010958267375826836 ]
4.25
85
0
85
0
[ 0.34192490577697754, 0.04658782482147217, -0.09653252363204956, -0.042236100882291794, -0.03348410129547119, -0.04851078987121582, 1.0202291011810303 ]
[ 0.18487459421157837, 0.7833130955696106, 0.07766934484243393, -2.434096574783325, -0.23081141710281372, 3.304333448410034, 0.3016762137413025, 0.0016295455861836672, -0.008245610632002354 ]
4.3
86
0
86
0
[ 0.4239601492881775, 0.0872354507446289, 0.045175909996032715, -0.044310908764600754, -0.05634763464331627, -0.03166908025741577, 1.002533197402954 ]
[ 0.19159847497940063, 0.7828883528709412, 0.07136204838752747, -2.430671453475952, -0.22623518109321594, 3.3010714054107666, 0.3033607304096222, -0.0005845745909027755, -0.01009843684732914 ]
4.35
87
0
87
0
[ 0.4825548529624939, 0.10739338397979736, 0.14198142290115356, -0.043503183871507645, -0.06792964786291122, -0.02608361840248108, 1.0222077369689941 ]
[ 0.20000992715358734, 0.7810143232345581, 0.0658930242061615, -2.42966628074646, -0.2216760218143463, 3.299685001373291, 0.30537304282188416, -0.000676536001265049, -0.008676135912537575 ]
4.4
88
0
88
0
[ 0.5229564309120178, 0.09001755714416504, 0.24222332239151, -0.04490980505943298, -0.06890852749347687, -0.030530691146850586, 1.0052125453948975 ]
[ 0.20976386964321136, 0.7795771956443787, 0.05801638215780258, -2.4225916862487793, -0.21644315123558044, 3.299809217453003, 0.3065429925918579, -0.000200810914975591, -0.005495910998433828 ]
4.45
89
0
89
0
[ 0.311911404132843, 0.17708271741867065, 0.2224244475364685, 0.006602026522159576, -0.00916089117527008, -0.03499928116798401, 0.9643514156341553 ]
[ 0.22009709477424622, 0.7768017053604126, 0.049435269087553024, -2.413722038269043, -0.21097126603126526, 3.298771381378174, 0.3077065646648407, -0.00007059756171656772, -0.0035644301678985357 ]
4.5
90
0
90
0
[ 0.44735902547836304, 0.14276570081710815, 0.35062628984451294, 0.002943865954875946, -0.0065946802496910095, -0.024691253900527954, 1.0128519535064697 ]
[ 0.2297050654888153, 0.7727279663085938, 0.045995213091373444, -2.4082694053649902, -0.2053987681865692, 3.2958927154541016, 0.3126307427883148, -0.00003486373680061661, -0.0023766299709677696 ]
4.55
91
0
91
0
[ 0.5981115698814392, 0.09963500499725342, 0.5286476016044617, -0.010747455060482025, 0.01031515747308731, -0.022939741611480713, 1.016939401626587 ]
[ 0.23785187304019928, 0.7662999033927917, 0.04468417167663574, -2.4046428203582764, -0.2000502049922943, 3.292201519012451, 0.31946563720703125, -0.000019182542018825188, -0.001787366229109466 ]
4.6
92
0
92
0
[ 0.6751497387886047, 0.025569766759872437, 0.6415805220603943, -0.023207787424325943, 0.04036036878824234, -0.027456670999526978, 1.0040438175201416 ]
[ 0.24455614387989044, 0.7557768821716309, 0.04306599870324135, -2.4017913341522217, -0.1955006867647171, 3.2860476970672607, 0.32592546939849854, -0.000013818093975714874, -0.0014769935514777899 ]
4.65
93
0
93
0
[ 0.7552525401115417, -0.0026435256004333496, 0.6727107167243958, -0.023042544722557068, 0.05589080601930618, -0.014432728290557861, 0.9727228879928589 ]
[ 0.24954982101917267, 0.7409038543701172, 0.04148704931139946, -2.39992094039917, -0.1917918175458908, 3.2748188972473145, 0.33235475420951843, -0.00000937080130825052, -0.0013011916307732463 ]
4.7
94
0
94
0
[ 0.9738060832023621, -0.04591494798660278, 0.7524814009666443, 0.0034512579441070557, 0.07994651049375534, -0.006167769432067871, 1.0098326206207275 ]
[ 0.2525387704372406, 0.7236801385879517, 0.04105575755238533, -2.3968896865844727, -0.18921434879302979, 3.2577834129333496, 0.3386538028717041, -0.000006221635885594878, -0.0012030134676024318 ]
4.75
95
0
95
0
[ 0.9386634230613708, -0.0761258602142334, 0.7588364481925964, 0.0017193183302879333, 0.07780518382787704, 0.028927892446517944, 1.033639907836914 ]
[ 0.2525673806667328, 0.7059688568115234, 0.043791256844997406, -2.390287160873413, -0.18760040402412415, 3.2358925342559814, 0.34545233845710754, -0.00000467591007691226, -0.001148670562542975 ]
4.8
96
0
96
0
[ 1.0011894702911377, -0.19672837853431702, 0.8357556462287903, -0.0030059814453125, 0.09434042125940323, 0.047561436891555786, 1.002293586730957 ]
[ 0.24908985197544098, 0.6879370808601379, 0.04937971010804176, -2.380833625793457, -0.18746446073055267, 3.2090845108032227, 0.3506242036819458, -0.000004092758899787441, -0.001103307120501995 ]
4.85
97
0
97
0
[ 0.9777476191520691, -0.28768491744995117, 0.8528950810432434, -0.008262202143669128, 0.10181950777769089, 0.07051613926887512, 0.9886813163757324 ]
[ 0.24187225103378296, 0.6687024831771851, 0.056817539036273956, -2.370055675506592, -0.18850930035114288, 3.1775693893432617, 0.35241949558258057, -0.000004429420187079813, -0.001061421469785273 ]
4.9
98
0
98
0
[ 0.9878799319267273, -0.31740546226501465, 0.8512911200523376, -0.01341702789068222, 0.10460556298494339, 0.08841162919998169, 1.0050456523895264 ]
[ 0.23064012825489044, 0.6484068036079407, 0.06636806577444077, -2.3584842681884766, -0.18993614614009857, 3.1416220664978027, 0.34998345375061035, -0.000004658286798076006, -0.0010214410722255707 ]
4.95
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": "unknown",
    "total_episodes": 4,
    "total_frames": 1200,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:4"
    },
    "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",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper_1.pos",
                "gripper_2.pos"
            ],
            "shape": [
                9
            ]
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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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