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observation.images.image
imagewidth (px)
224
224
observation.images.left_wrist_image
imagewidth (px)
224
224
observation.images.right_wrist_image
imagewidth (px)
224
224
observation.state
list
action
list
timestamp
float32
0
142
frame_index
int64
0
2.84k
episode_index
int64
0
25
index
int64
0
20k
task_index
int64
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0
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3.05
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3.45
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3.55
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3.6
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3.65
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4.4
88
0
88
0
[ 431.0615234375, 218.83294677734375, 205.61685180664062, 0.061268337070941925, 0.8462526798248291, 0.14879406988620758, 0.5079004764556885, 1, 467.0167541503906, -73.86953735351562, 209.7801513671875, -2.4407843327728802e-17, 0.8528685569763184, -0.1736481785774231, 0.49240386486053467, 1 ]
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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[ 0.129669189453125, 0.08917236328125, 0.047027587890625, -0.00046778444084338844, 0.0006207723636180162, -0.0008195984992198646, 1, 0, 0, 0, 0, 0, 0, 1 ]
4.65
93
0
93
0
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4.7
94
0
94
0
[ 432.8741149902344, 221.3445281982422, 206.2590789794922, 0.06659486144781113, 0.8489658832550049, 0.14205113053321838, 0.5046221613883972, 1, 467.0166931152344, -73.86953735351562, 209.7809600830078, 1.5153662502598308e-7, 0.8528680801391602, -0.1736481785774231, 0.49240460991859436, 1 ]
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4.75
95
0
95
0
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4.8
96
0
96
0
[ 433.75799560546875, 228.4469757080078, 206.51895141601562, 0.06862185150384903, 0.8495172262191772, 0.1399536430835724, 0.5040084719657898, 1, 467.0168151855469, -73.86953735351562, 209.77932739257812, -1.5153662502598308e-7, 0.8528689742088318, -0.1736481785774231, 0.492403119802475, 1 ]
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4.85
97
0
97
0
[ 434.08795166015625, 232.1919403076172, 206.7158203125, 0.06970208138227463, 0.8501120209693909, 0.1385994255542755, 0.5032309293746948, 1, 467.0166320800781, -73.86953735351562, 209.7817840576172, 3.0307325005196617e-7, 0.8528676629066467, -0.1736481785774231, 0.49240535497665405, 1 ]
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4.9
98
0
98
0
[ 434.39404296875, 235.79684448242188, 206.86065673828125, 0.07066085934638977, 0.8505864143371582, 0.1373993456363678, 0.5026243329048157, 1, 467.0166931152344, -73.86953735351562, 209.7809600830078, 1.5153662502598308e-7, 0.8528680801391602, -0.1736481785774231, 0.49240460991859436, 1 ]
[ 0.30609130859375, 3.6049041748046875, 0.14483642578125, -0.0011223710607737303, 0.001941877999342978, -0.0026036929339170456, 1, 0.00006103515625, 0, -0.000823974609375, -4.3311079167551725e-9, 0.000001734395027597202, -2.74322620175127e-10, 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": 31,
    "total_frames": 23588,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:31"
    },
    "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": {
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            "names": [
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        "observation.images.left_wrist_image": {
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        "observation.images.right_wrist_image": {
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            "names": [
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        "observation.state": {
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            "names": [
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                "left_quat_z",
                "left_quat_w",
                "left_gripper",
                "right_pos_x",
                "right_pos_y",
                "right_pos_z",
                "right_quat_x",
                "right_quat_y",
                "right_quat_z",
                "right_quat_w",
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        "action": {
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            "names": [
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                "left_drotvec_z",
                "left_gripper",
                "right_dpos_x",
                "right_dpos_y",
                "right_dpos_z",
                "right_drotvec_x",
                "right_drotvec_y",
                "right_drotvec_z",
                "right_gripper"
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        }
    }
}

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BibTeX:

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