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observation.image.cam0
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320
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observation.image.cam1
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4.933333
74
0
74
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5
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0
75
0
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5.066667
76
0
76
0
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5.133333
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0
77
0
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5.2
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5.266667
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5.333333
80
0
80
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5.4
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5.466667
82
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5.533333
83
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5.6
84
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84
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5.666667
85
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5.733333
86
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5.8
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5.866667
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5.933333
89
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6
90
0
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6.066667
91
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6.133333
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6.2
93
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6.266667
94
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6.333333
95
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6.4
96
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6.466667
97
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6.533333
98
0
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6.6
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",
    "fps": 15,
    "features": {
        "observation.image.cam0": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.image.cam1": {
            "dtype": "image",
            "shape": [
                3,
                240,
                320
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "D_state"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "D_act"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 119,
    "total_frames": 67092,
    "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": "franka",
    "splits": {
        "train": "0:119"
    }
}

Citation

BibTeX:

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