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observation.state
list
action
list
timestamp
float32
0
9.9
frame_index
int64
0
198
episode_index
int64
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9
index
int64
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1.44k
task_index
int64
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1.8
36
0
36
0
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1.85
37
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37
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1.9
38
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38
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1.95
39
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39
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2
40
0
40
0
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2.05
41
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2.1
42
0
42
0
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2.15
43
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43
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2.2
44
0
44
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2.25
45
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45
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2.3
46
0
46
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2.35
47
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47
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2.4
48
0
48
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2.45
49
0
49
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
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2.65
53
0
53
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2.7
54
0
54
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2.75
55
0
55
0
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2.8
56
0
56
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2.85
57
0
57
0
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2.9
58
0
58
0
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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
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
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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
[ 0.6370955109596252, -2.270723581314087, -1.3447678089141846, -1.044089436531067, 1.5055294036865234, 3.775092601776123, 0.4329846203327179, 0.14878970384597778, 0.1538817584514618, 2.1672279834747314, 2.1695852279663086, 0.06189552694559097 ]
[ 0.00039325020043179393, 0.004021506756544113, 0.002038774313405156, -0.0008059353567659855, -0.004706899635493755, -0.010375195182859898, 0.5616046786308289 ]
3.65
73
0
73
0
[ 0.6379709243774414, -2.2709648609161377, -1.343231201171875, -1.0451717376708984, 1.5049852132797241, 3.777120351791382, 0.43303629755973816, 0.14924032986164093, 0.1541125476360321, 2.168137550354004, 2.1679420471191406, 0.06224934384226799 ]
[ 0.0009784006979316473, 0.0016425731591880322, 0.0016026012599468231, -0.0005413253675214946, -0.0032893274910748005, -0.004176347050815821, 0.5610032677650452 ]
3.7
74
0
74
0
[ 0.6382548809051514, -2.2710793018341064, -1.3421332836151123, -1.0458850860595703, 1.5047706365585327, 3.777980327606201, 0.43311843276023865, 0.14943034946918488, 0.15430720150470734, 2.168611764907837, 2.167130708694458, 0.0626709908246994 ]
[ 0.0006551287369802594, 0.0014041888061910868, 0.0007429250981658697, 0.00028578125056810677, -0.0010680551640689373, -0.003742059925571084, 0.5610032677650452 ]
3.75
75
0
75
0
[ 0.6384885311126709, -2.2713863849639893, -1.3412723541259766, -1.0464168787002563, 1.5046584606170654, 3.7786333560943604, 0.4331803321838379, 0.14959001541137695, 0.15436704456806183, 2.1690022945404053, 2.1666007041931152, 0.06272784620523453 ]
[ 0.000611799128819257, 0.0012924226466566324, 0.0007010349654592574, 0.00030271068681031466, -0.0009975045686587691, -0.0034449317026883364, 0.5604019165039062 ]
3.8
76
0
76
0
[ 0.6386727094650269, -2.271526575088501, -1.340471625328064, -1.0468690395355225, 1.5045864582061768, 3.7790913581848145, 0.43324369192123413, 0.14972853660583496, 0.1544899195432663, 2.1692419052124023, 2.166224479675293, 0.06306254863739014 ]
[ 0.0005674472777172923, 0.0011954577639698982, 0.0006150224944576621, 0.00023071389296092093, -0.0008420528611168265, -0.0032509183511137962, 0.5604019165039062 ]
3.85
77
0
77
0
[ 0.6388245820999146, -2.271799325942993, -1.3397479057312012, -1.047311544418335, 1.5045607089996338, 3.7795472145080566, 0.43329885601997375, 0.14984877407550812, 0.15453383326530457, 2.169562339782715, 2.165881395339966, 0.06310402601957321 ]
[ 0.0005288324318826199, 0.0011112915817648172, 0.0005842828541062772, 0.00021570712851826102, -0.000818649074062705, -0.0030375539790838957, 0.5598005056381226 ]
3.9
78
0
78
0
