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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
list
observation.state.joint
list
action
list
timestamp
float32
0
11
frame_index
int64
0
219
episode_index
int64
0
49
index
int64
0
7.64k
task_index
int64
0
0
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2.5
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2.55
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2.6
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
66
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3.35
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3.4
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
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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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[ -0.3723214268684387, 0.8866071701049805, -0.32946428656578064, 0.007499999832361937, -0.03857142850756645, 0, -1 ]
3.7
74
0
74
0
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[ -0.38303571939468384, 0.8866071701049805, -0.32946428656578064, 0.0053571430034935474, -0.034285712987184525, 0, -1 ]
3.75
75
0
75
0
[ 0.06507331132888794, 0.08394230902194977, 0.9194173812866211, 3.1154212951660156, 0.21877622604370117, 0.2438650131225586, 0.04009531810879707, -0.009847340174019337 ]
[ 0.0740550309419632, 0.9717148542404175, 0.048091668635606766, -1.4958248138427734, -0.10660319775342941, 2.62025785446167, 0.8321577906608582 ]
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3.8
76
0
76
0
[ 0.06387397646903992, 0.09029530733823776, 0.9193776845932007, 3.1160197257995605, 0.22100724279880524, 0.24626754224300385, 0.04004211723804474, -0.010079421103000641 ]
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[ -0.3910714387893677, 0.8839285969734192, -0.34285715222358704, 0.0010714285308495164, -0.02142857201397419, 0, -1 ]
3.85
77
0
77
0
[ 0.06260356307029724, 0.09655880182981491, 0.9192793965339661, 3.116063117980957, 0.22307150065898895, 0.24884359538555145, 0.040092870593070984, -0.010195636190474033 ]
[ 0.08634572476148605, 0.9691303372383118, 0.05384847894310951, -1.502898931503296, -0.11936075985431671, 2.6270289421081543, 0.8556379079818726 ]
[ -0.4044642746448517, 0.8866071701049805, -0.34285715222358704, 0, -0.019285714253783226, 0, -1 ]
3.9
78
0
78
0
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[ -0.3991071283817291, 0.8866071701049805, -0.3508928716182709, 0, -0.014999999664723873, 0, -1 ]
3.95
79
0
79
0
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[ -0.4017857015132904, 0.8866071701049805, -0.3508928716182709, 0, -0.01607142947614193, 0, -1 ]
4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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[ -0.3642857074737549, 0.8999999761581421, -0.3883928656578064, 0, -0.012857142835855484, 0, -1 ]
4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
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0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
[ 0.053431782871484756, 0.16598054766654968, 0.9174982905387878, 3.1050236225128174, 0.2403142899274826, 0.2916940748691559, 0.04051892086863518, -0.01046038419008255 ]
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4.55
91
0
91
0
[ 0.053453635424375534, 0.16921797394752502, 0.9171203970909119, 3.1037251949310303, 0.24143005907535553, 0.2931678593158722, 0.040512558072805405, -0.009897429496049881 ]
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4.6
92
0
92
0
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4.65
93
0
93
0
[ 0.05299634113907814, 0.17549553513526917, 0.9160805940628052, 3.101994752883911, 0.24395619332790375, 0.2930557429790497, 0.04047049582004547, -0.00455395458266139 ]
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4.7
94
0
94
0
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[ -0.4312500059604645, 0.8946428298950195, -0.5142857432365417, 0, 0, 0, -1 ]
4.75
95
0
95
0
[ 0.05275106057524681, 0.18120332062244415, 0.9154884219169617, 3.1008098125457764, 0.2449239045381546, 0.2927059531211853, 0.04051872342824936, 0.00022306549362838268 ]
[ 0.18451914191246033, 0.991779625415802, 0.07640023529529572, -1.4793726205825806, -0.2261645793914795, 2.6431195735931396, 1.0382440090179443 ]
[ -0.43392857909202576, 0.8973214030265808, -0.5169642567634583, 0, 0, 0, -1 ]
4.8
96
0
96
0
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4.85
97
0
97
0
[ 0.053447991609573364, 0.18476057052612305, 0.9156510233879089, 3.098747491836548, 0.24476754665374756, 0.2930412292480469, 0.040508564561605453, 0.00044742313912138343 ]
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[ -0.43392857909202576, 0.8973214030265808, -0.5169642567634583, 0, 0, 0, -1 ]
4.9
98
0
98
0
[ 0.053834423422813416, 0.1863185167312622, 0.9157314896583557, 3.098325252532959, 0.24501356482505798, 0.2927115857601166, 0.040509484708309174, 0.00042680100887082517 ]
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[ -0.43660715222358704, 0.8973214030265808, -0.5223214030265808, 0, 0, 0, -1 ]
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": "v2.1",
    "robot_type": null,
    "total_episodes": 50,
    "total_frames": 7638,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
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            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
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                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.state": {
            "dtype": "float32",
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
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        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
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            "names": {
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                    "joint_3",
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                    "joint_6",
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                ]
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
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                    "yaw",
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                ]
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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