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float32
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16.5
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int64
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330
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int64
0
49
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int64
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13.9k
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int64
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2.1
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2.35
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2.55
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2.6
52
0
52
0
[ -1.2730000019073486, 25.139999389648438, -18.784000396728516, 14.36299991607666, -20.701000213623047, 3.5769999027252197, 0.5699999928474426 ]
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2.65
53
0
53
0
[ -1.2730000019073486, 26.433000564575195, -19.774999618530273, 14.36299991607666, -20.764999389648438, 3.2730000019073486, 0.5699999928474426 ]
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2.7
54
0
54
0
[ -1.2730000019073486, 27.589000701904297, -20.92799949645996, 14.36299991607666, -20.764999389648438, 2.7300000190734863, 0.5699999928474426 ]
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2.75
55
0
55
0
[ -1.2730000019073486, 28.55900001525879, -22.229999542236328, 14.36299991607666, -20.864999771118164, 2.7300000190734863, 0.5699999928474426 ]
[ -1.0850000381469727, 26.840999603271484, -20.0049991607666, 14.32699966430664, -20.239999771118164, 3.059000015258789, 0.5400000214576721 ]
2.8
56
0
56
0
[ -1.2730000019073486, 29.42300033569336, -23.395999908447266, 13.970000267028809, -20.94300079345703, 2.565000057220459, 0.5699999928474426 ]
[ -1.0850000381469727, 27.913999557495117, -21.170000076293945, 14.32699966430664, -20.239999771118164, 2.990999937057495, 0.5400000214576721 ]
2.85
57
0
57
0
[ -1.2730000019073486, 30.371000289916992, -24.516000747680664, 13.970000267028809, -20.94300079345703, 2.3410000801086426, 0.5699999928474426 ]
[ -1.0850000381469727, 28.83099937438965, -22.32900047302246, 14.32699966430664, -20.239999771118164, 2.930000066757202, 0.5400000214576721 ]
2.9
58
0
58
0
[ -1.2730000019073486, 31.152000427246094, -25.322999954223633, 13.970000267028809, -20.94300079345703, 2.3910000324249268, 0.5699999928474426 ]
[ -1.0850000381469727, 29.67099952697754, -23.434999465942383, 14.32699966430664, -20.29199981689453, 2.930999994277954, 0.5400000214576721 ]
2.95
59
0
59
0
[ -1.2730000019073486, 31.944000244140625, -26.058000564575195, 13.970000267028809, -20.94300079345703, 2.549999952316284, 0.5699999928474426 ]
[ -1.0850000381469727, 30.5049991607666, -24.5310001373291, 14.32699966430664, -20.29199981689453, 2.930999994277954, 0.5400000214576721 ]
3
60
0
60
0
[ -1.2730000019073486, 32.69499969482422, -26.81399917602539, 13.970000267028809, -20.94300079345703, 3.384999990463257, 0.5699999928474426 ]
[ -1.0850000381469727, 31.4060001373291, -25.33799934387207, 14.32699966430664, -20.29199981689453, 2.930999994277954, 0.5400000214576721 ]
3.05
61
0
61
0
[ -1.2730000019073486, 33.41899871826172, -27.52899932861328, 13.970000267028809, -20.878999710083008, 3.7060000896453857, 0.5699999928474426 ]
[ -1.0850000381469727, 32.172000885009766, -26.05699920654297, 14.32699966430664, -20.29199981689453, 3.171999931335449, 0.5400000214576721 ]
3.1
62
0
62
0
[ -1.2730000019073486, 34.05099868774414, -28.125999450683594, 13.970000267028809, -20.878999710083008, 3.7060000896453857, 0.5699999928474426 ]
[ -1.0850000381469727, 32.93199920654297, -26.72599983215332, 14.32699966430664, -20.29199981689453, 3.3980000019073486, 0.5400000214576721 ]
