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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
9.55
frame_index
int64
0
191
episode_index
int64
0
49
index
int64
0
6.28k
task_index
int64
0
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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
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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
[ -0.02090839296579361, 0.056790705770254135, 0.9850042462348938, 3.1140427589416504, 0.011977257207036018, -0.215541809797287, 0.004809570498764515, -0.006571214646100998 ]
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[ -0.06964285671710968, -0.3053571283817291, 0.12589286267757416, 0.018214285373687744, 0, 0, 1 ]
3.55
71
0
71
0
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[ -0.05892857164144516, -0.3241071403026581, 0.16875000298023224, 0.018214285373687744, -0.008571428246796131, 0, 1 ]
3.6
72
0
72
0
[ -0.0207224003970623, 0.05053594335913658, 0.9892417192459106, 3.1154074668884277, 0.010678023099899292, -0.22429974377155304, 0.004823259077966213, -0.006439926102757454 ]
[ 0.04404843971133232, 0.6970134973526001, 0.04071492701768875, -1.7150460481643677, -0.043756283819675446, 2.2664287090301514, 0.8866917490959167 ]
[ -0.05892857164144516, -0.3482142984867096, 0.2651785612106323, 0.02678571455180645, -0.040714286267757416, 0, 1 ]
3.65
73
0
73
0
[ -0.020361091941595078, 0.04671652242541313, 0.9926353096961975, 3.1172056198120117, 0.010119070298969746, -0.2244909107685089, 0.00483814487233758, -0.006380213424563408 ]
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[ -0.0401785708963871, -0.4017857015132904, 0.3482142984867096, 0.040714286267757416, -0.04928571358323097, 0, 1 ]
3.7
74
0
74
0
[ -0.019821127876639366, 0.042531948536634445, 0.9971813559532166, 3.1204090118408203, 0.009543151594698429, -0.22161898016929626, 0.004849755670875311, -0.006325480528175831 ]
[ 0.03774815425276756, 0.6816502809524536, 0.03312667831778526, -1.7184197902679443, -0.03280681371688843, 2.2571425437927246, 0.8673426508903503 ]
[ -0.02678571455180645, -0.4285714328289032, 0.3910714387893677, 0.046071428805589676, -0.04500000178813934, 0, 1 ]
3.75
75
0
75
0
[ -0.019374728202819824, 0.037871818989515305, 1.0024151802062988, 3.1248576641082764, 0.009026240557432175, -0.21734781563282013, 0.004864753223955631, -0.006282282993197441 ]
[ 0.03366928920149803, 0.6708025336265564, 0.028860758990049362, -1.7222826480865479, -0.02515348419547081, 2.2535252571105957, 0.8548752665519714 ]
[ 0, -0.4982142746448517, 0.4526785612106323, 0.051428571343421936, -0.04928571358323097, 0, 1 ]
3.8
76
0
76
0
[ -0.01890178769826889, 0.03250207379460335, 1.0082648992538452, 3.13016414642334, 0.008470979519188404, -0.21136541664600372, 0.004880909807980061, -0.006246358156204224 ]
[ 0.0289307851344347, 0.6585049629211426, 0.02394966594874859, -1.7270278930664062, -0.016361895948648453, 2.2504160404205322, 0.8404861688613892 ]
[ 0, -0.5249999761581421, 0.5276785492897034, 0.05249999836087227, -0.056785713881254196, 0, 1 ]
3.85
77
0
77
0
[ -0.018408048897981644, 0.02646254189312458, 1.0149341821670532, 3.1361517906188965, 0.00805870071053505, -0.20368343591690063, 0.004897992592304945, -0.006212967913597822 ]
[ 0.02359967865049839, 0.6445031762123108, 0.018422642722725868, -1.7324655055999756, -0.0066395169124007225, 2.2472891807556152, 0.8242897391319275 ]
[ 0, -0.5705357193946838, 0.6294642686843872, 0.05999999865889549, -0.0503571443259716, 0, 1 ]
3.9
78
0
78
0
[ -0.018114374950528145, 0.01989111118018627, 1.0226267576217651, 3.142890214920044, 0.007793842814862728, -0.19550307095050812, 0.004915579222142696, -0.0061818985268473625 ]
[ 0.017724305391311646, 0.6283428072929382, 0.012421923689544201, -1.738619089126587, 0.004158818628638983, 2.2429006099700928, 0.8063668608665466 ]
[ 0, -0.6053571701049805, 0.6857143044471741, 0.06642857193946838, -0.03214285895228386, 0, 1 ]
3.95
79
0
79
0
[ -0.018217923119664192, 0.012821141630411148, 1.0310953855514526, 3.1504807472229004, 0.007640788331627846, -0.1882423609495163, 0.004933234769850969, -0.006152702961117029 ]
[ 0.011301098391413689, 0.6104944348335266, 0.005943972617387772, -1.7452037334442139, 0.016201721504330635, 2.236476182937622, 0.7866482138633728 ]
[ 0, -0.7232142686843872, 0.7124999761581421, 0.0867857113480568, -0.006428571417927742, 0, 1 ]
4
80
0
80
0
[ -0.018821490928530693, 0.004974670708179474, 1.039872407913208, 3.159329891204834, 0.007227601949125528, -0.18311277031898499, 0.004949761554598808, -0.006126762833446264 ]
[ 0.0040994081646203995, 0.5919704437255859, -0.0013741380535066128, -1.7516783475875854, 0.030115928500890732, 2.227638006210327, 0.7644549012184143 ]
