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int64
[ 0.009166325442492962, -0.022893067449331284, -0.011443521827459335, 0.03438430652022362, 0.0034552079159766436, -0.009688696824014187, 0, 0, 0, 0, 0, 0, 3.3668365478515625, 0 ]
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3
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3.1
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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4.05
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4.1
82
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4.15
83
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4.2
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4.25
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4.3
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4.35
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4.4
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4.45
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4.5
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4.55
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4.6
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4.65
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4.7
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4.75
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0
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[ 8.928000450134277, 5.651000022888184, -3.177000045776367, 2.247999906539917, 21.80900001525879, -2.615000009536743, 3.2899999618530273, 0.0010000000474974513, -0.04961249977350235, 0.7394624948501587, -1.2958312034606934, 0.17156076431274414, -1.1491695642471313, -0.08817648142576218, 57...
4.8
96
0
96
0
[ 0.5377907752990723, 0.5607849955558777, -0.002692678477615118, 0.036336321383714676, -0.4734109938144684, -0.4342263638973236, 0, 0, 0, 0, 0, 0, 3.059870719909668, 0 ]
[ 9.189000129699707, 5.918000221252441, -3.177000045776367, 2.247999906539917, 21.589000701904297, -2.8570001125335693, 3.2200000286102295, -0.01899999938905239, -0.15001875162124634, 0.7016624808311462, -1.3383562564849854, 0.10063619911670685, -1.10508131980896, -0.021085679531097412, 57...
4.85
97
0
97
0
[ 0.5219458937644958, 0.6199162602424622, 0.007633357308804989, 0.001876141526736319, -0.22635802626609802, -0.07073014229536057, 0, 0, 0, 0, 0, 0, 3.1102616786956787, 0 ]
[ 9.189000129699707, 5.918000221252441, -3.177000045776367, 2.2269999980926514, 21.589000701904297, -2.8570001125335693, 2.869999885559082, -0.0430000014603138, -0.025987500324845314, 0.7406437397003174, -1.3123687505722046, -0.03929603844881058, -1.1098735332489014, -0.03642072156071663, ...
4.9
98
0
98
0
[ 0.017656950280070305, -0.004161444492638111, 0.004869702737778425, 0.06895055621862411, -0.049554526805877686, -0.027378885075449944, 0, 0, 0, 0, 0, 0, 3.285754919052124, 0 ]
[ 9.807999610900879, 6.474999904632568, -3.177000045776367, 2.2269999980926514, 21.066999435424805, -3.296999931335449, 2.869999885559082, 0.024000000208616257, -0.1216687485575676, 0.8883000016212463, -1.293468713760376, 0.09488555788993835, -1.1098735332489014, -0.03929603844881058, 58.4...
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": "v3.0",
    "robot_type": "piper",
    "total_episodes": 2,
    "total_frames": 372,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz",
                "gripper.pos",
                "gripper.effort"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.effort",
                "joint_1.effort",
                "joint_2.effort",
                "joint_3.effort",
                "joint_4.effort",
                "joint_5.effort",
                "joint_6.effort",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz"
            ],
            "shape": [
                20
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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