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observation.state
sequence
action
sequence
timestamp
float32
0
15
frame_index
int64
0
299
episode_index
int64
0
12
index
int64
0
2.83k
task_index
int64
0
0
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1.8
36
0
36
0
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1.85
37
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37
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1.9
38
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38
0
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1.95
39
0
39
0
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2
40
0
40
0
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2.05
41
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41
0
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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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
71
0
71
0
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3.6
72
0
72
0
[ 0.3514518141746521, 0.0928759053349495, 0.2740962505340576, -0.04220452159643173, 0.020024366676807404, -0.998908281326294, 0.12270718067884445, 0.9923339486122131, 0.014708118513226509, 67.76000213623047 ]
[ 0.3514518141746521, 0.0928759053349495, 0.2740962505340576, -0.02655681036412716, 0.015083609148859978, -0.999533474445343, 0.13959048688411713, 0.9901456236839294, 0.011233131401240826, -1 ]
3.65
73
0
73
0
[ 0.3511452078819275, 0.09315752238035202, 0.2708325982093811, -0.04206546023488045, 0.01637236773967743, -0.998980700969696, 0.1222725436091423, 0.9924343228340149, 0.011116379871964455, 67.76000213623047 ]
[ 0.3511452078819275, 0.09315752238035202, 0.2708325982093811, -0.029467059299349785, 0.011774146929383278, -0.9994964003562927, 0.1401756852865219, 0.9900979995727539, 0.0075307865627110004, -1 ]
3.7
74
0
74
0
[ 0.34935274720191956, 0.09282029420137405, 0.272073358297348, -0.03896256163716316, 0.01753971166908741, -0.9990867376327515, 0.12469425052404404, 0.9921157956123352, 0.01255448441952467, 67.76000213623047 ]
[ 0.34935274720191956, 0.09282029420137405, 0.272073358297348, -0.028849339112639427, 0.011922396719455719, -0.9995126724243164, 0.14305798709392548, 0.989684522151947, 0.007676024455577135, -1 ]
3.75
75
0
75
0
[ 0.3510056436061859, 0.093251533806324, 0.27215418219566345, -0.03857613354921341, 0.0162146408110857, -0.9991241097450256, 0.12690697610378265, 0.9918514490127563, 0.011196739971637726, 67.76000213623047 ]
[ 0.3510056436061859, 0.093251533806324, 0.27215418219566345, -0.029519252479076385, 0.012551185674965382, -0.999485433101654, 0.14324231445789337, 0.9896537065505981, 0.008197139017283916, -1 ]
3.8
76
0
76
0
[ 0.3528004288673401, 0.09123864024877548, 0.2731737196445465, -0.03576910123229027, 0.0163575429469347, -0.9992262125015259, 0.13201244175434113, 0.9911813735961914, 0.01150022353976965, 67.76000213623047 ]
[ 0.3528004288673401, 0.09123864024877548, 0.2731737196445465, -0.02983282320201397, 0.013658315874636173, -0.9994615912437439, 0.14589279890060425, 0.9892579317092896, 0.00916413776576519, -1 ]
3.85
77
0
77
0
[ 0.35373610258102417, 0.09100933372974396, 0.27259185910224915, -0.03762630745768547, 0.01595448888838291, -0.9991645216941833, 0.13341759145259857, 0.9910010695457458, 0.010799928568303585, 67.76000213623047 ]
[ 0.35373610258102417, 0.09100933372974396, 0.27259185910224915, -0.03169042617082596, 0.012830416671931744, -0.999415397644043, 0.1468685120344162, 0.9891233444213867, 0.008041240274906158, -1 ]
3.9
78
0
78
0
[ 0.35511791706085205, 0.0904611274600029, 0.2720223367214203, -0.04023918882012367, 0.016841702163219452, -0.999048113822937, 0.13658687472343445, 0.9905648231506348, 0.011197310872375965, 67.76000213623047 ]
[ 0.35511791706085205, 0.0904611274600029, 0.2720223367214203, -0.03339420631527901, 0.013408327475190163, -0.9993523359298706, 0.15084780752658844, 0.9885228276252747, 0.00822232011705637, -1 ]
3.95
79
0
79
0
[ 0.3582276999950409, 0.09049157053232193, 0.2707221806049347, -0.04347126930952072, 0.01433379203081131, -0.9989518523216248, 0.13732226192951202, 0.9904921650886536, 0.008236569352447987, 67.76000213623047 ]
[ 0.3582276999950409, 0.09049157053232193, 0.2707221806049347, -0.036584366112947464, 0.009715867228806019, -0.9992833137512207, 0.15242430567741394, 0.9883069396018982, 0.004028799943625927, -1 ]
4
80
0
80
0
