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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
list
action
list
timestamp
float32
0
21.8
frame_index
int64
0
218
episode_index
int64
0
44
index
int64
143
67k
task_index
int64
1
1
orig_episode_index
int64
1
453
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0.6
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0.9
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1.1
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1.3
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1.4
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1.5
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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
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
47
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4.9
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5
50
0
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5.1
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5.2
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5.3
53
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5.4
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5.5
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5.6
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5.7
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5.8
58
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5.9
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6
60
0
203
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6.1
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0
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6.2
62
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6.3
63
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206
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6.4
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6.5
65
0
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6.6
66
0
209
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6.7
67
0
210
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1
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6.8
68
0
211
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6.9
69
0
212
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7
70
0
213
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7.1
71
0
214
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1
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7.2
72
0
215
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7.3
73
0
216
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7.4
74
0
217
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7.5
75
0
218
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7.6
76
0
219
1
1
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7.7
77
0
220
1
1
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7.8
78
0
221
1
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7.9
79
0
222
1
1
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8
80
0
223
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8.1
81
0
224
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8.2
82
0
225
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8.3
83
0
226
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8.4
84
0
227
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8.5
85
0
228
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8.6
86
0
229
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8.7
87
0
230
1
1
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8.8
88
0
231
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8.9
89
0
232
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1
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9
90
0
233
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9.1
91
0
234
1
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9.2
92
0
235
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9.3
93
0
236
1
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9.4
94
0
237
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9.5
95
0
238
1
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9.6
96
0
239
1
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9.7
97
0
240
1
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9.8
98
0
241
1
1
[ 0.03768812492489815, 0.016281114891171455, 0.34834781289100647, 3.1927337646484375, -0.06872614473104477, 0.2127750813961029, 0.017055734992027283, -0.016591433435678482 ]
[ 0.12321428209543228, 0.8062499761581421, 0.010714286006987095, 0, -0.08571428805589676, 0, 1 ]
9.9
99
0
242
1
1
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "panda",
    "total_episodes": 454,
    "total_frames": 66984,
    "total_tasks": 10,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:454"
    },
    "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": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "rx",
                    "ry",
                    "rz",
                    "rw",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "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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