3.15
63
0
63
0
[ -1.2730000019073486, 34.665000915527344, -28.70800018310547, 13.970000267028809, -20.878999710083008, 3.878999948501587, 0.5699999928474426 ]
[ -1.0850000381469727, 33.62699890136719, -27.386999130249023, 14.32699966430664, -20.29199981689453, 3.510999917984009, 0.5400000214576721 ]
3.2
64
0
64
0
[ -1.2730000019073486, 35.26599884033203, -29.441999435424805, 13.970000267028809, -20.878999710083008, 3.878999948501587, 0.5699999928474426 ]
[ -1.0850000381469727, 34.236000061035156, -28.006999969482422, 14.32699966430664, -20.29199981689453, 3.6110000610351562, 0.5400000214576721 ]
3.25
65
0
65
0
[ -1.2730000019073486, 35.88999938964844, -30.191999435424805, 14.053999900817871, -20.35700035095215, 3.878999948501587, 0.5699999928474426 ]
[ -1.0850000381469727, 34.81700134277344, -28.652999877929688, 14.32699966430664, -20.29199981689453, 3.628999948501587, 0.5400000214576721 ]
3.3
66
0
66
0
[ -1.2730000019073486, 36.59199905395508, -31.18000030517578, 14.692999839782715, -19.099000930786133, 3.878999948501587, 0.5799999833106995 ]
[ -1.0850000381469727, 35.50400161743164, -29.500999450683594, 14.404999732971191, -20.118000030517578, 3.808000087738037, 0.5400000214576721 ]
3.35
67
0
67
0
[ -1.2730000019073486, 37.46200180053711, -32.375, 15.28600025177002, -17.246000289916992, 3.878999948501587, 0.7699999809265137 ]
[ -1.0850000381469727, 36.18199920654297, -30.398000717163086, 14.64799976348877, -19.393999099731445, 3.930000066757202, 0.5400000214576721 ]
3.4
68
0
68
0
[ -1.2730000019073486, 38.2239990234375, -33.736000061035156, 15.980999946594238, -14.668000221252441, 3.878999948501587, 1.4800000190734863 ]
[ -1.0850000381469727, 36.91899871826172, -31.452999114990234, 15.015999794006348, -18.00200080871582, 3.98799991607666, 0.6800000071525574 ]
3.45
69
0
69
0
[ -1.2730000019073486, 39.17599868774414, -35.42300033569336, 16.91900062561035, -10.940999984741211, 3.878999948501587, 2.950000047683716 ]
[ -1.0850000381469727, 37.72100067138672, -32.72600173950195, 15.633999824523926, -15.939000129699707, 3.98799991607666, 1.159999966621399 ]
3.5
70
0
70
0
[ -1.2730000019073486, 40.36399841308594, -37.38399887084961, 16.96299934387207, -7.479000091552734, 3.5829999446868896, 5.090000152587891 ]
[ -1.0850000381469727, 38.61600112915039, -34.28300094604492, 16.381999969482422, -13.329999923706055, 3.98799991607666, 2.180000066757202 ]
3.55
71
0
71
0
[ -1.0980000495910645, 41.41600036621094, -39.707000732421875, 16.972000122070312, -4.664000034332275, 2.703000068664551, 7.610000133514404 ]
[ -1.0850000381469727, 39.74300003051758, -36.0620002746582, 16.527000427246094, -10.420999526977539, 3.888000011444092, 3.9800000190734863 ]
3.6
72
0
72
0
[ -1.121000051498413, 42.73500061035156, -41.875999450683594, 17.56599998474121, -2.4619998931884766, 2.938999891281128, 9.029999732971191 ]
[ -1.0850000381469727, 40.816001892089844, -37.98400115966797, 16.77199935913086, -7.130000114440918, 3.7929999828338623, 5.78000020980835 ]
3.65
73
0
73
0
[ -1.121000051498413, 44.23699951171875, -44.15700149536133, 19.01099967956543, -1.1970000267028809, 3.634999990463257, 9.460000038146973 ]
[ -1.0850000381469727, 42.03300094604492, -40.36600112915039, 17.312999725341797, -4.651000022888184, 3.7660000324249268, 7.28000020980835 ]
3.7
74
0
74
0
[ -1.121000051498413, 45.90700149536133, -46.43899917602539, 21.70800018310547, -1.0729999542236328, 3.865999937057495, 9.369999885559082 ]
[ -1.0850000381469727, 43.40800094604492, -42.85599899291992, 18.44499969482422, -2.7339999675750732, 3.9089999198913574, 8.300000190734863 ]
3.75
75
0
75
0
[ -1.121000051498413, 47.74399948120117, -48.88600158691406, 23.96500015258789, -0.8220000267028809, 3.865999937057495, 9.229999542236328 ]
