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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
6.9
frame_index
int64
0
138
episode_index
int64
0
49
index
int64
0
5.87k
task_index
int64
0
0
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2
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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
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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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[ -0.1473214328289032, 0, -0.04553571343421936, 0.011785713955760002, 0.04821428656578064, 0.013928571715950966, 1 ]
3.7
74
0
74
0
[ -0.2282961905002594, 0.312065452337265, 0.9331009387969971, 3.233635187149048, -0.1481800377368927, -0.30632728338241577, 0.03763821721076965, -0.03716815635561943 ]
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3.75
75
0
75
0
[ -0.22938624024391174, 0.3116505444049835, 0.9328821301460266, 3.2343451976776123, -0.14544570446014404, -0.3160402178764343, 0.03440791368484497, -0.03372934088110924 ]
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3.8
76
0
76
0
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[ -0.12321428209543228, 0.03750000149011612, -0.01607142947614193, 0.0010714285308495164, 0.03321428596973419, 0.034285712987184525, 1 ]
3.85
77
0
77
0
[ -0.2320028692483902, 0.31139516830444336, 0.9322733283042908, 3.2347795963287354, -0.13588270545005798, -0.3336062431335449, 0.025645853951573372, -0.025094933807849884 ]
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3.9
78
0
78
0
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3.95
79
0
79
0
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[ -0.13660714030265808, 0.07767856866121292, -0.03214285895228386, 0, 0.018214285373687744, 0.07071428745985031, 1 ]
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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[ -0.12321428209543228, 0.15000000596046448, -0.12857143580913544, 0, 0, 0.15321429073810577, 1 ]
4.2
84
0
84
0
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[ -0.12321428209543228, 0.15267856419086456, -0.13660714030265808, 0, 0, 0.1607142835855484, 1 ]
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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0
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4.4
88
0
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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
[ -0.23516571521759033, 0.30969852209091187, 0.9320723414421082, 3.207535743713379, 0.18113401532173157, -0.35249948501586914, 0.026722373440861702, -0.0015847088070586324 ]
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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
[ -0.2367417961359024, 0.3110705018043518, 0.9322646260261536, 3.1812143325805664, 0.3183516561985016, -0.35584110021591187, 0.031033216044306755, -0.0010281797731295228 ]
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[ -0.0026785715017467737, 0.07767856866121292, -0.28928571939468384, 0, 0, 0.375, 1 ]
4.75
95
0
95
0
[ -0.2372714877128601, 0.3106236755847931, 0.9322353005409241, 3.169074535369873, 0.37034910917282104, -0.3565640151500702, 0.031740155071020126, -0.0009759978856891394 ]
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4.8
96
0
96
0
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4.85
97
0
97
0
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4.9
98
0
98
0
[ -0.23824471235275269, 0.307048499584198, 0.9318434596061707, 3.1262004375457764, 0.5281294584274292, -0.3577157258987427, 0.03174284100532532, -0.0008456339710392058 ]
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[ 0, 0, -0.4580357074737549, 0, 0, 0.375, 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": 5871,
    "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"
            ]
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "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": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
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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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