[ 0.6389553546905518, -2.272059679031372, -1.3391830921173096, -1.0476828813552856, 1.504408597946167, 3.779961109161377, 0.4333454966545105, 0.14993685483932495, 0.1545458436012268, 2.169781446456909, 2.165480613708496, 0.06299707293510437 ]
[ 0.0006585296941921115, 0.0006528332596644759, 0.0005758743500337005, 0.00024852764909155667, -0.0007737936684861779, -0.00176149548497051, 0.524318516254425 ]
3.95
79
0
79
0
[ 0.6389791965484619, -2.272237539291382, -1.3385264873504639, -1.0481152534484863, 1.5044275522232056, 3.7802562713623047, 0.43340790271759033, 0.14999796450138092, 0.15461310744285583, 2.170088768005371, 2.1651952266693115, 0.0630902647972107 ]
[ -0.00320874503813684, -0.000899079255759716, -0.0027703808154910803, 0.008013783022761345, 0.0169326514005661, -0.0013535878388211131, 0.48643091320991516 ]
4
80
0
80
0
[ 0.6389983892440796, -2.272209405899048, -1.3387805223464966, -1.0481631755828857, 1.504973292350769, 3.780399799346924, 0.4333342909812927, 0.15001648664474487, 0.15454648435115814, 2.170614004135132, 2.1655027866363525, 0.06281889975070953 ]
[ -0.005671996157616377, -0.0019046046072617173, -0.0048500001430511475, 0.013022040948271751, 0.028341786935925484, -0.0011408005375415087, 0.48582953214645386 ]
4.05
81
0
81
0
[ 0.6390361785888672, -2.271959066390991, -1.340503215789795, -1.0477110147476196, 1.50661039352417, 3.7805049419403076, 0.4330158531665802, 0.1499893218278885, 0.15420383214950562, 2.1718711853027344, 2.16678524017334, 0.06168292835354805 ]
[ -0.005643746349960566, -0.0019624230917543173, -0.0034684299025684595, 0.01121786143630743, 0.024140596389770508, -0.0011932909255847335, 0.48582953214645386 ]
4.1
82
0
82
0
[ 0.6389597058296204, -2.270711660385132, -1.3435827493667603, -1.0468223094940186, 1.5087041854858398, 3.7806546688079834, 0.43251699209213257, 0.14981912076473236, 0.15395399928092957, 2.1735997200012207, 2.1682136058807373, 0.06076992303133011 ]
[ -0.0065254285000264645, -0.0023291201796382666, 0.0021393869537860155, 0.0056498791091144085, 0.011932853609323502, -0.0012455708347260952, 0.48582953214645386 ]
4.15
83
0
83
0
[ 0.6389776468276978, -2.268613576889038, -1.3468085527420044, -1.046412467956543, 1.5100429058074951, 3.7809321880340576, 0.4319876730442047, 0.14959105849266052, 0.153996080160141, 2.1748464107513428, 2.1690235137939453, 0.06002552807331085 ]
[ -0.01200399175286293, -0.004914553370326757, 0.005277005955576897, 0.008147915825247765, 0.017867499962449074, 0.00004446672392077744, 0.48282256722450256 ]
4.2
84
0
84
0
[ 0.639155387878418, -2.2640202045440674, -1.3526051044464111, -1.0460203886032104, 1.5115073919296265, 3.781351089477539, 0.43103843927383423, 0.1491534560918808, 0.1544029712677002, 2.1761744022369385, 2.169965982437134, 0.05918599292635918 ]
[ -0.018410008400678635, -0.007386373821645975, 0.005480379797518253, 0.013706440106034279, 0.0305581483989954, 0.00033171713585034013, 0.44613778591156006 ]
4.25
85
0
85
0
[ 0.6397061347961426, -2.2573373317718506, -1.361767053604126, -1.0450741052627563, 1.5137426853179932, 3.7818357944488525, 0.4295211434364319, 0.14858494699001312, 0.15481825172901154, 2.1777589321136475, 2.171921491622925, 0.05745845288038254 ]
[ -0.02251150645315647, -0.009017309173941612, 0.006350530311465263, 0.01652204431593418, 0.03662659227848053, 0.00029903886024840176, 0.39020851254463196 ]
4.3
86
0
86
0
[ 0.6403164863586426, -2.2485907077789307, -1.3737332820892334, -1.0436835289001465, 1.5167150497436523, 3.7826755046844482, 0.42755451798439026, 0.14779801666736603, 0.15537132322788239, 2.1801950931549072, 2.174138069152832, 0.05547242984175682 ]
[ -0.022668084129691124, -0.009068897925317287, 0.009091690182685852, 0.0138313639909029, 0.030429556965827942, 0.00030511035583913326, 0.38840433955192566 ]
4.35
87
0
87
0
[ 0.6409149169921875, -2.2394325733184814, -1.3857719898223877, -1.0422073602676392, 1.5199037790298462, 3.783257007598877, 0.42556139826774597, 0.1470067948102951, 0.15607506036758423, 2.1824705600738525, 2.1767051219940186, 0.05416090786457062 ]
[ -0.02056276984512806, -0.00823602918535471, 0.014134267345070839, 0.0065186042338609695, 0.014551326632499695, 0.000018833932699635625, 0.38539740443229675 ]
4.4
88
0
88
0
[ 0.6416440606117249, -2.2303760051727295, -1.3976590633392334, -1.0412909984588623, 1.5224757194519043, 3.7841293811798096, 0.4235561192035675, 0.14620205760002136, 0.15671631693840027, 2.1845619678497314, 2.1787259578704834, 0.05193444341421127 ]
[ -0.01858678087592125, -0.007447855081409216, 0.017122888937592506, 0.001923382398672402, 0.003558658529073, -0.0000777317036408931, 0.35111814737319946 ]
4.45
89
0
89
0
[ 0.6426834464073181, -2.219705820083618, -1.4085088968276978, -1.041390299797058, 1.5233514308929443, 3.785220146179199, 0.42166614532470703, 0.14544828236103058, 0.15823395550251007, 2.185271739959717, 2.17938494682312, 0.051813725382089615 ]
