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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
5.2
frame_index
int64
0
104
episode_index
int64
0
49
index
int64
0
4.64k
task_index
int64
0
0
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2.8
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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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0
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0
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3.5
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0
70
0
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3.55
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0
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3.6
72
0
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0
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3.65
73
0
73
0
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3.7
74
0
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0
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3.75
75
0
75
0
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3.8
76
0
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0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
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0
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0
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4
80
0
80
0
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4.05
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0
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0
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4.1
82
0
82
0
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4.15
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0
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4.2
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0
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4.25
85
0
85
0
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4.3
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0
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0
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4.35
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4.4
88
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4.45
89
0
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0
0
1
90
0
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[ -0.1741071492433548, 0.5544642806053162, 0.5169642567634583, 0, 0, 0, -1 ]
0.05
1
1
91
0
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0.1
2
1
92
0
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0.15
3
1
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0.2
4
1
94
0
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0.25
5
1
95
0
[ -0.22335004806518555, 0.05834902077913284, 1.2222002744674683, 3.161083459854126, 0.011096754111349583, -0.10919933021068573, 0.039018385112285614, -0.0386631041765213 ]
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0.3
6
1
96
0
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0.35
7
1
97
0
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0.4
8
1
98
0
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0.45
9
1
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": 4645,
    "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": [
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            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
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            "names": [
                "height",
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                "channel"
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        },
        "observation.state": {
            "dtype": "float32",
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
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        },
        "observation.state.joint": {
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            "shape": [
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            "names": {
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                ]
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
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                    "roll",
                    "pitch",
                    "yaw",
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                ]
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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