[ -1.0850000381469727, 45.21099853515625, -45.16999816894531, 20.242000579833984, -1.7940000295639038, 3.950000047683716, 8.710000038146973 ]
3.8
76
0
76
0
[ -1.121000051498413, 49.79199981689453, -51.70600128173828, 26.264999389648438, 0.8149999976158142, 3.865999937057495, 9.109999656677246 ]
[ -1.0850000381469727, 46.90599822998047, -47.619998931884766, 22.533000946044922, -1.0379999876022339, 3.9739999771118164, 8.880000114440918 ]
3.85
77
0
77
0
[ -1.121000051498413, 51.731998443603516, -55.345001220703125, 28.041000366210938, 3.5799999237060547, 3.865999937057495, 9.050000190734863 ]
[ -1.0850000381469727, 48.67499923706055, -50.40399932861328, 24.535999298095703, 0, 4.01800012588501, 8.930000305175781 ]
3.9
78
0
78
0
[ -1.121000051498413, 53.875, -58.70399856567383, 28.260000228881836, 7.164000034332275, 3.865999937057495, 9.050000190734863 ]
[ -1.0850000381469727, 50.590999603271484, -53.500999450683594, 26.152000427246094, 2.0989999771118164, 4.01800012588501, 8.9399995803833 ]
3.95
79
0
79
0
[ -1.121000051498413, 56.500999450683594, -62.183998107910156, 28.927000045776367, 11.715999603271484, 3.865999937057495, 9.050000190734863 ]
[ -1.0850000381469727, 52.64899826049805, -56.757999420166016, 27.191999435424805, 4.89300012588501, 4.01800012588501, 8.960000038146973 ]
4
80
0
80
0
[ -1.121000051498413, 58.875, -65.89900207519531, 29.597999572753906, 16.179000854492188, 3.865999937057495, 9.050000190734863 ]
[ -1.0850000381469727, 54.81100082397461, -60.15700149536133, 28.06399917602539, 8.996999740600586, 4.01800012588501, 8.960000038146973 ]
4.05
81
0
81
0
[ -1.121000051498413, 61.198001861572266, -68.93299865722656, 29.658000946044922, 20.420000076293945, 3.9739999771118164, 9.050000190734863 ]
[ -1.0850000381469727, 57.362998962402344, -63.959999084472656, 28.746000289916992, 13.053000450134277, 4.01800012588501, 8.960000038146973 ]
4.1
82
0
82
0
[ -1.121000051498413, 63.4630012512207, -71.69499969482422, 29.378999710083008, 24.243999481201172, 5.4039998054504395, 9.050000190734863 ]
[ -1.0850000381469727, 59.643001556396484, -67.03900146484375, 29.128000259399414, 17.02899932861328, 4.1539998054504395, 8.960000038146973 ]
4.15
83
0
83
0
[ -1.121000051498413, 65.70099639892578, -74.2020034790039, 29.035999298095703, 27.04599952697754, 6.578999996185303, 9.050000190734863 ]
[ -1.0850000381469727, 61.98099899291992, -69.91400146484375, 29.264999389648438, 20.698999404907227, 4.8480000495910645, 8.970000267028809 ]
4.2
84
0
84
0
[ -1.121000051498413, 67.86900329589844, -76.43499755859375, 28.899999618530273, 29.952999114990234, 8.343000411987305, 9.050000190734863 ]
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4.25
85
0
85
0
[ -1.0740000009536743, 70.25199890136719, -78.34700012207031, 28.638999938964844, 32.42499923706055, 9.845000267028809, 9.050000190734863 ]
[ -1.0850000381469727, 66.5469970703125, -74.80899810791016, 29.208999633789062, 26.79400062561035, 7.077000141143799, 8.960000038146973 ]
4.3
86
0
86
0
[ 0, 72.20899963378906, -80.24099731445312, 26.59000015258789, 34.415000915527344, 12.253999710083008, 9.050000190734863 ]
[ -0.9729999899864197, 68.66799926757812, -76.8759994506836, 28.84000015258789, 29.378000259399414, 8.777000427246094, 8.960000038146973 ]
4.35
87
0
87
0
[ 1.4850000143051147, 74.02100372314453, -81.77999877929688, 23.23900032043457, 36.034000396728516, 15.170000076293945, 9.050000190734863 ]
[ -0.3880000114440918, 70.68199920654297, -78.73999786376953, 27.593000411987305, 31.898000717163086, 10.836999893188477, 8.960000038146973 ]
4.4
88
0
88
0
[ 3.359999895095825, 75.69200134277344, -82.9520034790039, 20.604999542236328, 36.99599838256836, 17.71299934387207, 9.050000190734863 ]
