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observation.depth.wrist_left
image
observation.depth.wrist_right
image
observation.depth.scene_top
image
observation.state
list
action
list
observation.tactile
list
metadata.demonstrator_id
string
metadata.station_id
string
metadata.task_variant
string
metadata.towel_id
string
metadata.lighting
string
metadata.mat_id
string
metadata.success
int64
metadata.notes
string
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
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0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.26
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
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0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.5
25
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.54
27
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27
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.56
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.58
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.6
30
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30
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.62
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.64
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.66
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0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.68
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0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.7
35
0
35
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.72
36
0
36
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.74
37
0
37
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.76
38
0
38
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.78
39
0
39
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.8
40
0
40
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.82
41
0
41
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.84
42
0
42
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.86
43
0
43
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.88
44
0
44
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.9
45
0
45
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.92
46
0
46
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.94
47
0
47
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.96
48
0
48
0
[ 0.19286327064037323, 1.4312372207641602, -1.4351221323013306, 0.0227779820561409, 1.0965690612792969, -0.00021526099590118974, 0.03400392830371857 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
0.98
49
0
49
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1
50
0
50
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.02
51
0
51
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.04
52
0
52
0
[ 0.20913608372211456, 1.4398093223571777, -1.427603840827942, 0.0246641393750906, 1.0964372158050537, -0.00020595284877344966, 0.03412410989403725 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.06
53
0
53
0
[ 0.2132074385881424, 1.4421005249023438, -1.4258676767349243, 0.025135764852166176, 1.0964044332504272, -0.00020361595670692623, 0.0341518297791481 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.08
54
0
54
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.1
55
0
55
0
[ 0.22135278582572937, 1.4468588829040527, -1.4225674867630005, 0.026078950613737106, 1.0963387489318848, -0.00019893325224984437, 0.03420467674732208 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.12
56
0
56
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.14
57
0
57
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.16
58
0
58
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.18
59
0
59
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.2
60
0
60
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.22
61
0
61
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.24
62
0
62
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.26
63
0
63
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.28
64
0
64
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.3
65
0
65
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.32
66
0
66
0
[ 0.26616382598876953, 1.477097511291504, -1.4085092544555664, 0.03125720098614693, 1.0959831476211548, -0.00017310726980213076, 0.034441929310560226 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.34
67
0
67
0
[ 0.27023443579673767, 1.4801760911941528, -1.4075734615325928, 0.03172655031085014, 1.0959513187408447, -0.00017076607036869973, 0.034459639340639114 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.36
68
0
68
0
[ 0.2743038833141327, 1.4833077192306519, -1.4066945314407349, 0.032195571810007095, 1.0959196090698242, -0.00016842778131831437, 0.03447679430246353 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.38
69
0
69
0
[ 0.2783720791339874, 1.4864916801452637, -1.4058722257614136, 0.03266424685716629, 1.0958880186080933, -0.00016609310114290565, 0.03449340909719467 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.4
70
0
70
0
[ 0.28243890404701233, 1.4897277355194092, -1.4051064252853394, 0.033132560551166534, 1.0958565473556519, -0.00016376256826333702, 0.03450949862599373 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.42
71
0
71
0
[ 0.28650417923927307, 1.493015170097351, -1.4043970108032227, 0.03360048681497574, 1.0958251953125, -0.00016143632819876075, 0.03452508524060249 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.44
72
0
72
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.46
73
0
73
0
[ 0.29462966322898865, 1.4997422695159912, -1.4031471014022827, 0.03453509509563446, 1.095762848854065, -0.0001567997387610376, 0.03455479443073273 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.48
74
0
74
0
[ 0.29868969321250916, 1.503180742263794, -1.4026062488555908, 0.03500174731016159, 1.0957318544387817, -0.00015449014608748257, 0.03456895053386688 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.5
75
0
75
0
[ 0.3027476966381073, 1.5066684484481812, -1.4021214246749878, 0.03546793386340141, 1.095700979232788, -0.00015218686894513667, 0.03458266332745552 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.52
76
0
76
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.54
77
0
77
0
[ 0.31085720658302307, 1.5137892961502075, -1.4013192653656006, 0.03639884665608406, 1.0956395864486694, -0.00014760144404135644, 0.03460880368947983 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.56
78
0
78
0
[ 0.3149084746837616, 1.5174211263656616, -1.4010015726089478, 0.0368635393679142, 1.0956090688705444, -0.00014532034401781857, 0.034621257334947586 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.58
79
0
79
0
