Datasets:
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observation.state
sequence | action
sequence | timestamp
float32 0
29.2
| frame_index
int64 0
292
| episode_index
int64 0
48
| index
int64 0
12.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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| 62
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| 62
| 0
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[
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[
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| 63
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| 63
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[
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[
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| 64
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| 64
| 0
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[
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[
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| 65
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| 65
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[
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| 66
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[
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| 67
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| 67
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[
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| 68
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[
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[
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| 71
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[
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| 72
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| 72
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[
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[
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| 73
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| 73
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[
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[
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| 74
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| 74
| 0
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[
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[
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| 75
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| 75
| 0
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[
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[
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| 76
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| 76
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[
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[
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| 77
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[
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[
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| 78
| 0
| 78
| 0
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[
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[
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| 79
| 0
| 79
| 0
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[
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[
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| 80
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| 80
| 0
|
[
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[
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| 81
| 0
| 81
| 0
|
[
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[
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| 82
| 0
| 82
| 0
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[
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[
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| 83
| 0
| 83
| 0
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[
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[
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| 84
| 0
| 84
| 0
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[
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[
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| 85
| 0
| 85
| 0
|
[
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[
0,
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| 86
| 0
| 86
| 0
|
[
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[
0,
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| 87
| 0
| 87
| 0
|
[
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[
0,
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| 88
| 0
| 88
| 0
|
[
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[
0,
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| 89
| 0
| 89
| 0
|
[
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[
0,
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| 90
| 0
| 90
| 0
|
[
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[
0,
0,
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| 91
| 0
| 91
| 0
|
[
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[
0,
0,
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| 92
| 0
| 92
| 0
|
[
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[
0,
0,
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0
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| 93
| 0
| 93
| 0
|
[
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[
0,
0,
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| 94
| 0
| 94
| 0
|
[
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[
0,
0,
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0
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| 95
| 0
| 95
| 0
|
[
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[
0,
0,
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0
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| 96
| 0
| 96
| 0
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[
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[
0,
0,
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0
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| 97
| 0
| 97
| 0
|
[
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[
0,
0,
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| 98
| 0
| 98
| 0
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[
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[
0,
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| 99
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| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 49,
"total_frames": 12164,
"total_tasks": 1,
"total_videos": 49,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:49"
},
"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.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5"
]
}
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": {
"displacement": [
"dx",
"dy",
"dz",
"drot"
]
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10.0,
"video.height": 256,
"video.width": 256,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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