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imagewidth (px)
640
640
observation.state
sequence
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sequence
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float32
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7.98
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1.02
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1.04
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1.06
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1.08
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1.1
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1.12
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1.14
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1.16
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1.18
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1.2
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1.22
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1.24
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1.26
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1.28
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1.3
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1.32
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1.34
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1.36
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1.38
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1.4
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1.42
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1.44
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1.46
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1.48
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1.5
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1.52
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1.56
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1.6
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1.62
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1.64
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1.66
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1.68
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1.7
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1.72
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1.74
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1.76
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1.78
89
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1.8
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1.82
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1.84
92
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1.86
93
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1.88
94
0
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1.9
95
0
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1.92
96
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1.94
97
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1.96
98
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1.98
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": "aloha",
    "total_episodes": 50,
    "total_frames": 20000,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.top": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "motors": [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
                ]
            }
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "motors": [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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