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float32
0
41.9
frame_index
int64
0
837
episode_index
int64
0
181
index
int64
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83.2k
task_index
int64
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1.8
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1.85
37
0
37
0
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1.9
38
0
38
0
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1.95
39
0
39
0
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2
40
0
40
0
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2.05
41
0
41
0
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
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2.25
45
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45
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2.3
46
0
46
0
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2.35
47
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47
0
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2.4
48
0
48
0
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2.45
49
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49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
[ 0.16572201251983643, 0.2468172013759613, 0.13579566776752472, 3.1097567081451416, 0.08928124606609344, 0.44476068019866943, 1 ]
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
[ 0.16717194020748138, 0.2419949173927307, 0.1688370555639267, 3.117487668991089, 0.04364041984081268, 0.41016116738319397, 1 ]
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
[ 0.16729708015918732, 0.2405267208814621, 0.2122870236635208, 3.1248276233673096, 0.0015731148887425661, 0.3909953236579895, 1 ]
[ 0.16749699413776398, 0.24406400322914124, 0.17386199533939362, 3.130405902862549, 0.0323060005903244, 0.4127129912376404, 0.34470587968826294, 0.9710710048675537, -0.6448379755020142, -0.5580390095710754, -0.006000000052154064, 1.2028460502624512, 0.5773550271987915 ]
3.7
74
0
74
0
[ 0.16776713728904724, 0.24086125195026398, 0.2234988957643509, 3.1262130737304688, -0.008769728243350983, 0.3937426209449768, 1 ]
[ 0.16749699413776398, 0.24406400322914124, 0.17386199533939362, 3.130405902862549, 0.0323060005903244, 0.4127129912376404, 0.34470587968826294, 0.9746620059013367, -0.6582379937171936, -0.5796809792518616, -0.011381999589502811, 1.228073000907898, 0.5836480259895325 ]
3.75
75
0
75
0
[ 0.16883940994739532, 0.24167776107788086, 0.23456160724163055, 3.1259803771972656, -0.018565600737929344, 0.4020546078681946, 1 ]
[ 0.1691800057888031, 0.24382199347019196, 0.22909599542617798, 3.1388230323791504, -0.025551000609993935, 0.3973509967327118, 0.3435294032096863, 0.9776179790496826, -0.6699479818344116, -0.6021490097045898, -0.017187999561429024, 1.2522879838943481, 0.5855230093002319 ]
3.8
76
0
76
0
[ 0.17207638919353485, 0.24334052205085754, 0.2497420459985733, 3.115546464920044, -0.030407648533582687, 0.4171738624572754, 1 ]
[ 0.1691800057888031, 0.24382199347019196, 0.22909599542617798, 3.1388230323791504, -0.025551000609993935, 0.3973509967327118, 0.3435294032096863, 0.9842309951782227, -0.6705089807510376, -0.6449009776115417, -0.029743000864982605, 1.2858140468597412, 0.5810890197753906 ]
3.85
77
0
77
0
[ 0.17529495060443878, 0.24427668750286102, 0.25809246301651, 3.1111385822296143, -0.037215717136859894, 0.4232245683670044, 1 ]
[ 0.1691800057888031, 0.24382199347019196, 0.22909599542617798, 3.1388230323791504, -0.025551000609993935, 0.3973509967327118, 0.34470587968826294, 0.9861720204353333, -0.6645479798316956, -0.6736649870872498, -0.039455000311136246, 1.3067419528961182, 0.5774199962615967 ]
3.9
78
0
78
0
[ 0.18229924142360687, 0.24523507058620453, 0.2678260803222656, 3.105729818344116, -0.03973031044006348, 0.4270787239074707, 1 ]
[ 0.1691800057888031, 0.24382199347019196, 0.22909599542617798, 3.1388230323791504, -0.025551000609993935, 0.3973509967327118, 0.34470587968826294, 0.9799969792366028, -0.6486290097236633, -0.7142750024795532, -0.051670998334884644, 1.3312690258026123, 0.5684580206871033 ]
3.95
79
0
79
0
[ 0.1881130188703537, 0.24581211805343628, 0.2724746763706207, 3.105729818344116, -0.03973031044006348, 0.4270787239074707, 1 ]
