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256
256
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float32
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6.83
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int64
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205
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1.48k
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[ 0.019403889775276184, 0.019849523901939392, -0.17914573848247528, 0.2241765409708023, -0.19463226199150085, -2.1874568462371826, 0.25500836968421936, 2.5267956256866455, 0.47381165623664856 ]
[ 0, 0, -0.105933777987957, 0.11800863593816757, -0.17169445753097534, -2.1151282787323, 0.10016747564077377, 2.2377872467041016, 0.6480187773704529 ]
2.633333
79
0
79
0
[ 0.01943529024720192, 0.019818026572465897, -0.16901631653308868, 0.20931686460971832, -0.18869836628437042, -2.1773858070373535, 0.23753622174263, 2.506026029586792, 0.5107232332229614 ]
[ 0, 0, -0.09745998680591583, 0.11056450754404068, -0.16203469038009644, -2.100257158279419, 0.09365137666463852, 2.212165594100952, 0.6755081415176392 ]
2.666667
80
0
80
0
[ 0.01946224831044674, 0.01979101076722145, -0.1591174155473709, 0.1954900324344635, -0.18179945647716522, -2.166640520095825, 0.2213016152381897, 2.4849205017089844, 0.5458868145942688 ]
[ 0, 0, -0.08927778899669647, 0.10330791771411896, -0.15160781145095825, -2.0873584747314453, 0.08877655863761902, 2.1899266242980957, 0.7017093300819397 ]
2.7
81
0
81
0
[ 0.019484858959913254, 0.019768374040722847, -0.1494503766298294, 0.1825750172138214, -0.17398624122142792, -2.155592679977417, 0.20635250210762024, 2.4637489318847656, 0.5791357159614563 ]
[ 0, 0, -0.08138971775770187, 0.09639301151037216, -0.14063246548175812, -2.075939893722534, 0.08479280769824982, 2.1706650257110596, 0.7272746562957764 ]
2.733333
82
0
82
0
[ 0.019503267481923103, 0.019749965518712997, -0.14001652598381042, 0.1704939901828766, -0.16535285115242004, -2.1444931030273438, 0.19264288246631622, 2.4427225589752197, 0.6107425093650818 ]
[ 0, 0, -0.07378149777650833, 0.0900215357542038, -0.12920233607292175, -2.0653719902038574, 0.0814119353890419, 2.1538805961608887, 0.7524861693382263 ]
2.766667
83
0
83
0
[ 0.019518105313181877, 0.019735127687454224, -0.13082216680049896, 0.15920794010162354, -0.1559939980506897, -2.1334681510925293, 0.1800999790430069, 2.4220023155212402, 0.6409817934036255 ]
[ 0, 0, -0.06641894578933716, 0.08488251268863678, -0.11730051040649414, -2.0551843643188477, 0.07856278866529465, 2.139707088470459, 0.7773206233978271 ]
2.8
84
0
84
0
[ 0.019530117511749268, 0.01972310245037079, -0.12187460064888, 0.14877013862133026, -0.14597587287425995, -2.122558355331421, 0.16865399479866028, 2.4017584323883057, 0.670066237449646 ]
[ 0, 0, -0.05931276082992554, 0.08083256334066391, -0.10507118701934814, -2.0452053546905518, 0.07608498632907867, 2.127262592315674, 0.801622211933136 ]
2.833333
85
0
85
0
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[ 0, 0, -0.052456945180892944, 0.07774718850851059, -0.09259121119976044, -2.0354063510894775, 0.07386782765388489, 2.1160879135131836, 0.8250451683998108 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
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[ 0, 0, -0.039412371814250946, 0.07587236911058426, -0.06694872677326202, -2.0155718326568604, 0.07023472338914871, 2.0988078117370605, 0.8692041039466858 ]
2.933333
88
0
88
0
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[ 0, 0, -0.03319720923900604, 0.07691455632448196, -0.05388447269797325, -2.0051729679107666, 0.06880024820566177, 2.0927605628967285, 0.8902223706245422 ]
2.966667
89
0
89
0
[ 0.019560549408197403, 0.019692713394761086, -0.08078815788030624, 0.11064942926168442, -0.0887371227145195, -2.069702386856079, 0.12506744265556335, 2.3102197647094727, 0.8007116913795471 ]
[ 0, 0, -0.02716442383825779, 0.07918109744787216, -0.040701210498809814, -1.994549036026001, 0.06757090240716934, 2.088831901550293, 0.9105334877967834 ]
