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observation.state
list
action
list
timestamp
float32
0
11.8
frame_index
int64
0
59
episode_index
int64
0
16
index
int64
0
1.02k
task_index
int64
0
0
[ 0.2920694351196289, -0.006091460585594177, 0.13532090187072754, 0.011771194636821747, 1.6275368928909302, -0.018100585788488388, 0.03700000047683716, 0.03700000047683716 ]
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2
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6
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7
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7.2
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7.4
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7.6
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7.8
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8
40
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8.2
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8.4
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8.6
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8.8
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9
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9.2
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9.4
47
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47
0
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9.6
48
0
48
0
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[ 0.33056333661079407, 0.0624208003282547, 0.025122715160250664, 0.04761373624205589, 1.5284290313720703, -0.7731583118438721, 1 ]
9.8
49
0
49
0
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10
50
0
50
0
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10.2
51
0
51
0
[ 0.3287092447280884, 0.05856384336948395, 0.025739669799804688, -0.5267054438591003, 1.4536253213882446, -0.5489279627799988, 0.016450680792331696, 0.01711335778236389 ]
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10.4
52
0
52
0
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10.6
53
0
53
0
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[ 0.319750040769577, 0.019868958741426468, 0.05430591106414795, 0.051185812801122665, 1.5032896995544434, -0.6271088123321533, -1 ]
10.8
54
0
54
0
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[ 0.3169372081756592, 0.002063704188913107, 0.06530947238206863, 0.04225049540400505, 1.4819425344467163, -0.5607960224151611, -1 ]
11
55
0
55
0
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[ 0.31485554575920105, -0.015615241602063179, 0.07007073611021042, 0.033306945115327835, 1.4626129865646362, -0.5073258876800537, -1 ]
11.2
56
0
56
0
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[ 0.31386783719062805, -0.03194539621472359, 0.06889069080352783, 0.027508264407515526, 1.4561471939086914, -0.47576597332954407, -1 ]
11.4
57
0
57
0
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[ 0.3137103021144867, -0.04794009029865265, 0.06469766795635223, 0.02784089371562004, 1.459844946861267, -0.4492257535457611, 1 ]
11.6
58
0
58
0
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[ 0.3139587342739105, -0.06361178308725357, 0.06037971377372742, 0.03185208886861801, 1.4573510885238647, -0.4251968264579773, 1 ]
11.8
59
0
59
0
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[ 0.286202609539032, -0.010429754853248596, 0.13917289674282074, -0.04794609919190407, 1.5290448665618896, -1.543331265449524, 1 ]
0
0
1
60
0
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[ 0.2855558395385742, -0.00547690037637949, 0.13313400745391846, -0.04124327003955841, 1.5386730432510376, -1.5271730422973633, 1 ]
0.2
1
1
61
0
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[ 0.290706604719162, 0.007984636351466179, 0.12311813980340958, -0.013305263593792915, 1.546288251876831, -1.4642002582550049, 1 ]
0.4
2
1
62
0
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[ 0.2973575294017792, 0.021793575957417488, 0.11438973993062973, 0.018784385174512863, 1.5469263792037964, -1.3705323934555054, 1 ]
0.6
3
1
63
0
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[ 0.3042212724685669, 0.038043778389692307, 0.1029580608010292, 0.05396954342722893, 1.5456130504608154, -1.212235927581787, 1 ]
0.8
4
1
64
0
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1
5
1
65
0
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[ 0.3166363537311554, 0.0639609694480896, 0.07093951851129532, 0.101747527718544, 1.5546512603759766, -0.7847616076469421, 1 ]
1.2
6
1
66
0
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1.4
7
1
67
0
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[ 0.32805904746055603, 0.06799057126045227, 0.04897834733128548, 0.09483557194471359, 1.5525317192077637, -0.5817242860794067, 1 ]
1.6
8
1
68
0
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[ 0.3317018747329712, 0.06717850267887115, 0.04066237434744835, 0.09378480166196823, 1.5455410480499268, -0.5425498485565186, 1 ]
1.8
9
1
69
0
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2
10
1
70
0
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[ 0.3362220525741577, 0.06581450998783112, 0.024440933018922806, 0.08159161359071732, 1.5488862991333008, -0.4932403862476349, 1 ]
2.2
11
1
71
0
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[ 0.33797889947891235, 0.06645369529724121, 0.017784783616662025, 0.08416461944580078, 1.5497010946273804, -0.4646512269973755, 1 ]
2.4
12
1
72
0