[ 0.18700699508190155, 0.2472430020570755, 0.2703869938850403, 3.110841989517212, -0.053677998483181, 0.42174699902534485, 0.34470587968826294, 0.9671239852905273, -0.6337149739265442, -0.7393559813499451, -0.05556099861860275, 1.3434629440307617, 0.5579270124435425 ]
4
80
0
80
0
[ 0.19786307215690613, 0.24671408534049988, 0.2776440382003784, 3.10935378074646, -0.03868890926241875, 0.4308133125305176, 1 ]
[ 0.18700699508190155, 0.2472430020570755, 0.2703869938850403, 3.110841989517212, -0.053677998483181, 0.42174699902534485, 0.34470587968826294, 0.9441890120506287, -0.6091399788856506, -0.7723569869995117, -0.057162001729011536, 1.3542250394821167, 0.5358729958534241 ]
4.05
81
0
81
0
[ 0.2042366862297058, 0.2473450005054474, 0.28027108311653137, 3.114210367202759, -0.038535647094249725, 0.4325883388519287, 1 ]
[ 0.18700699508190155, 0.2472430020570755, 0.2703869938850403, 3.110841989517212, -0.053677998483181, 0.42174699902534485, 0.34470587968826294, 0.9251980185508728, -0.593205988407135, -0.7913519740104675, -0.05482099950313568, 1.3570319414138794, 0.5149520039558411 ]
4.1
82
0
82
0
[ 0.2146730273962021, 0.24879276752471924, 0.2844666540622711, 3.114781141281128, -0.039802100509405136, 0.43448686599731445, 1 ]
[ 0.18700699508190155, 0.2472430020570755, 0.2703869938850403, 3.110841989517212, -0.053677998483181, 0.42174699902534485, 0.34470587968826294, 0.9001299738883972, -0.5677739977836609, -0.8197649717330933, -0.05011099949479103, 1.3575290441513062, 0.48658400774002075 ]
4.15
83
0
83
0
[ 0.22159278392791748, 0.2500090003013611, 0.28721883893013, 3.1160778999328613, -0.04143329709768295, 0.43555131554603577, 1 ]
[ 0.21998900175094604, 0.24979299306869507, 0.28595399856567383, 3.113079071044922, -0.05031299963593483, 0.4263719916343689, 0.34470587968826294, 0.8850430250167847, -0.5493260025978088, -0.8402339816093445, -0.04895099997520447, 1.3573119640350342, 0.4689899981021881 ]
4.2
84
0
84
0
[ 0.23129743337631226, 0.25229334831237793, 0.29087480902671814, 3.117237091064453, -0.04717288538813591, 0.43973222374916077, 1 ]
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4.25
85
0
85
0
[ 0.23753343522548676, 0.2542085349559784, 0.29281488060951233, 3.1172611713409424, -0.05015397071838379, 0.4436202645301819, 1 ]
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4.3
86
0
86
0
[ 0.24655549228191376, 0.2575286030769348, 0.29496490955352783, 3.1211771965026855, -0.0539776086807251, 0.448589950799942, 1 ]
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4.35
87
0
87
0
[ 0.25252673029899597, 0.26012301445007324, 0.29617857933044434, 3.121083974838257, -0.057068172842264175, 0.4539108872413635, 1 ]
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4.4
88
0
88
0
[ 0.2584741711616516, 0.26277369260787964, 0.29731249809265137, 3.1200242042541504, -0.06205388531088829, 0.4579956829547882, 1 ]
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4.45
89
0
89
0
[ 0.26694390177726746, 0.2663376033306122, 0.29870253801345825, 3.115813732147217, -0.06790431588888168, 0.4623509347438812, 1 ]
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4.5
90
0
90
0
[ 0.27265387773513794, 0.2684650719165802, 0.29938074946403503, 3.114481210708618, -0.07133223116397858, 0.46478715538978577, 1 ]
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4.55
91
0
91
0
[ 0.2808777391910553, 0.27113571763038635, 0.30018115043640137, 3.1109201908111572, -0.07381455600261688, 0.4670811593532562, 1 ]
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4.6
92
0
92
0
[ 0.2862561345100403, 0.27260956168174744, 0.300624281167984, 3.108860492706299, -0.07418365776538849, 0.468686044216156, 1 ]
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4.65
93
0
93
0
[ 0.29431620240211487, 0.2743377387523651, 0.30132564902305603, 3.1013333797454834, -0.07566496729850769, 0.47080501914024353, 1 ]
[ 0.2754040062427521, 0.2694210112094879, 0.29967001080513, 3.114480972290039, -0.07133200019598007, 0.46478700637817383, 0.34470587968826294, 0.7906860113143921, -0.3351629972457886, -1.0456000566482544, -0.06093600019812584, 1.3213939666748047, 0.33469900488853455 ]
4.7
94
0
94
0
[ 0.29937243461608887, 0.2750455141067505, 0.3017769455909729, 3.0956952571868896, -0.07687872648239136, 0.4707399904727936, 1 ]
