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float32
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4.97
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int64
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149
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1.6
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1.7
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1.8
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1.9
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.5
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2.533333
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2.6
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2.633333
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2.7
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2.733333
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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2.966667
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
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3.233333
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3.266667
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[ 0.7061991095542908, -0.3630141019821167, -2.959674835205078, 1.7242841720581055, -1.5700116157531738, 0.0603862889111042, -0.8369411826133728, 0.14980976283550262, -0.000001251544858860143, 0.0001288282946916297, -0.00006440338620450348, -0.0004716159892268479 ]
3.3
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": "tiago_client",
    "total_episodes": 1,
    "total_frames": 149,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "arm_1_joint.pos",
                "arm_2_joint.pos",
                "arm_3_joint.pos",
                "arm_4_joint.pos",
                "arm_5_joint.pos",
                "arm_6_joint.pos",
                "arm_7_joint.pos",
                "torso_lift_joint.pos",
                "gripper_left_finger_joint.pos",
                "gripper_right_finger_joint.pos",
                "base_linear_x.vel",
                "base_angular_z.vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "arm_1_joint.pos",
                "arm_2_joint.pos",
                "arm_3_joint.pos",
                "arm_4_joint.pos",
                "arm_5_joint.pos",
                "arm_6_joint.pos",
                "arm_7_joint.pos",
                "torso_lift_joint.pos",
                "gripper_left_finger_joint.pos",
                "gripper_right_finger_joint.pos",
                "base_linear_x.vel",
                "base_angular_z.vel"
            ]
        },
        "observation.images.left": {
            "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": 30,
                "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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