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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
list
observation.state.joint
list
action
list
timestamp
float32
0
17.2
frame_index
int64
0
343
episode_index
int64
0
49
index
int64
0
13k
task_index
int64
0
0
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2.4
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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
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[ -0.20357142388820648, -0.11785714328289032, -0.19285714626312256, 0.05464285612106323, 0, 0, 1 ]
3.55
71
0
71
0
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[ -0.20357142388820648, -0.1205357164144516, -0.1875, 0.056785713881254196, 0, 0, 1 ]
3.6
72
0
72
0
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[ -0.2008928507566452, -0.1071428582072258, -0.17678570747375488, 0.05785714462399483, 0, 0, 1 ]
3.65
73
0
73
0
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[ -0.19553571939468384, -0.10178571194410324, -0.16607142984867096, 0.05999999865889549, 0.002142857061699033, 0, 1 ]
3.7
74
0
74
0
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[ 0.23911280930042267, 0.6796205043792725, 0.2946583330631256, -2.000904083251953, -0.05790553614497185, 2.4589719772338867, 1.347547173500061 ]
[ -0.20624999701976776, -0.0535714291036129, -0.15803571045398712, 0.051428571343421936, 0, 0.01607142947614193, 1 ]
3.75
75
0
75
0
[ -0.18966412544250488, 0.3005732595920563, 0.9303296208381653, 3.1614067554473877, -0.03567913919687271, -0.382976233959198, 0.01206514798104763, -0.014117802493274212 ]
[ 0.23693782091140747, 0.6776981353759766, 0.2948548197746277, -2.00695538520813, -0.04977568984031677, 2.4694812297821045, 1.3374533653259277 ]
[ -0.2276785671710968, -0.03750000149011612, -0.15267856419086456, 0.04928571358323097, 0, 0.028928572311997414, 1 ]
3.8
76
0
76
0
[ -0.18963263928890228, 0.30028897523880005, 0.9302024245262146, 3.1688191890716553, -0.031248021870851517, -0.3810936510562897, 0.011798842810094357, -0.014454775489866734 ]
[ 0.2349766194820404, 0.676506519317627, 0.29526373744010925, -2.011197805404663, -0.042403969913721085, 2.4770960807800293, 1.3266780376434326 ]
[ -0.24642856419086456, -0.0053571430034935474, -0.14196428656578064, 0.046071428805589676, 0, 0.04178571328520775, 1 ]
3.85
77
0
77
0
[ -0.1896197348833084, 0.3002079129219055, 0.9301088452339172, 3.1752002239227295, -0.024314243346452713, -0.3805120885372162, 0.011683988384902477, -0.01453909371048212 ]
[ 0.23326584696769714, 0.6758856177330017, 0.2959204316139221, -2.0139999389648438, -0.03588182479143143, 2.482452154159546, 1.315490961074829 ]
[ -0.25982141494750977, 0, -0.13928571343421936, 0.04714285582304001, 0, 0.051428571343421936, 1 ]
3.9
78
0
78
0
[ -0.18963229656219482, 0.30029743909835815, 0.930063784122467, 3.180769920349121, -0.015499507077038288, -0.38089072704315186, 0.01181885413825512, -0.014515016227960587 ]
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[ -0.2973214387893677, 0, -0.15267856419086456, 0.04714285582304001, 0, 0.07178571075201035, 1 ]
3.95
79
0
79
0
[ -0.18964682519435883, 0.3004879355430603, 0.9300469756126404, 3.185764789581299, -0.004557135980576277, -0.38160771131515503, 0.012058619409799576, -0.014457976445555687 ]
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[ -0.31607142090797424, 0, -0.15267856419086456, 0.04714285582304001, -0.002142857061699033, 0.09000000357627869, 1 ]
4
80
0
80
0
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[ 0.22915524244308472, 0.6756337285041809, 0.2988134026527405, -2.0175464153289795, -0.020884761586785316, 2.490229845046997, 1.2794076204299927 ]
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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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[ -0.28928571939468384, 0.08571428805589676, -0.17678570747375488, 0, 0.013928571715950966, 0.29249998927116394, 1 ]
4.3
86
0
86
0
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4.35
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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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[ -0.0053571430034935474, 0.02142857201397419, -0.21696428954601288, 0, 0, 0.375, 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
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0
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4.75
95
0
95
0
[ -0.19161668419837952, 0.3051847517490387, 0.9305816292762756, 3.0740716457366943, 0.6768445372581482, -0.4003157913684845, 0.015574588440358639, -0.011522432789206505 ]
[ 0.24200396239757538, 0.695950448513031, 0.3108440339565277, -1.9650779962539673, -0.14116720855236053, 2.395589828491211, 0.9748871922492981 ]
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4.8
96
0
96
0
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4.85
97
0
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0
[ -0.19196568429470062, 0.3053120970726013, 0.9305531978607178, 3.037114143371582, 0.7897218465805054, -0.3994194567203522, 0.015515110455453396, -0.011599765159189701 ]
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4.9
98
0
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0
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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": 13047,
    "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,
                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": [
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                    "joint_2",
                    "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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                    "y",
                    "z",
                    "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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