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imagewidth (px)
256
256
wrist_image
imagewidth (px)
256
256
state
listlengths
8
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actions
listlengths
7
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timestamp
float32
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93.1
frame_index
int64
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931
episode_index
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49
index
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46.1k
task_index
int64
0
5
[ -0.0030810737516731024, 0.6506661176681519, -0.000167368576512672, 1.8825969696044922, -0.03294389694929123, 0.5861802101135254, -1.5793254375457764, 0.11618542671203613 ]
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0.1
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1
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1.1
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1.2
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1.3
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
45
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2
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4.6
46
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4.7
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4.8
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2
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4.9
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5
50
0
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5.1
51
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5.2
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5.3
53
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2
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5.4
54
0
54
2
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[ -0.010311130434274673, 0.03197009861469269, -0.06513304263353348, 0, 0, 0, -1 ]
5.5
55
0
55
2
[ 0.1262347251176834, 0.6277721524238586, 0.13581813871860504, 1.5677592754364014, -0.125887930393219, 0.9350528717041016, -1.2942126989364624, 0.13872505724430084 ]
[ 0.1978716105222702, -0.40126779675483704, -0.20838496088981628, 0, 0, 0, -1 ]
5.6
56
0
56
2
[ 0.1292092651128769, 0.6340339183807373, 0.138173446059227, 1.563552737236023, -0.1275661587715149, 0.9325156211853027, -1.2889715433120728, 0.13873085379600525 ]
[ -0.011645318940281868, 0.032154642045497894, -0.07756780833005905, 0, 0, 0, -1 ]
5.7
57
0
57
2
[ 0.13199587166309357, 0.6396224498748779, 0.13937576115131378, 1.5599297285079956, -0.1305888593196869, 0.9320349097251892, -1.2834192514419556, 0.13872471451759338 ]
[ 0.1967870146036148, -0.4013347923755646, -0.23712533712387085, 0, 0, 0, -1 ]
5.8
58
0
58
2
[ 0.13504110276699066, 0.646328330039978, 0.14157339930534363, 1.555848479270935, -0.1323218047618866, 0.9289283752441406, -1.2781955003738403, 0.13873112201690674 ]
[ -0.012988199479877949, 0.032421063631772995, -0.09002478420734406, 0, 0, 0, -1 ]
5.9
59
0
59
2
[ 0.13790223002433777, 0.6522942781448364, 0.14262451231479645, 1.5523489713668823, -0.13537554442882538, 0.9279626607894897, -1.2726659774780273, 0.13872437179088593 ]
[ 0.1958058625459671, -0.40136969089508057, -0.2658561170101166, 0, 0, 0, -1 ]
6
60
0
60
2
[ 0.14102007448673248, 0.659438967704773, 0.14465607702732086, 1.548389196395874, -0.13715974986553192, 0.9242829084396362, -1.2674622535705566, 0.13873140513896942 ]
[ -0.014256514608860016, 0.03273637592792511, -0.10246496647596359, 0, 0, 0, -1 ]
6.1
61
0
61
2
[ 0.143957257270813, 0.6657785773277283, 0.14554695785045624, 1.5450115203857422, -0.14023958146572113, 0.9228221774101257, -1.2619587182998657, 0.13872402906417847 ]