[ 0.3598668873310089, 0.09042630344629288, 0.2705308496952057, -0.04455668106675148, 0.01434873603284359, -0.9989038109779358, 0.1388687789440155, 0.9902782440185547, 0.008030512370169163, 67.76000213623047 ]
[ 0.3598668873310089, 0.09042630344629288, 0.2705308496952057, -0.036606449633836746, 0.0073831574991345406, -0.9993025064468384, 0.15643039345741272, 0.9876877665519714, 0.0015669858548790216, -1 ]
4.05
81
0
81
0
[ 0.3630877435207367, 0.09052319079637527, 0.2692088782787323, -0.048148639500141144, 0.012996740639209747, -0.9987556338310242, 0.14030508697032928, 0.9900894165039062, 0.006120051257312298, 67.76000213623047 ]
[ 0.3630877435207367, 0.09052319079637527, 0.2692088782787323, -0.04022257775068283, 0.007041695527732372, -0.999165952205658, 0.15916480123996735, 0.987251877784729, 0.00055036781122908, -1 ]
4.1
82
0
82
0
[ 0.36729487776756287, 0.08952121436595917, 0.26989078521728516, -0.046729300171136856, 0.014834461733698845, -0.9987974166870117, 0.1450156420469284, 0.9893977642059326, 0.00791021529585123, 67.76000213623047 ]
[ 0.36729487776756287, 0.08952121436595917, 0.26989078521728516, -0.03998006880283356, 0.00843674037605524, -0.999164879322052, 0.16514664888381958, 0.9862675070762634, 0.0017197446431964636, -1 ]
4.15
83
0
83
0
[ 0.3727372884750366, 0.08925806730985641, 0.26997989416122437, -0.04766027256846428, 0.014805532060563564, -0.9987538456916809, 0.14808213710784912, 0.9889459013938904, 0.007593698799610138, 67.76000213623047 ]
[ 0.3727372884750366, 0.08925806730985641, 0.26997989416122437, -0.04252983629703522, 0.007070800755172968, -0.9990701675415039, 0.1686638444662094, 0.9856736063957214, -0.00020393377053551376, -1 ]
4.2
84
0
84
0
[ 0.373423308134079, 0.08894766122102737, 0.2694054841995239, -0.05063098669052124, 0.014492343179881573, -0.9986122846603394, 0.14965085685253143, 0.9887157678604126, 0.006761221215128899, 67.76000213623047 ]
[ 0.373423308134079, 0.08894766122102737, 0.2694054841995239, -0.04548967629671097, 0.0068479557521641254, -0.9989413619041443, 0.17065349221229553, 0.9853305816650391, -0.001016547903418541, -1 ]
4.25
85
0
85
0
[ 0.3728395104408264, 0.08874393999576569, 0.2692694365978241, -0.051473211497068405, 0.01447571162134409, -0.9985694289207458, 0.15126462280750275, 0.9884717464447021, 0.0065321000292897224, 67.76000213623047 ]
[ 0.3728395104408264, 0.08874393999576569, 0.2692694365978241, -0.04497070983052254, 0.00658513605594635, -0.9989665746688843, 0.17347784340381622, 0.9848368763923645, -0.0013174988562241197, -1 ]
4.3
86
0
86
0
[ 0.3741151690483093, 0.08823758363723755, 0.2689322531223297, -0.05354990065097809, 0.01530369371175766, -0.9984478950500488, 0.1548434942960739, 0.9879153370857239, 0.006837512832134962, 67.76000213623047 ]
[ 0.3741151690483093, 0.08823758363723755, 0.2689322531223297, -0.04547295346856117, 0.008505718782544136, -0.9989293813705444, 0.18416501581668854, 0.9828953146934509, -0.000014311207451100927, -1 ]
4.35
87
0
87
0
[ 0.3761574327945709, 0.08825065195560455, 0.26839926838874817, -0.05473073571920395, 0.012778591364622116, -0.9984194040298462, 0.15792925655841827, 0.9874424338340759, 0.0039808303117752075, 67.76000213623047 ]
[ 0.3761574327945709, 0.08825065195560455, 0.26839926838874817, -0.0469408743083477, 0.003547064261510968, -0.9988913536071777, 0.19521555304527283, 0.9807438254356384, -0.005691136699169874, -1 ]
4.4
88
0
88
0
[ 0.37811869382858276, 0.08774083852767944, 0.26925167441368103, -0.05294012278318405, 0.01253532525151968, -0.9985190033912659, 0.1619664877653122, 0.9867889285087585, 0.0038008238188922405, 67.76000213623047 ]
[ 0.37811869382858276, 0.08774083852767944, 0.26925167441368103, -0.04576326161623001, 0.0054148114286363125, -0.9989376664161682, 0.200541153550148, 0.9796776175498962, -0.0038767659571021795, -1 ]
4.45
89
0
89
0
[ 0.38299766182899475, 0.08710005134344101, 0.2701098918914795, -0.05074762552976608, 0.009816298261284828, -0.9986632466316223, 0.16924405097961426, 0.9855735898017883, 0.0010874036233872175, 67.76000213623047 ]
[ 0.38299766182899475, 0.08710005134344101, 0.2701098918914795, -0.042145416140556335, 0.004019239451736212, -0.9991034269332886, 0.20691794157028198, 0.978346586227417, -0.004792730789631605, -1 ]
4.5
90
0
90
0
[ 0.38722696900367737, 0.08584190905094147, 0.271382212638855, -0.04748748987913132, 0.009936951100826263, -0.9988223910331726, 0.1755860298871994, 0.9844630360603333, 0.0014461246319115162, 67.76000213623047 ]
[ 0.38722696900367737, 0.08584190905094147, 0.271382212638855, -0.03922419622540474, 0.0020832482259720564, -0.9992282390594482, 0.21067482233047485, 0.9775363206863403, -0.0062319086864590645, -1 ]
