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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
sequence
observation.state.joint
sequence
action
sequence
timestamp
float32
0
16.1
frame_index
int64
0
321
episode_index
int64
0
49
index
int64
0
10.7k
task_index
int64
0
0
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2
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2.25
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
0
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3.05
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3.1
62
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3.15
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3.2
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3.25
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3.3
66
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3.35
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3.4
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3.45
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3.5
70
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70
0
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[ -0.06848806887865067, 0.6472218036651611, -0.07970180362462997, -1.585932731628418, 0.08328182250261307, 2.131347894668579, 0.666027843952179 ]
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3.55
71
0
71
0
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3.6
72
0
72
0
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[ -0.06354346871376038, 0.629295289516449, -0.07361897826194763, -1.5866377353668213, 0.06344202160835266, 2.115732431411743, 0.6776100993156433 ]
[ -0.0026785715017467737, 0.4178571403026581, 0.3910714387893677, -0.06535714119672775, 0, 0.04178571328520775, -1 ]
3.65
73
0
73
0
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[ -0.059565845876932144, 0.6196402311325073, -0.06866838783025742, -1.5876479148864746, 0.051398295909166336, 2.1080269813537598, 0.6866665482521057 ]
[ 0, 0.4178571403026581, 0.38035714626312256, -0.05999999865889549, 0, 0.040714286267757416, -1 ]
3.7
74
0
74
0
[ 0.011761046946048737, -0.07275049388408661, 1.0872200727462769, 3.1432337760925293, -0.06481332331895828, -0.15218497812747955, 0.040002740919589996, -0.039879605174064636 ]
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[ -0.02678571455180645, 0.4312500059604645, 0.3642857074737549, -0.05999999865889549, 0, 0.03857142850756645, -1 ]
3.75
75
0
75
0
[ 0.011636028066277504, -0.06744637340307236, 1.0922616720199585, 3.1358642578125, -0.05669174715876579, -0.15229521691799164, 0.04000240936875343, -0.03988242149353027 ]
[ -0.05041791498661041, 0.6009464859962463, -0.057620253413915634, -1.5903441905975342, 0.026745235547423363, 2.093728542327881, 0.7080295085906982 ]
[ -0.08571428805589676, 0.43660715222358704, 0.30267858505249023, -0.05999999865889549, -0.002142857061699033, 0.039642855525016785, -1 ]
3.8
76
0
76
0
[ 0.011119890958070755, -0.061955712735652924, 1.0968873500823975, 3.1283366680145264, -0.04886280372738838, -0.15358346700668335, 0.04000205174088478, -0.039885543286800385 ]
[ -0.0454910472035408, 0.5916821956634521, -0.05188200995326042, -1.5927989482879639, 0.014463771134614944, 2.086637496948242, 0.7194085121154785 ]
[ -0.15267856419086456, 0.4258928596973419, 0.20892857015132904, -0.051428571343421936, -0.01607142947614193, 0.039642855525016785, -1 ]
3.85
77
0
77
0
[ 0.010207018814980984, -0.056330807507038116, 1.1008070707321167, 3.121180534362793, -0.04122474417090416, -0.15539102256298065, 0.04000172019004822, -0.03988885506987572 ]
[ -0.040501728653907776, 0.5825923085212708, -0.046076543629169464, -1.5968236923217773, 0.002834920072928071, 2.0807411670684814, 0.7305690050125122 ]
[ -0.17946428060531616, 0.42053571343421936, 0.15267856419086456, -0.04392857104539871, -0.024642856791615486, 0.03857142850756645, -1 ]
3.9
78
0
78
0
[ 0.009017731994390488, -0.05065806955099106, 1.1040048599243164, 3.1148252487182617, -0.0338454470038414, -0.15651938319206238, 0.04000137373805046, -0.03989242762327194 ]
[ -0.03558683022856712, 0.573624312877655, -0.04029247164726257, -1.6026809215545654, -0.007661333307623863, 2.0770277976989746, 0.7411508560180664 ]