3
90
0
90
0
[ 0.01956317201256752, 0.019690075889229774, -0.07328308373689651, 0.10616159439086914, -0.0762953907251358, -2.059230089187622, 0.11859724670648575, 2.2943475246429443, 0.8241387605667114 ]
[ 0, 0, -0.02130638249218464, 0.08277769386768341, -0.027467384934425354, -1.9838842153549194, 0.06642567366361618, 2.087347984313965, 0.9303480386734009 ]
3.033333
91
0
91
0
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[ 0, 0, -0.015608523041009903, 0.08776941150426865, -0.014227372594177723, -1.973443865776062, 0.0652337446808815, 2.0883402824401855, 0.9498076438903809 ]
3.066667
92
0
92
0
[ 0.019566278904676437, 0.0196869894862175, -0.05892864987254143, 0.10058634728193283, -0.05084656551480293, -2.0382399559020996, 0.10739383846521378, 2.265819549560547, 0.8687684535980225 ]
[ 0, 0, -0.01003881637006998, 0.0939897894859314, -0.0009703694377094507, -1.9634116888046265, 0.06384722143411636, 2.0913052558898926, 0.9690511226654053 ]
3.1
93
0
93
0
[ 0.019567064940929413, 0.01968621462583542, -0.05206326022744179, 0.09954572468996048, -0.037926893681287766, -2.0278120040893555, 0.10250749439001083, 2.253335952758789, 0.8901590704917908 ]
[ 0, 0, -0.004574085120111704, 0.10129372775554657, 0.01228488888591528, -1.9538257122039795, 0.06211907044053078, 2.0959722995758057, 0.9882007241249084 ]
3.133333
94
0
94
0
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[ 0, 0, 0.0008069572504609823, 0.10920701175928116, 0.02552022412419319, -1.9446957111358643, 0.059967007488012314, 2.101485013961792, 1.007341742515564 ]
3.166667
95
0
95
0
[ 0.019567718729376793, 0.019685542210936546, -0.03889565169811249, 0.10087348520755768, -0.011853920295834541, -2.0073537826538086, 0.09372439980506897, 2.232058525085449, 0.9316032528877258 ]
[ 0, 0, 0.0061288680881261826, 0.11726881563663483, 0.03873398154973984, -1.9358580112457275, 0.057357754558324814, 2.1069774627685547, 1.0265694856643677 ]
3.2
96
0
96
0
[ 0.019567858427762985, 0.019685396924614906, -0.03256446123123169, 0.10305032879114151, 0.0012504933401942253, -1.997390866279602, 0.0896523967385292, 2.2231338024139404, 0.9518566727638245 ]
[ 0, 0, 0.011408450081944466, 0.12541885673999786, 0.05190402641892433, -1.927058219909668, 0.05427946522831917, 2.1123154163360596, 1.0459221601486206 ]
3.233333
97
0
97
0
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[ 0, 0, 0.016660727560520172, 0.13376790285110474, 0.06500626355409622, -1.9181010723114014, 0.05072962865233421, 2.1176440715789795, 1.065390706062317 ]
3.266667
98
0
98
0
[ 0.01956804469227791, 0.01968519017100334, -0.02032502554357052, 0.10985096544027328, 0.02748841419816017, -1.9779092073440552, 0.08177156746387482, 2.2082555294036865, 0.9918509125709534 ]
[ 0, 0, 0.021895959973335266, 0.14235137403011322, 0.07800648361444473, -1.9089428186416626, 0.04671347886323929, 2.1227469444274902, 1.0849609375 ]
3.3
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": "franka",
    "total_episodes": 1621,
    "total_frames": 247251,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 2,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1621"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
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                256,
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            "names": [
                "height",
                "width",
                "channel"
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        },
        "state": {
            "dtype": "float32",
            "shape": [
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            "names": [
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        "actions": {
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            "names": [
                "actions"
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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