[ 0.3189573287963867, 1.5210998058319092, -1.400739073753357, 0.03732770308852196, 1.0955787897109985, -0.00014304756768979132, 0.034633319824934006 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.6
80
0
80
0
[ 0.3230036199092865, 1.524824619293213, -1.4005317687988281, 0.03779131546616554, 1.0955487489700317, -0.00014078326057642698, 0.03464500233530998 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.62
81
0
81
0
[ 0.3270472288131714, 1.5285948514938354, -1.4003785848617554, 0.038254354149103165, 1.0955188274383545, -0.00013852937263436615, 0.03465631604194641 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.64
82
0
82
0
[ 0.3310879170894623, 1.5324056148529053, -1.4002649784088135, 0.038716770708560944, 1.095491886138916, -0.00013630844478029758, 0.03466727212071419 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.66
83
0
83
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.68
84
0
84
0
[ 0.3391599655151367, 1.5401383638381958, -1.4000976085662842, 0.03963979333639145, 1.095448613166809, -0.0001318948925472796, 0.034688159823417664 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.7
85
0
85
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.72
86
0
86
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[ 0.34722059965133667, 1.548026442527771, -1.399961233139038, 0.04056078568100929, 1.0954084396362305, -0.00012733248877339065, 0.03470775485038757 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.74
87
0
87
0
[ 0.3512471318244934, 1.5520330667495728, -1.399901032447815, 0.04102059453725815, 1.0953879356384277, -0.00012499952572397888, 0.03471709415316582 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.76
88
0
88
0
[ 0.3552713692188263, 1.5560824871063232, -1.3998463153839111, 0.041479963809251785, 1.0953669548034668, -0.0001226493768626824, 0.03472613915801048 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.78
89
0
89
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.8
90
0
90
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.82
91
0
91
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.84
92
0
92
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.86
93
0
93
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.88
94
0
94
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.9
95
0
95
0
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.92
96
0
96
0
[ 0.3874080181121826, 1.590022087097168, -1.399612307548523, 0.04514209181070328, 1.0951956510543823, -0.00010378833394497633, 0.03478892892599106 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.94
97
0
97
0
[ 0.39142143726348877, 1.5944557189941406, -1.399609923362732, 0.045598726719617844, 1.0951735973358154, -0.00010144398402189836, 0.03479570150375366 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.96
98
0
98
0
[ 0.3954349458217621, 1.5989311933517456, -1.399613857269287, 0.04605522379279137, 1.0951515436172485, -0.00009910418157232925, 0.03480226546525955 ]
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sim_scripted_v1
sim_station_01
stack_red_on_blue
none
sim_default
sim_tabletop_default
0
1.98
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": 400,
    "total_frames": 223205,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:400"
    },
    "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": {
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            "names": [
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                "video.width": 224,
                "video.fps": 50,
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        },
        "observation.images.wrist_right": {
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            "names": [
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        "observation.images.scene_top": {
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        },
        "observation.depth.wrist_left": {
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        "observation.depth.wrist_right": {
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        "observation.depth.scene_top": {
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        "observation.state": {
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        "action": {
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            "names": [
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                "joint_target_6",
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        "observation.tactile": {
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                "tactile_5",
                "tactile_6",
                "tactile_7",
                "tactile_8",
                "tactile_9",
                "tactile_10",
                "tactile_11",
                "tactile_12",
                "tactile_13",
                "tactile_14",
                "tactile_15",
                "tactile_16",
                "tactile_17",
                "tactile_18",
                "tactile_19",
                "tactile_20",
                "tactile_21",
                "tactile_22",
                "tactile_23",
                "tactile_24",
                "tactile_25",
                "tactile_26",
                "tactile_27",
                "tactile_28",
                "tactile_29",
                "tactile_30",
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        "metadata.demonstrator_id": {
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            "names": [
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        "metadata.station_id": {
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        "metadata.task_variant": {
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        "metadata.towel_id": {
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            "names": [
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        "metadata.lighting": {
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        "metadata.mat_id": {
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            "names": [
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        "metadata.success": {
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            "names": [
                "success"
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        "metadata.notes": {
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            "names": [
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        "timestamp": {
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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
        }
    }
}

Citation

BibTeX:

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