[ 0.19484835863113403, -0.401355117559433, -0.2945258915424347, 0, 0, 0, -1 ]
6.2
62
0
62
2
[ 0.14714890718460083, 0.6733584403991699, 0.1474040150642395, 1.541167974472046, -0.1420704573392868, 0.9185678958892822, -1.2567789554595947, 0.1387316733598709 ]
[ -0.015302810817956924, 0.03304024785757065, -0.1148265153169632, 0, 0, 0, -1 ]
6.3
63
0
63
2
[ 0.15016266703605652, 0.6800694465637207, 0.14813163876533508, 1.537906289100647, -0.14517083764076233, 0.9166111946105957, -1.2513055801391602, 0.138723686337471 ]
[ 0.19416329264640808, -0.4012192189693451, -0.3230995833873749, 0, 0, 0, -1 ]
6.4
64
0
64
2
[ 0.1534232199192047, 0.68808513879776, 0.14983250200748444, 1.5341638326644897, -0.14705871045589447, 0.9117911458015442, -1.2461435794830322, 0.1387319415807724 ]
[ -0.015931282192468643, 0.033958569169044495, -0.12711679935455322, 0, 0, 0, -1 ]
6.5
65
0
65
2
[ 0.1565067023038864, 0.6951709985733032, 0.15040753781795502, 1.5310025215148926, -0.15019278228282928, 0.9093456268310547, -1.2406905889511108, 0.13872334361076355 ]
[ 0.19373305141925812, -0.4008887708187103, -0.3515697717666626, 0, 0, 0, -1 ]
6.6
66
0
66
2
[ 0.15983079373836517, 0.7036275267601013, 0.15194880962371826, 1.5273370742797852, -0.15214522182941437, 0.9039781093597412, -1.2355388402938843, 0.13873222470283508 ]
[ -0.016284499317407608, 0.034512609243392944, -0.13929276168346405, 0, 0, 0, -1 ]
6.7
67
0
67
2
[ 0.16298171877861023, 0.7110949754714966, 0.15236960351467133, 1.5242514610290527, -0.15531028807163239, 0.9010531902313232, -1.2301032543182373, 0.1387230008840561 ]
[ 0.1934395134449005, -0.400446355342865, -0.3799092173576355, 0, 0, 0, -1 ]
6.8
68
0
68
2
[ 0.16637098789215088, 0.719998836517334, 0.15373635292053223, 1.520634412765503, -0.15731708705425262, 0.8951585292816162, -1.2249665260314941, 0.13873249292373657 ]
[ -0.016303157433867455, 0.03477863594889641, -0.15131698548793793, 0, 0, 0, -1 ]
6.9
69
0
69
2
[ 0.1695919930934906, 0.7278550267219543, 0.1539916694164276, 1.5175946950912476, -0.16049982607364655, 0.8917679190635681, -1.219557285308838, 0.13872267305850983 ]
[ 0.19331520795822144, -0.3999882936477661, -0.40810224413871765, 0, 0, 0, -1 ]
7
70
0
70
2
[ 0.17305009067058563, 0.7372140288352966, 0.15516991913318634, 1.5139914751052856, -0.16254641115665436, 0.8853726983070374, -1.2144476175308228, 0.13873277604579926 ]
[ -0.015898481011390686, 0.03486412391066551, -0.16318829357624054, 0, 0, 0, -1 ]
7.1
71
0
71
2
[ 0.17634445428848267, 0.7454684376716614, 0.15524761378765106, 1.5109610557556152, -0.16573193669319153, 0.8815354108810425, -1.2090775966644287, 0.13872234523296356 ]
[ 0.19339682161808014, -0.3995898962020874, -0.43614956736564636, 0, 0, 0, -1 ]
7.2
72
0
72
2
[ 0.17987453937530518, 0.7552911639213562, 0.15622389316558838, 1.5073421001434326, -0.16780318319797516, 0.8746377825737, -1.2040091753005981, 0.13873304426670074 ]
[ -0.015525776892900467, 0.03494410589337349, -0.17482890188694, 0, 0, 0, -1 ]
7.3
73
0
73
2
[ 0.18324460089206696, 0.7639484405517578, 0.15611255168914795, 1.5042970180511475, -0.17097599804401398, 0.8703721761703491, -1.198691725730896, 0.1387220025062561 ]
[ 0.1941162645816803, -0.39941641688346863, -0.46396929025650024, 0, 0, 0, -1 ]
7.4
74
0
74
2
[ 0.1868487298488617, 0.7742407917976379, 0.15687622129917145, 1.5006310939788818, -0.1730564832687378, 0.8629844784736633, -1.193677544593811, 0.13873332738876343 ]
[ -0.014775767922401428, 0.0348692461848259, -0.18624979257583618, 0, 0, 0, -1 ]
7.5
75
0
75
2
[ 0.1902962476015091, 0.7833085656166077, 0.1565651297569275, 1.4975394010543823, -0.17620030045509338, 0.8583095073699951, -1.1884257793426514, 0.13872167468070984 ]