[ 0.6909999847412109, 72.83599853515625, -80.5979995727539, 25.325000762939453, 33.724998474121094, 13.262999534606934, 8.970000267028809 ]
4.45
89
0
89
0
[ 5.480999946594238, 77.2249984741211, -83.93000030517578, 18.150999069213867, 37.340999603271484, 19.868999481201172, 9.050000190734863 ]
[ 2.490999937057495, 74.58000183105469, -81.91999816894531, 22.97599983215332, 35.119998931884766, 15.642000198364258, 8.970000267028809 ]
4.5
90
0
90
0
[ 7.85699987411499, 78.78399658203125, -84.88099670410156, 15.105999946594238, 37.69599914550781, 22.445999145507812, 9.050000190734863 ]
[ 4.449999809265137, 76.23200225830078, -83.03299713134766, 20.097999572753906, 36.03099822998047, 17.797000885009766, 8.970000267028809 ]
4.55
91
0
91
0
[ 10.385000228881836, 80.68000030517578, -86.01699829101562, 11.479000091552734, 38.361000061035156, 25.16200065612793, 9.050000190734863 ]
[ 6.671000003814697, 77.80999755859375, -84.08899688720703, 17.275999069213867, 36.82600021362305, 20.17099952697754, 8.970000267028809 ]
4.6
92
0
92
0
[ 12.98900032043457, 82.52300262451172, -87.72699737548828, 5.814000129699707, 39.79800033569336, 28.902999877929688, 9.050000190734863 ]
[ 9.086999893188477, 79.39600372314453, -85.2229995727539, 13.892000198364258, 37.53900146484375, 23.172000885009766, 8.970000267028809 ]
4.65
93
0
93
0
[ 15.782999992370605, 84.55999755859375, -89.52799987792969, 0.36800000071525574, 42.00299835205078, 33.051998138427734, 9.050000190734863 ]
[ 11.621000289916992, 81.11599731445312, -86.58200073242188, 9.689000129699707, 38.92900085449219, 26.409000396728516, 8.970000267028809 ]
4.7
94
0
94
0
[ 18, 86.75199890136719, -91.54299926757812, -4.234000205993652, 44.823001861572266, 36.04999923706055, 9.050000190734863 ]
[ 14.086999893188477, 83, -88.48300170898438, 5.026000022888184, 40.683998107910156, 29.895999908447266, 8.970000267028809 ]
4.75
95
0
95
0
[ 19.875999450683594, 89.15299987792969, -93.63200378417969, -7.2779998779296875, 47.79999923706055, 37.89500045776367, 9.050000190734863 ]
[ 16.729000091552734, 85.37200164794922, -90.37999725341797, 0.550000011920929, 43.02799987792969, 33.00299835205078, 8.970000267028809 ]
4.8
96
0
96
0
[ 21.285999298095703, 91.7020034790039, -95.73200225830078, -8.652999877929688, 50.430999755859375, 38.42900085449219, 9.050000190734863 ]
[ 18.72599983215332, 87.61799621582031, -92.375, -3.5399999618530273, 45.659000396728516, 35.237998962402344, 8.970000267028809 ]
4.85
97
0
97
0
[ 22.263999938964844, 94.30599975585938, -97.83599853515625, -8.951000213623047, 53.26100158691406, 38.42900085449219, 9.050000190734863 ]
[ 20.326000213623047, 90.0199966430664, -94.4800033569336, -5.751999855041504, 48.233001708984375, 36.566001892089844, 8.970000267028809 ]
4.9
98
0
98
0
[ 22.79800033569336, 97.15699768066406, -99.73699951171875, -8.99899959564209, 55.196998596191406, 38.643001556396484, 9.050000190734863 ]
[ 21.50200080871582, 92.51599884033203, -96.54900360107422, -6.999000072479248, 50.691001892089844, 37.36899948120117, 8.970000267028809 ]
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": 50,
    "total_frames": 13915,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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",
                "gripper.pos"
            ],
            "shape": [
                7
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        },
        "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"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "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
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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