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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
8.35
frame_index
int64
0
167
episode_index
int64
0
49
index
int64
0
6.81k
task_index
int64
0
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2.5
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2.55
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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
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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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
0
70
0
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[ 0.19285714626312256, 0, 0.23303571343421936, 0, 0.1274999976158142, -0.09107142686843872, 1 ]
3.55
71
0
71
0
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[ 0.1875, 0, 0.28660714626312256, 0, 0.1274999976158142, -0.09214285761117935, 1 ]
3.6
72
0
72
0
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[ 0.19285714626312256, 0, 0.3776785731315613, 0, 0.12321428209543228, -0.08785714209079742, 1 ]
3.65
73
0
73
0
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[ 0.19553571939468384, 0, 0.40714284777641296, 0, 0.12535713613033295, -0.0867857113480568, 1 ]
3.7
74
0
74
0
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[ 0.09953854978084564, 0.7917042374610901, -0.002573776990175247, -1.748451828956604, -0.12893924117088318, 2.547070026397705, 1.226737141609192 ]
[ 0.17946428060531616, 0.008035714738070965, 0.5169642567634583, 0, 0.12321428209543228, -0.07500000298023224, 1 ]
3.75
75
0
75
0
[ -0.002943227766081691, 0.058282848447561264, 0.9414432048797607, 3.047144651412964, -0.37610557675361633, 0.018562110140919685, 0.011179647408425808, -0.009392599575221539 ]
[ 0.09803253412246704, 0.7875337600708008, -0.000569092168007046, -1.7324817180633545, -0.1222219318151474, 2.5126612186431885, 1.228278636932373 ]
[ 0.17142857611179352, 0.02678571455180645, 0.5758928656578064, 0, 0.11785714328289032, -0.06964285671710968, 1 ]
3.8
76
0
76
0
[ -0.0010956355836242437, 0.05838610976934433, 0.9483367800712585, 3.0442655086517334, -0.3884497284889221, -0.0032466063275933266, 0.011095486581325531, -0.009424977004528046 ]
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[ 0.15535713732242584, 0.06160714104771614, 0.6589285731315613, 0, 0.10499999672174454, -0.061071429401636124, 1 ]
3.85
77
0
77
0
[ 0.0008052578195929527, 0.05879691615700722, 0.956383466720581, 3.0415148735046387, -0.3993670642375946, -0.02414032071828842, 0.011017643846571445, -0.00945268664509058 ]
[ 0.09528764337301254, 0.7741132974624634, 0.004046747460961342, -1.7004475593566895, -0.11036916822195053, 2.4394195079803467, 1.2307817935943604 ]
[ 0.13928571343421936, 0.07232142984867096, 0.6964285969734192, -0.002142857061699033, 0.09535714238882065, -0.055714286863803864, 1 ]
3.9
78
0
78
0
[ 0.0026749633252620697, 0.05941855162382126, 0.9653339385986328, 3.0386691093444824, -0.4090660512447357, -0.04384741932153702, 0.010943987406790257, -0.009477345272898674 ]
[ 0.09417805820703506, 0.7653136253356934, 0.006601409055292606, -1.684651255607605, -0.10563001036643982, 2.4019293785095215, 1.2323344945907593 ]
[ 0.10178571194410324, 0.07500000298023224, 0.7526785731315613, -0.004285714123398066, 0.0835714265704155, -0.04928571358323097, 1 ]
3.95
79
0
79
0
[ 0.004366184584796429, 0.060142695903778076, 0.9750800132751465, 3.035496473312378, -0.41769012808799744, -0.0625273808836937, 0.010879244655370712, -0.00949948187917471 ]
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4
80
0
80
0
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[ 0.0535714291036129, 0.05089285597205162, 0.8196428418159485, -0.007499999832361937, 0.06428571790456772, -0.046071428805589676, 1 ]
4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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[ 0.08940059691667557, 0.6882762312889099, 0.01986967772245407, -1.6082501411437988, -0.09180759638547897, 2.1881701946258545, 1.2492377758026123 ]
[ 0, 0, 0.8678571581840515, 0, 0.006428571417927742, -0.05249999836087227, 1 ]
4.25
85
0
85
0
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[ 0, 0, 0.8758928775787354, 0, 0, -0.055714286863803864, 1 ]
4.3
86
0
86
0
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4.35
87
0
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0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
[ 0.011047442443668842, 0.059417784214019775, 1.1055468320846558, 3.003256320953369, -0.5198652744293213, -0.1512337625026703, 0.010357274673879147, -0.00962146557867527 ]
[ 0.08201532065868378, 0.5925002098083496, 0.025070877745747566, -1.5631312131881714, -0.0822070762515068, 2.034130096435547, 1.2735748291015625 ]
[ 0, -0.19285714626312256, 0.9375, 0, 0, -0.055714286863803864, 1 ]
4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
[ 0.009001163765788078, 0.041852548718452454, 1.1667330265045166, 2.9939897060394287, -0.5769695043563843, -0.14828521013259888, 0.010070654563605785, -0.009599748067557812 ]
[ 0.06698587536811829, 0.5134483575820923, 0.013363403268158436, -1.5286375284194946, -0.07068103551864624, 1.923775553703308, 1.274024248123169 ]
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4.8
96
0
96
0
[ 0.008134748786687851, 0.03679616004228592, 1.1788785457611084, 2.993389368057251, -0.5891509056091309, -0.14782816171646118, 0.009948783554136753, -0.009583002887666225 ]
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4.85
97
0
97
0
[ 0.007000765297561884, 0.031364962458610535, 1.1909914016723633, 2.9932680130004883, -0.6013453602790833, -0.14781911671161652, 0.009547725319862366, -0.009319518692791462 ]
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4.9
98
0
98
0
[ 0.005612339824438095, 0.025629306212067604, 1.2030006647109985, 2.9935922622680664, -0.6136026382446289, -0.1481178104877472, 0.006203691940754652, -0.006254721432924271 ]
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[ -0.12857143580913544, -0.5276785492897034, 0.824999988079071, 0.03214285895228386, 0, -0.05999999865889549, 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": 6811,
    "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,
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            ],
            "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"
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            }
        },
        "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",
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                    "roll",
                    "pitch",
                    "yaw",
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                ]
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        },
        "timestamp": {
            "dtype": "float32",
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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