[ 0.2754040062427521, 0.2694210112094879, 0.29967001080513, 3.114480972290039, -0.07133200019598007, 0.46478700637817383, 0.34470587968826294, 0.7866029739379883, -0.3192000091075897, -1.0610239505767822, -0.06655500084161758, 1.3220100402832031, 0.33205699920654297 ]
4.75
95
0
95
0
[ 0.3068905770778656, 0.27549487352371216, 0.30254918336868286, 3.0891354084014893, -0.0834117978811264, 0.47148069739341736, 1 ]
[ 0.30196601152420044, 0.2752699851989746, 0.3020380139350891, 3.0937929153442383, -0.07962600141763687, 0.4713509976863861, 0.34470587968826294, 0.7791510224342346, -0.3024689853191376, -1.0766160488128662, -0.0745370015501976, 1.3163830041885376, 0.3258360028266907 ]
4.8
96
0
96
0
[ 0.31176993250846863, 0.27544641494750977, 0.30305251479148865, 3.0870707035064697, -0.08447234332561493, 0.4707307517528534, 1 ]
[ 0.30196601152420044, 0.2752699851989746, 0.3020380139350891, 3.0937929153442383, -0.07962600141763687, 0.4713509976863861, 0.34470587968826294, 0.7740430235862732, -0.2907389998435974, -1.0882200002670288, -0.07984299957752228, 1.3153799772262573, 0.3233410120010376 ]
4.85
97
0
97
0
[ 0.31882786750793457, 0.27527937293052673, 0.3038202226161957, 3.085516929626465, -0.08820315450429916, 0.4685462713241577, 1 ]
[ 0.30196601152420044, 0.2752699851989746, 0.3020380139350891, 3.0937929153442383, -0.07962600141763687, 0.4713509976863861, 0.34470587968826294, 0.761676013469696, -0.2747739851474762, -1.104383945465088, -0.0798880010843277, 1.3128900527954102, 0.31230899691581726 ]
4.9
98
0
98
0
[ 0.3233768045902252, 0.2752947211265564, 0.3043297231197357, 3.0857322216033936, -0.09089817851781845, 0.4682500660419464, 1 ]
[ 0.30196601152420044, 0.2752699851989746, 0.3020380139350891, 3.0937929153442383, -0.07962600141763687, 0.4713509976863861, 0.34470587968826294, 0.7549539804458618, -0.2645449936389923, -1.1148170232772827, -0.08142100274562836, 1.3113850355148315, 0.3071019947528839 ]
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": "xarm6",
    "total_episodes": 182,
    "total_frames": 83196,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:182"
    },
    "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",
            "shape": [
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            "names": [
                "x",
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                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
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        },
        "observation.state": {
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            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "observation.images.right_zed_x_stereo": {
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            "shape": [
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                "video.channels": 3,
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        },
        "observation.images.left_zed_x_stereo": {
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            "shape": [
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            "names": [
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        "observation.images.front_zed_x_mini_stereo": {
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        "observation.images.gripper_zed_x_mini_stereo": {
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            "info": {
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                "has_audio": false
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        "observation.images.front_lower_zed_x_mini_stereo": {
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            "shape": [
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            "names": [
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            "info": {
                "video.height": 600,
                "video.width": 1920,
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                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "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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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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