[ 0.01607142947614193, -0.7339285612106323, 0.7232142686843872, 0.08785714209079742, -0.013928571715950966, 0, 1 ]
4.05
81
0
81
0
[ -0.019437965005636215, -0.003643621690571308, 1.0488823652267456, 3.1694858074188232, 0.007011253386735916, -0.17757439613342285, 0.004966396372765303, -0.006101839244365692 ]
[ -0.0038251515943557024, 0.5736340880393982, -0.009592422284185886, -1.7570692300796509, 0.0456426665186882, 2.217747211456299, 0.7397184371948242 ]
[ 0.04285714402794838, -0.7232142686843872, 0.7794643044471741, 0.07500000298023224, -0.03214285895228386, 0.002142857061699033, 1 ]
4.1
82
0
82
0
[ -0.01970195770263672, -0.012807275168597698, 1.058422327041626, 3.1797430515289307, 0.0076180570758879185, -0.16916999220848083, 0.004982790444046259, -0.006077256519347429 ]
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4.15
83
0
83
0
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[ 0.02142857201397419, -0.7580357193946838, 0.7285714149475098, 0.07392857223749161, -0.035357143729925156, 0.03321428596973419, 1 ]
4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
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
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[ 0.1473214328289032, -0.8410714268684387, 0.07767856866121292, 0.0835714265704155, -0.05249999836087227, 0.09107142686843872, 1 ]
4.55
91
0
91
0
[ -0.017962321639060974, -0.10352078080177307, 1.1143473386764526, 3.2694475650787354, 0.11532431095838547, -0.02441858872771263, 0.005107990466058254, -0.005861726123839617 ]
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4.6
92
0
92
0
[ -0.01753832772374153, -0.11414418369531631, 1.113923192024231, 3.2775328159332275, 0.1342225819826126, -0.009080052375793457, 0.0051193139515817165, -0.0058391825295984745 ]
[ -0.10055837780237198, 0.4780254662036896, -0.1184820607304573, -1.7483818531036377, 0.2278887927532196, 2.1714437007904053, 0.36302119493484497 ]
[ 0.14464285969734192, -0.8491071462631226, 0, 0.0803571417927742, -0.023571427911520004, 0.09214285761117935, 1 ]
4.65
93
0
93
0
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4.7
94
0
94
0
[ -0.016779715195298195, -0.13554225862026215, 1.1110944747924805, 3.2920420169830322, 0.1720798760652542, 0.01561491284519434, 0.005140865687280893, -0.005795014090836048 ]
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4.75
95
0
95
0
[ -0.016172561794519424, -0.14625908434391022, 1.1087180376052856, 3.2982590198516846, 0.19080297648906708, 0.02550683356821537, 0.0051530105993151665, -0.005774997174739838 ]
[ -0.12918706238269806, 0.5084630846977234, -0.14781475067138672, -1.7172751426696777, 0.2797635793685913, 2.165890693664551, 0.24657025933265686 ]
[ 0.2008928507566452, -0.862500011920929, -0.1473214328289032, 0.07285714149475098, 0, 0.08464285731315613, 1 ]
4.8
96
0
96
0
[ -0.015293206088244915, -0.1569698005914688, 1.1058143377304077, 3.304065704345703, 0.20882706344127655, 0.0347515270113945, 0.005166980903595686, -0.005758043844252825 ]
[ -0.13903991878032684, 0.5234244465827942, -0.1570032685995102, -1.7019227743148804, 0.2961304187774658, 2.161863327026367, 0.20991240441799164 ]
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4.85
97
0
97
0
[ -0.014204856939613819, -0.1676078885793686, 1.1022262573242188, 3.3093883991241455, 0.22582611441612244, 0.04281657561659813, 0.005181482527405024, -0.005741879343986511 ]
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4.9
98
0
98
0
[ -0.01298858504742384, -0.17796948552131653, 1.0980340242385864, 3.314161539077759, 0.24200698733329773, 0.04871173948049545, 0.005196523852646351, -0.0057253348641097546 ]
[ -0.15913158655166626, 0.5603320002555847, -0.17377221584320068, -1.6642999649047852, 0.32650521397590637, 2.1511645317077637, 0.14223353564739227 ]
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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": 6282,
    "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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                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
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                3
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            "names": [
                "height",
                "width",
                "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": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
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                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
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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
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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