[ -0.016241703182458878, -0.006518620066344738, 0.020849592983722687, -0.004147563595324755, -0.009736242704093456, -0.00023157861141953617, 0.31202781200408936 ]
4.5
90
0
90
0
[ 0.6437561511993408, -2.209841012954712, -1.416676640510559, -1.042818307876587, 1.5230109691619873, 3.786296844482422, 0.42014172673225403, 0.1448393166065216, 0.16002120077610016, 2.1850624084472656, 2.179133653640747, 0.0522407665848732 ]
[ -0.014633271843194962, -0.005879655014723539, 0.025994805619120598, -0.011064872145652771, -0.02516135945916176, -0.0004188270540907979, 0.31623753905296326 ]
4.55
91
0
91
0
[ 0.6449037194252014, -2.199906587600708, -1.424442172050476, -1.0446628332138062, 1.5219613313674927, 3.787466049194336, 0.4186660349369049, 0.14421996474266052, 0.16189701855182648, 2.1843929290771484, 2.178345203399658, 0.05259540304541588 ]
[ -0.012688079848885536, -0.0059236385859549046, 0.03510640561580658, -0.02198857069015503, -0.050092026591300964, 0.0014571743085980415, 0.31683892011642456 ]
4.6
92
0
92
0
[ 0.6465775370597839, -2.187138795852661, -1.431896686553955, -1.048460602760315, 1.518805980682373, 3.78889799118042, 0.41710177063941956, 0.14356213808059692, 0.16486535966396332, 2.181931734085083, 2.176158905029297, 0.054319411516189575 ]
[ -0.0077003175392746925, -0.014814314432442188, 0.04267260059714317, -0.031375810503959656, -0.07181626558303833, 0.029034841805696487, 0.31683892011642456 ]
4.65
93
0
93
0
[ 0.6477087140083313, -2.17547869682312, -1.4365675449371338, -1.0529224872589111, 1.514495849609375, 3.789207935333252, 0.4160376489162445, 0.14285603165626526, 0.1680673062801361, 2.177964925765991, 2.1735894680023193, 0.0572475865483284 ]
[ -0.003433904144912958, -0.025442129001021385, 0.04134064167737961, -0.031157998368144035, -0.07083970308303833, 0.061876267194747925, 0.31683892011642456 ]
4.7
94
0
94
0
[ 0.64756178855896, -2.1616647243499756, -1.44097900390625, -1.0586599111557007, 1.5085049867630005, 3.7859342098236084, 0.4151414632797241, 0.14141115546226501, 0.17211425304412842, 2.170229911804199, 2.172051429748535, 0.06125384196639061 ]
[ 0.0009181445348076522, -0.04025017470121384, 0.03735088184475899, -0.03296130523085594, -0.06123089790344238, 0.144506573677063, 0.31744030117988586 ]
4.75
95
0
95
0
[ 0.6459188461303711, -2.14982533454895, -1.4443557262420654, -1.0636134147644043, 1.503226637840271, 3.779355049133301, 0.414620578289032, 0.13955427706241608, 0.17567384243011475, 2.160968065261841, 2.172893762588501, 0.06485750526189804 ]
[ 0.0050298613496124744, -0.0558178536593914, 0.034905243664979935, -0.03862851485610008, -0.0556623749434948, 0.24178291857242584, 0.31744030117988586 ]
4.8
96
0
96
0
[ 0.6432904005050659, -2.138350248336792, -1.4476640224456787, -1.0682107210159302, 1.4981544017791748, 3.770048141479492, 0.4142341613769531, 0.13731825351715088, 0.17911450564861298, 2.1498982906341553, 2.1756277084350586, 0.06828056275844574 ]
[ 0.007342140655964613, -0.06938639283180237, 0.03222399950027466, -0.04083073511719704, -0.050070907920598984, 0.30476510524749756, 0.31744030117988586 ]
4.85
97
0
97
0
[ 0.6399120688438416, -2.127317190170288, -1.4508519172668457, -1.072405219078064, 1.4934563636779785, 3.7582287788391113, 0.4139500558376312, 0.13482540845870972, 0.18242329359054565, 2.1370961666107178, 2.180365800857544, 0.07158537209033966 ]
[ 0.00855335034430027, -0.0805569440126419, 0.029635114595294, -0.04315796494483948, -0.04463953524827957, 0.35898903012275696, 0.31744030117988586 ]
4.9
98
0
98
0
[ 0.6350696682929993, -2.115332841873169, -1.4544771909713745, -1.0766000747680664, 1.4885824918746948, 3.7420599460601807, 0.4137454926967621, 0.13163577020168304, 0.18598346412181854, 2.120875597000122, 2.1877315044403076, 0.0750565305352211 ]
[ 0.009194883517920971, -0.08941786736249924, 0.02796287089586258, -0.045501671731472015, -0.04221642017364502, 0.39832937717437744, 0.31744030117988586 ]
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": null,
    "total_episodes": 10,
    "total_frames": 1436,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:10"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "ee_x",
                "ee_y",
                "ee_z",
                "ee_rx",
                "ee_ry",
                "ee_rz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "vx",
                "vy",
                "vz",
                "wx",
                "wy",
                "wz",
                "gripper"
            ]
        },
        "observation.images.front": {
            "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.side": {
            "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
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "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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