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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
13.8
frame_index
int64
0
275
episode_index
int64
0
49
index
int64
0
9.7k
task_index
int64
0
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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
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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[ -0.05892857164144516, 0, -0.32946428656578064, -0.007499999832361937, -0.014999999664723873, 0, -1 ]
3.75
75
0
75
0
[ 0.04715968295931816, -0.2159401923418045, 1.1707574129104614, 3.1715543270111084, -0.24183805286884308, 0.11702464520931244, 0.03995711728930473, -0.039937496185302734 ]
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[ -0.06428571790456772, 0, -0.3241071403026581, -0.01607142947614193, -0.012857142835855484, 0, -1 ]
3.8
76
0
76
0
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[ -0.09642857313156128, 0, -0.3214285671710968, -0.027857143431901932, -0.012857142835855484, 0, -1 ]
3.85
77
0
77
0
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[ -0.18171876668930054, 0.6422524452209473, -0.17230218648910522, -1.3801848888397217, 0.18163703382015228, 2.075749397277832, 0.5374739766120911 ]
[ -0.10982143133878708, 0, -0.3187499940395355, -0.03642857074737549, -0.012857142835855484, 0, -1 ]
3.9
78
0
78
0
[ 0.043321315199136734, -0.21721485257148743, 1.157737135887146, 3.165085554122925, -0.2398686408996582, 0.12687508761882782, 0.03996840491890907, -0.03993919491767883 ]
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3.95
79
0
79
0
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4
80
0
80
0
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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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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
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4.4
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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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
[ 0.020878572016954422, -0.22070910036563873, 1.1199350357055664, 3.093029737472534, -0.2125978171825409, 0.13321658968925476, 0.032250288873910904, -0.029752442613244057 ]
[ -0.16190528869628906, 0.6004667282104492, -0.18042699992656708, -1.5712337493896484, 0.10904870182275772, 2.25409197807312, 0.551483690738678 ]
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4.8
96
0
96
0
[ 0.019526494666934013, -0.22147081792354584, 1.1200603246688843, 3.0903165340423584, -0.2112833559513092, 0.12590312957763672, 0.027730347588658333, -0.025246640667319298 ]
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4.85
97
0
97
0
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[ -0.05089285597205162, 0, 0, -0.011785713955760002, 0.06857142597436905, 0, 1 ]
4.9
98
0
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0
[ 0.016997646540403366, -0.22282983362674713, 1.1203142404556274, 3.085298776626587, -0.20883922278881073, 0.10835309326648712, 0.018515657633543015, -0.01568939909338951 ]
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[ -0.04553571343421936, 0, 0, -0.009642857126891613, 0.06857142597436905, 0, 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": 9702,
    "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",
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                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
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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": {
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                    "joint_3",
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        },
        "action": {
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            "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": {
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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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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