[ 0.19532287120819092, -0.3994920551776886, -0.49154528975486755, 0, 0, 0, -1 ]
7.6
76
0
76
2
[ 0.19397614896297455, 0.7940798401832581, 0.15710791945457458, 1.493786096572876, -0.17827321588993073, 0.850455105304718, -1.1834791898727417, 0.1387336105108261 ]
[ -0.013542083092033863, 0.03459697216749191, -0.19743072986602783, 0, 0, 0, -1 ]
7.7
77
0
77
2
[ 0.19750326871871948, 0.8035687804222107, 0.15658536553382874, 1.490606665611267, -0.18136894702911377, 0.8453981876373291, -1.1783071756362915, 0.13872133195400238 ]
[ 0.1970117837190628, -0.39992064237594604, -0.518872082233429, 0, 0, 0, -1 ]
7.8
78
0
78
2
[ 0.20126092433929443, 0.8148311972618103, 0.15690100193023682, 1.4867167472839355, -0.18341486155986786, 0.837108314037323, -1.17344331741333, 0.1387338936328888 ]
[ -0.011834079399704933, 0.03414846584200859, -0.20837192237377167, 0, 0, 0, -1 ]
7.9
79
0
79
2
[ 0.20487003028392792, 0.8247543573379517, 0.15615616738796234, 1.4833999872207642, -0.18644092977046967, 0.8317050337791443, -1.1683669090270996, 0.13872098922729492 ]
[ 0.19917789101600647, -0.40073415637016296, -0.5459528565406799, 0, 0, 0, -1 ]
8
80
0
80
2
[ 0.20870503783226013, 0.8365227580070496, 0.15625256299972534, 1.4793152809143066, -0.1884441077709198, 0.8230195045471191, -1.1635982990264893, 0.13873417675495148 ]
[ -0.009563376195728779, 0.0338643454015255, -0.21910056471824646, 0, 0, 0, -1 ]
8.1
81
0
81
2
[ 0.212394118309021, 0.8468959331512451, 0.15528663992881775, 1.4758031368255615, -0.19138836860656738, 0.817314863204956, -1.1586277484893799, 0.13872066140174866 ]
[ 0.20182514190673828, -0.4018308222293854, -0.5728196501731873, 0, 0, 0, -1 ]
8.2
82
0
82
2
[ 0.2163040190935135, 0.8591875433921814, 0.15516798198223114, 1.471458077430725, -0.19333423674106598, 0.8082808256149292, -1.1539654731750488, 0.13873445987701416 ]
[ -0.006861686706542969, 0.03339676558971405, -0.22962939739227295, 0, 0, 0, -1 ]
8.3
83
0
83
2
[ 0.2200704663991928, 0.870028555393219, 0.1539863795042038, 1.4676854610443115, -0.1961807757616043, 0.802325963973999, -1.1491115093231201, 0.1387203186750412 ]
[ 0.20495782792568207, -0.40309154987335205, -0.599492609500885, 0, 0, 0, -1 ]
8.4
84
0
84
2
[ 0.22405067086219788, 0.8828619718551636, 0.15367209911346436, 1.4630073308944702, -0.19805628061294556, 0.792997419834137, -1.1445655822753906, 0.13873474299907684 ]
[ -0.003630763152614236, 0.03319775313138962, -0.2400008887052536, 0, 0, 0, -1 ]
8.5
85
0
85
2
[ 0.2278837114572525, 0.8941905498504639, 0.1523047387599945, 1.4589016437530518, -0.20080748200416565, 0.7868543863296509, -1.1398290395736694, 0.13871997594833374 ]
[ 0.20867016911506653, -0.4040355682373047, -0.6260431408882141, 0, 0, 0, -1 ]
8.6
86
0
86
2
[ 0.23192225396633148, 0.9075868725776672, 0.1518239825963974, 1.453810453414917, -0.20261304080486298, 0.7772941589355469, -1.1354010105133057, 0.13873501121997833 ]
[ 0.000058213907323079184, 0.03323743864893913, -0.2502676844596863, 0, 0, 0, -1 ]
8.7
87
0
87
2
[ 0.23580707609653473, 0.9194247722625732, 0.1502971649169922, 1.4492921829223633, -0.2052748054265976, 0.77103191614151, -1.13077974319458, 0.13871964812278748 ]
[ 0.21276982128620148, -0.40508559346199036, -0.6525009274482727, 0, 0, 0, -1 ]
8.8
88
0
88
2
[ 0.23989731073379517, 0.9334050416946411, 0.14962933957576752, 1.4437026977539062, -0.20699620246887207, 0.7613047957420349, -1.1264774799346924, 0.1387353092432022 ]
[ 0.0035893835593014956, 0.03172548487782478, -0.26039376854896545, 0, 0, 0, -1 ]
8.9
89
0
89
2