[ -0.21964286267757416, 0.4151785671710968, 0.02142857201397419, -0.03214285895228386, -0.029999999329447746, 0.039642855525016785, -1 ]
3.95
79
0
79
0
[ 0.0074861058965325356, -0.04493207484483719, 1.106022834777832, 3.1096086502075195, -0.02649473212659359, -0.15734907984733582, 0.04000113159418106, -0.039895977824926376 ]
[ -0.030831353738904, 0.5652639269828796, -0.034525495022535324, -1.6107707023620605, -0.01670410856604576, 2.0761775970458984, 0.7508360147476196 ]
[ -0.24642856419086456, 0.39642858505249023, 0, -0.020357143133878708, -0.03321428596973419, 0.04500000178813934, -1 ]
4
80
0
80
0
[ 0.005593344569206238, -0.03924671933054924, 1.1071858406066895, 3.105663776397705, -0.01862875558435917, -0.1579011231660843, 0.0400007925927639, -0.03989985212683678 ]
[ -0.02632622793316841, 0.5570284128189087, -0.028872909024357796, -1.6210044622421265, -0.02419205754995346, 2.0776641368865967, 0.7590913772583008 ]
[ -0.2517857253551483, 0.36964285373687744, -0.05624999850988388, -0.010714286006987095, -0.034285712987184525, 0.04500000178813934, -1 ]
4.05
81
0
81
0
[ 0.003447825787588954, -0.033791422843933105, 1.1076937913894653, 3.1029069423675537, -0.010403749532997608, -0.15764649212360382, 0.040000297129154205, -0.039904166013002396 ]
[ -0.022161655128002167, 0.5488187670707703, -0.02353557012975216, -1.633070945739746, -0.030171817168593407, 2.0814735889434814, 0.7658087611198425 ]
[ -0.2517857253551483, 0.38035714626312256, -0.0803571417927742, -0.010714286006987095, -0.03642857074737549, 0.046071428805589676, -1 ]
4.1
82
0
82
0
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[ -0.01824750378727913, 0.5407050251960754, -0.01846591755747795, -1.6466643810272217, -0.03515312448143959, 2.087589979171753, 0.7714003324508667 ]
[ -0.2517857253551483, 0.4151785671710968, -0.13124999403953552, -0.013928571715950966, -0.039642855525016785, 0.04714285582304001, -1 ]
4.15
83
0
83
0
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[ -0.014358537271618843, 0.5328384637832642, -0.013366964645683765, -1.6616090536117554, -0.03984216973185539, 2.0960135459899902, 0.7766163945198059 ]
[ -0.25982141494750977, 0.42053571343421936, -0.17142857611179352, -0.01607142947614193, -0.04392857104539871, 0.04821428656578064, -1 ]
4.2
84
0
84
0
[ -0.003787111258134246, -0.01786550134420395, 1.1057250499725342, 3.097519874572754, 0.016864294186234474, -0.1502278596162796, 0.040000125765800476, -0.03991531580686569 ]
[ -0.010400081984698772, 0.5252944231033325, -0.008192779496312141, -1.6778466701507568, -0.04473280534148216, 2.1066884994506836, 0.7820162177085876 ]
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4.25
85
0
85
0
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[ -0.00638200156390667, 0.5178080201148987, -0.0029940945096313953, -1.6954349279403687, -0.04994138330221176, 2.1192071437835693, 0.787722647190094 ]
[ -0.28660714626312256, 0.4017857015132904, -0.2571428716182709, -0.01607142947614193, -0.04714285582304001, 0.04928571358323097, -1 ]
4.3
86
0
86
0
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[ -0.0023768534883856773, 0.510644793510437, 0.002110948320478201, -1.7143535614013672, -0.05537020415067673, 2.1337056159973145, 0.7936592102050781 ]
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4.35
87
0
87
0
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4.4
88
0
88
0
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[ -0.26249998807907104, 0.28125, -0.3991071283817291, 0, -0.017142856493592262, 0.0503571443259716, -1 ]
4.45
89
0
89
0
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[ -0.28125, 0.2517857253551483, -0.4553571343421936, 0, -0.025714285671710968, 0.05249999836087227, -1 ]
4.5
90
0
90
0
[ -0.022807415574789047, 0.011052330024540424, 1.083979606628418, 3.088311195373535, 0.07445443421602249, -0.12233655899763107, 0.03999536484479904, -0.0399392694234848 ]
[ 0.011178094893693924, 0.4933229982852936, 0.018856914713978767, -1.795609712600708, -0.07285507768392563, 2.208155870437622, 0.8115551471710205 ]
[ -0.3053571283817291, 0.2517857253551483, -0.48750001192092896, 0, -0.03750000149011612, 0.055714286863803864, -1 ]