4.55
91
0
91
0
[ 0.389897882938385, 0.08455691486597061, 0.2716732621192932, -0.04688030108809471, 0.008665445260703564, -0.9988629221916199, 0.18308423459529877, 0.98309725522995, -0.00006414175004465505, 67.76000213623047 ]
[ 0.389897882938385, 0.08455691486597061, 0.2716732621192932, -0.03810913488268852, 0.0028348274063318968, -0.9992695450782776, 0.21564337611198425, 0.9764569401741028, -0.005453879479318857, -1 ]
4.6
92
0
92
0
[ 0.3889211416244507, 0.08275381475687027, 0.2720397710800171, -0.04682053625583649, 0.01044756080955267, -0.9988486766815186, 0.192579448223114, 0.9812806248664856, 0.0012367400340735912, 67.76000213623047 ]
[ 0.3889211416244507, 0.08275381475687027, 0.2720397710800171, -0.03674676641821861, 0.0026474790647625923, -0.9993211030960083, 0.2199695110321045, 0.9754912257194519, -0.005504312459379435, -1 ]
4.65
93
0
93
0
[ 0.3912481963634491, 0.0814199224114418, 0.27194440364837646, -0.047041960060596466, 0.011214753612875938, -0.9988299608230591, 0.1985870748758316, 0.9800818562507629, 0.0016513833543285728, 67.76000213623047 ]
[ 0.3912481963634491, 0.0814199224114418, 0.27194440364837646, -0.03634977713227272, 0.0013151890598237514, -0.9993382692337036, 0.2258630096912384, 0.9741343855857849, -0.006933487486094236, -1 ]
4.7
94
0
94
0
[ 0.3938678205013275, 0.08000355958938599, 0.27130138874053955, -0.04903925582766533, 0.01287131942808628, -0.9987139105796814, 0.2056768834590912, 0.9786167144775391, 0.002513079671189189, 67.76000213623047 ]
[ 0.3938678205013275, 0.08000355958938599, 0.27130138874053955, -0.038792744278907776, 0.004342329688370228, -0.9992378354072571, 0.23378412425518036, 0.9722764492034912, -0.004850880242884159, -1 ]
4.75
95
0
95
0
[ 0.39122551679611206, 0.07891666144132614, 0.2698666453361511, -0.052795421332120895, 0.013677376322448254, -0.9985116720199585, 0.21152515709400177, 0.9773700833320618, 0.0022035781294107437, 67.76000213623047 ]
[ 0.39122551679611206, 0.07891666144132614, 0.2698666453361511, -0.04346739128232002, 0.006504424847662449, -0.9990336894989014, 0.24007469415664673, 0.9707456827163696, -0.004125264938920736, -1 ]
4.8
96
0
96
0
[ 0.39354294538497925, 0.07740318775177002, 0.26978573203086853, -0.05363667011260986, 0.016536913812160492, -0.9984235763549805, 0.21892178058624268, 0.9757325053215027, 0.004400305915623903, 67.76000213623047 ]
[ 0.39354294538497925, 0.07740318775177002, 0.26978573203086853, -0.04545089602470398, 0.008885866962373257, -0.9989270567893982, 0.2478507161140442, 0.968794584274292, -0.0026593103539198637, -1 ]
4.85
97
0
97
0
[ 0.39717185497283936, 0.07549048960208893, 0.2705529034137726, -0.051820725202560425, 0.019106773659586906, -0.998473584651947, 0.22848151624202728, 0.9735246896743774, 0.006771172862499952, 67.76000213623047 ]
[ 0.39717185497283936, 0.07549048960208893, 0.2705529034137726, -0.04398193582892418, 0.011852385476231575, -0.9989620447158813, 0.2581740617752075, 0.966098427772522, 0.00009567391680320725, -1 ]
4.9
98
0
98
0
[ 0.39873233437538147, 0.0793391540646553, 0.2716151475906372, -0.04944730922579765, 0.02119375951588154, -0.9985518455505371, 0.2342301607131958, 0.9721391797065735, 0.009034316055476665, 67.76000213623047 ]
[ 0.39873233437538147, 0.0793391540646553, 0.2716151475906372, -0.040576204657554626, 0.011709568090736866, -0.999107837677002, 0.2625407576560974, 0.964920699596405, 0.0006464741309173405, -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": 13,
    "total_frames": 2828,
    "total_tasks": 1,
    "total_videos": 13,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:13"
    },
    "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.image.wrist": {
            "dtype": "video",
            "names": [
                "channels",
                "height",
                "width"
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            "shape": [
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                320
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 240,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": null,
            "shape": [
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        "action": {
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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": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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