[ 0.2438427060842514, 0.9457709789276123, 0.1479211002588272, 1.4386940002441406, -0.20950858294963837, 0.754980742931366, -1.1220060586929321, 0.13871929049491882 ]
[ 0.2171320766210556, -0.40667930245399475, -0.6787812113761902, 0, 0, 0, -1 ]
9
90
0
90
2
[ 0.2479930967092514, 0.9603515267372131, 0.14706383645534515, 1.432523250579834, -0.21109329164028168, 0.745145857334137, -1.1178652048110962, 0.1387355923652649 ]
[ 0.007551444228738546, 0.03049430064857006, -0.27040228247642517, 0, 0, 0, -1 ]
9.1
91
0
91
2
[ 0.2520022392272949, 0.9732615351676941, 0.14517198503017426, 1.4269442558288574, -0.21341729164123535, 0.7388245463371277, -1.113576889038086, 0.13871894776821136 ]
[ 0.22186078131198883, -0.40847542881965637, -0.7049566507339478, 0, 0, 0, -1 ]
9.2
92
0
92
2
[ 0.2562120258808136, 0.9884591698646545, 0.14413006603717804, 1.4201066493988037, -0.21482959389686584, 0.7289450764656067, -1.1096291542053223, 0.13873589038848877 ]
[ 0.011780459433794022, 0.0290733240544796, -0.2803179621696472, 0, 0, 0, -1 ]
9.3
93
0
93
2
[ 0.26028138399124146, 1.0019307136535645, 0.14206555485725403, 1.4138752222061157, -0.21693214774131775, 0.7226932048797607, -1.1055526733398438, 0.1387186050415039 ]
[ 0.22698979079723358, -0.41038912534713745, -0.7310351133346558, 0, 0, 0, -1 ]
9.4
94
0
94
2
[ 0.26454442739486694, 1.0177626609802246, 0.14085398614406586, 1.4062830209732056, -0.21814192831516266, 0.7128347158432007, -1.101824402809143, 0.13873618841171265 ]
[ 0.01630476862192154, 0.027533039450645447, -0.29015129804611206, 0, 0, 0, -1 ]
9.5
95
0
95
2
[ 0.2686656415462494, 1.0318341255187988, 0.1386360079050064, 1.399303913116455, -0.21999730169773102, 0.7067252993583679, -1.097983479499817, 0.13871823251247406 ]
[ 0.23266877233982086, -0.41249218583106995, -0.756658136844635, 0, 0, 0, -1 ]
9.6
96
0
96
2
[ 0.2729719579219818, 1.04832124710083, 0.1372784525156021, 1.390852928161621, -0.22098027169704437, 0.6969678997993469, -1.0944969654083252, 0.13873645663261414 ]
[ 0.020934615284204483, 0.025932922959327698, -0.29975655674934387, 0, 0, 0, -1 ]
9.7
97
0
97
2
[ 0.2771334648132324, 1.063040018081665, 0.13493478298187256, 1.3830116987228394, -0.22256781160831451, 0.6910942792892456, -1.0909125804901123, 0.13871783018112183 ]
[ 0.23896196484565735, -0.4147629737854004, -0.7815796732902527, 0, 0, 0, -1 ]
9.8
98
0
98
2
[ 0.2814704179763794, 1.0802057981491089, 0.1334625631570816, 1.37357759475708, -0.22330451011657715, 0.68153977394104, -1.0876882076263428, 0.13873670995235443 ]
[ 0.0254764873534441, 0.02436125837266445, -0.30900290608406067, 0, 0, 0, -1 ]
9.9
99
0
99
2
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "kinova3",
    "total_episodes": 50,
    "total_frames": 46133,
    "total_tasks": 6,
    "chunks_size": 1000,
    "fps": 10,
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 10
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 10
        },
        "state": {
            "dtype": "float32",
            "shape": [
                8
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            "names": [
                "state"
            ],
            "fps": 10
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ],
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        },
        "timestamp": {
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                1
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        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null,
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        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null,
            "fps": 10
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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