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2.6
13
1
73
0
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[ 0.3396325409412384, 0.06722092628479004, 0.011633738875389099, 0.10095283389091492, 1.5409778356552124, -0.45168086886405945, -1 ]
2.8
14
1
74
0
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[ 0.34038642048835754, 0.06689132004976273, 0.010218117386102676, 0.09815152734518051, 1.533529281616211, -0.46527671813964844, -1 ]
3
15
1
75
0
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[ 0.3412420451641083, 0.06636734306812286, 0.009636061266064644, 0.08887515217065811, 1.5278236865997314, -0.4812591075897217, -1 ]
3.2
16
1
76
0
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3.4
17
1
77
0
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3.6
18
1
78
0
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3.8
19
1
79
0
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[ 0.32485029101371765, 0.07180006802082062, 0.05499321222305298, -0.023139292374253273, 1.4769524335861206, -0.4738236367702484, -1 ]
4
20
1
80
0
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[ 0.303726464509964, 0.0779949501156807, 0.0657632127404213, -0.04270806908607483, 1.4631319046020508, -0.4482974410057068, -1 ]
4.2
21
1
81
0
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4.4
22
1
82
0
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4.6
23
1
83
0
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[ 0.2376454472541809, 0.1097586378455162, 0.05148229002952576, 0.0034816341940313578, 1.498559832572937, -0.41302385926246643, -1 ]
4.8
24
1
84
0
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5
25
1
85
0
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[ 0.20953911542892456, 0.11373623460531235, 0.033194635063409805, 0.0363953672349453, 1.5670331716537476, -0.5072988867759705, 1 ]
5.2
26
1
86
0
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[ 0.20281171798706055, 0.11027312278747559, 0.02586865983903408, 0.04164670780301094, 1.6070736646652222, -0.5638015866279602, 1 ]
5.4
27
1
87
0
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[ 0.1997494399547577, 0.10888218134641647, 0.022435301914811134, 0.0478125736117363, 1.628448486328125, -0.5911144018173218, 1 ]
5.6
28
1
88
0
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5.8
29
1
89
0
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6
30
1
90
0
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[ 0.21237632632255554, 0.1002916619181633, 0.024865036830306053, -0.016742302104830742, 1.5147984027862549, -1.7368310689926147, 1 ]
6.2
31
1
91
0
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6.4
32
1
92
0
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[ 0.22712577879428864, 0.09396635740995407, 0.018403472378849983, -0.020564589649438858, 1.5380349159240723, -1.641302466392517, 1 ]
6.6
33
1
93
0
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[ 0.23332563042640686, 0.0928700789809227, 0.017223218455910683, -0.017787925899028778, 1.5545525550842285, -1.5880777835845947, 1 ]
6.8
34
1
94
0
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7
35
1
95
0
[ 0.23212704062461853, 0.09778919816017151, 0.053700923919677734, -1.221015214920044, 1.1994704008102417, -1.25797438621521, 0.03700000047683716, 0.03700000047683716 ]
[ 0.2481091469526291, 0.09248887002468109, 0.020736312493681908, 0.008723272010684013, 1.5763179063796997, -1.4365066289901733, 1 ]
7.2
36
1
96
0
[ 0.24285189807415009, 0.0973627120256424, 0.0474928617477417, -1.104072093963623, 1.2348060607910156, -1.1426668167114258, 0.03700000047683716, 0.03700000047683716 ]
[ 0.25233256816864014, 0.09209545701742172, 0.02640029601752758, 0.03983720764517784, 1.5838325023651123, -1.3532875776290894, 1 ]
7.4
37
1
97
0
[ 0.24745774269104004, 0.09474393725395203, 0.04496943950653076, -1.073094129562378, 1.2865225076675415, -1.0736836194992065, 0.03700000047683716, 0.03700000047683716 ]
[ 0.2513715326786041, 0.09218509495258331, 0.03577983006834984, 0.08065474778413773, 1.584652304649353, -1.2756636142730713, 1 ]
7.6
38
1
98
0
[ 0.25052833557128906, 0.09259195625782013, 0.04103773832321167, -0.9989081621170044, 1.3333112001419067, -0.978338360786438, 0.03700000047683716, 0.03700000047683716 ]
[ 0.2491578757762909, 0.09247041493654251, 0.04609270766377449, 0.11767532676458359, 1.5794076919555664, -1.2040685415267944, 1 ]
7.8
39
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 5,
    "features": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "eef_pos.x",
                "eef_pos.y",
                "eef_pos.z",
                "eef_axis_angle.rx",
                "eef_axis_angle.ry",
                "eef_axis_angle.rz",
                "gripper.qpos1",
                "gripper.qpos2"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "target_eef_pos.x",
                "target_eef_pos.y",
                "target_eef_pos.z",
                "target_eef_euler.rx",
                "target_eef_euler.ry",
                "target_eef_euler.rz",
                "gripper.open_close"
            ]
        },
        "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
        }
    },
    "total_episodes": 17,
    "total_frames": 1020,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "widowx_simpler",
    "splits": {
        "train": "0:17"
    }
}

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