4.55
91
0
91
0
[ -0.02639666199684143, 0.014582155272364616, 1.0781151056289673, 3.0876967906951904, 0.08482221513986588, -0.11754132062196732, 0.03999407961964607, -0.03994336351752281 ]
[ 0.013836548663675785, 0.49147170782089233, 0.02191999927163124, -1.8164657354354858, -0.07635769248008728, 2.2299764156341553, 0.8136522173881531 ]
[ -0.3053571283817291, 0.24642856419086456, -0.5008928775787354, 0, -0.035357143729925156, 0.05785714462399483, -1 ]
4.6
92
0
92
0
[ -0.030105793848633766, 0.017956601455807686, 1.0719494819641113, 3.0871963500976562, 0.09580373018980026, -0.11216991394758224, 0.039992883801460266, -0.03994724899530411 ]
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[ -0.30000001192092896, 0.23839285969734192, -0.5330356955528259, -0.003214285708963871, -0.02678571455180645, 0.061071429401636124, -1 ]
4.65
93
0
93
0
[ -0.03398879989981651, 0.021146539598703384, 1.0653398036956787, 3.086529493331909, 0.10740239173173904, -0.1069275438785553, 0.039991606026887894, -0.03995110094547272 ]
[ 0.018801646307110786, 0.48958465456962585, 0.027527563273906708, -1.859126329421997, -0.08370456099510193, 2.2770836353302, 0.8164923787117004 ]
[ -0.30000001192092896, 0.21696428954601288, -0.5571428537368774, -0.004285714123398066, -0.02250000089406967, 0.061071429401636124, -1 ]
4.7
94
0
94
0
[ -0.03801215812563896, 0.024093732237815857, 1.0582923889160156, 3.0856082439422607, 0.11929215490818024, -0.10194772481918335, 0.039990153163671494, -0.0399550199508667 ]
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[ -0.3187499940395355, 0.15803571045398712, -0.5892857313156128, 0, -0.02142857201397419, 0.056785713881254196, -1 ]
4.75
95
0
95
0
[ -0.042208969593048096, 0.026605701074004173, 1.0508487224578857, 3.08467173576355, 0.13060826063156128, -0.09743055701255798, 0.03998814895749092, -0.0399593822658062 ]
[ 0.023288771510124207, 0.49151885509490967, 0.03184833750128746, -1.9016122817993164, -0.09220265597105026, 2.3271281719207764, 0.8186108469963074 ]
[ -0.3187499940395355, 0.13124999403953552, -0.5973214507102966, 0, -0.020357143133878708, 0.055714286863803864, -1 ]
4.8
96
0
96
0
[ -0.04650748893618584, 0.028656957671046257, 1.0431545972824097, 3.083860397338867, 0.14144261181354523, -0.09298929572105408, 0.03998614475131035, -0.03996364399790764 ]
[ 0.025161903351545334, 0.49376317858695984, 0.03319665417075157, -1.922573447227478, -0.0962885171175003, 2.3530077934265137, 0.8191475868225098 ]
[ -0.31607142090797424, 0.14196428656578064, -0.5973214507102966, 0, -0.02142857201397419, 0.055714286863803864, -1 ]
4.85
97
0
97
0
[ -0.050823330879211426, 0.030532799661159515, 1.0353723764419556, 3.083249092102051, 0.15234880149364471, -0.0881962925195694, 0.03998474031686783, -0.03996720910072327 ]
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[ -0.3348214328289032, 0.1607142835855484, -0.5839285850524902, -0.0053571430034935474, -0.02250000089406967, 0.0535714291036129, -1 ]
4.9
98
0
98
0
[ -0.055248141288757324, 0.03237316012382507, 1.0276702642440796, 3.0824928283691406, 0.1632593423128128, -0.0833962932229042, 0.03998352587223053, -0.03997049108147621 ]
[ 0.02866298332810402, 0.4998926520347595, 0.03537272289395332, -1.963321566581726, -0.10467982292175293, 2.405740976333618, 0.8198702931404114 ]
[ -0.32678571343421936, 0.17142857611179352, -0.5705357193946838, -0.010714286006987095, -0.014999999664723873, 0.051428571343421936, -1 ]
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": "v2.1",
    "robot_type": null,
    "total_episodes": 50,
    "total_frames": 10662,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
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                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
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        },
        "timestamp": {
            "dtype": "float32",
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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
        },
        "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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