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observation.image.ego_global
imagewidth (px)
360
360
observation.image.wrist
imagewidth (px)
640
640
observation.state
list
action
list
joints
list
timestamp
float32
0
34.8
frame_index
int64
0
1.05k
episode_index
int64
0
19
index
int64
0
8.17k
task_index
int64
0
0
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[ 0.3505268096923828, 0.04673392325639725, 0.10721217095851898, -0.556307852268219, -0.5755426287651062, -0.5993933081626892, -0.4114668667316437, 0.8174645900726318, -0.4030466675758362, 0 ]
[ 0.24467577040195465, 1.5568294525146484, -0.976086437702179, -0.18217232823371887, 0.42885422706604004, -0.14689967036247253 ]
2.8
84
0
84
0
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[ 0.2364071160554886, 1.563144326210022, -0.976086437702179, -0.20022733509540558, 0.41285768151283264, -0.15181900560855865 ]
2.833333
85
0
85
0
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[ 0.3493986129760742, 0.04295235499739647, 0.10198419541120529, -0.5494515895843506, -0.5894001722335815, -0.5922080874443054, -0.41006040573120117, 0.807777464389801, -0.4234927296638489, 0 ]
[ 0.22714410722255707, 1.5712734460830688, -0.976086437702179, -0.21325832605361938, 0.40057677030563354, -0.15626733005046844 ]
2.866667
86
0
86
0
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[ 0.34424614906311035, 0.045350994914770126, 0.10300891846418381, -0.5540955066680908, -0.5898987650871277, -0.5873649716377258, -0.41121840476989746, 0.8074455261230469, -0.4230025112628937, 0 ]
[ 0.22020122408866882, 1.576785922050476, -0.976086437702179, -0.2246321141719818, 0.3921511173248291, -0.15818622708320618 ]
2.9
87
0
87
0
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[ 0.34256502985954285, 0.04361569136381149, 0.09944885224103928, -0.5565280914306641, -0.5907538533210754, -0.5841971635818481, -0.41547125577926636, 0.8068023324012756, -0.42006388306617737, 0 ]
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2.933333
88
0
88
0
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[ 0.34354367852211, 0.041054267436265945, 0.09917668998241425, -0.5648121237754822, -0.5859410166740417, -0.5810855627059937, -0.42370539903640747, 0.8101667761802673, -0.4050969183444977, 0 ]
[ 0.20401278138160706, 1.5899040699005127, -0.976086437702179, -0.2500835657119751, 0.37282267212867737, -0.16643744707107544 ]
2.966667
89
0
89
0
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3
90
0
90
0
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[ 0.34117525815963745, 0.03840288519859314, 0.10013797879219055, -0.5731053948402405, -0.580284595489502, -0.5786363482475281, -0.4385482966899872, 0.813659131526947, -0.38162046670913696, 0 ]
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3.033333
91
0
91
0
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[ 0.33335283398628235, 0.046102870255708694, 0.09823078662157059, -0.5762025713920593, -0.5764528512954712, -0.5793899297714233, -0.45006483793258667, 0.8155286908149719, -0.3638056516647339, 0 ]
[ 0.19112133979797363, 1.6119190454483032, -0.976086437702179, -0.2709994316101074, 0.3429403305053711, -0.16863544285297394 ]
3.066667
92
0
92
0
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3.1
93
0
93
0
[ 0.3316752016544342, 0.055314790457487106, 0.21682363748550415, -0.630400538444519, -0.5463630557060242, -0.5514367818832397, -0.4374576210975647, 0.8368667364120483, -0.32906675338745117, 68.5999984741211 ]
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3.133333
94
0
94
0
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[ 0.33235862851142883, 0.05032823979854584, 0.08992172032594681, -0.5963210463523865, -0.5827316045761108, -0.5521095991134644, -0.4861283004283905, 0.8094667792320251, -0.32930657267570496, 0 ]
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3.166667
95
0
95
0
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3.2
96
0
96
0
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[ 0.1971047818660736, 1.659769058227539, -0.9650266766548157, -0.28254765272140503, 0.27870988845825195, -0.17085088789463043 ]
3.233333
97
0
97
0
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[ 0.20195433497428894, 1.6704102754592896, -0.9628461003303528, -0.2854434549808502, 0.26149222254753113, -0.172508105635643 ]
3.266667
98
0
98
0
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[ 0.33680203557014465, 0.06321457773447037, 0.07006203383207321, -0.5690737366676331, -0.5994762778282166, -0.5628350377082825, -0.5065016150474548, 0.79475998878479, -0.33438390493392944, 0 ]
[ 0.2043791115283966, 1.6745271682739258, -0.9628461003303528, -0.2872053384780884, 0.2521768808364868, -0.172508105635643 ]
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": null,
    "total_episodes": 50,
    "total_frames": 18015,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.image.ego_global": {
            "dtype": "image",
            "names": [
                "channels",
                "height",
                "width"
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            "shape": [
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            ]
        },
        "observation.image.wrist": {
            "dtype": "image",
            "names": [
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                "height",
                "width"
            ],
            "shape": [
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            ]
        },
        "observation.state": {
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            "names": null,
            "shape": [
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        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
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            "names": null
        },
        "joints": {
            "dtype": "float32",
            "names": null,
            "shape": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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