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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
9.05
frame_index
int64
0
181
episode_index
int64
0
49
index
int64
0
7.43k
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
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[ 0, 0, 0.28125, 0, 0.040714286267757416, 0, 1 ]
3.6
72
0
72
0
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[ 0, 0, 0.3616071343421936, 0, 0.04821428656578064, 0, 1 ]
3.65
73
0
73
0
[ -0.13461469113826752, 0.06102057546377182, 0.4527195692062378, 3.1435203552246094, 0.0046232836320996284, 0.024721452966332436, 0.024502579122781754, -0.0182030126452446 ]
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[ 0, 0, 0.38303571939468384, 0, 0.0503571443259716, 0, 1 ]
3.7
74
0
74
0
[ -0.13662737607955933, 0.06145353987812996, 0.4564833343029022, 3.1438844203948975, 0.0029252315871417522, 0.023228511214256287, 0.02446173131465912, -0.01823928952217102 ]
[ 0.08845175802707672, 0.2868194580078125, 0.041699741035699844, -2.7575252056121826, -0.1363876610994339, 3.0582990646362305, 1.0482275485992432 ]
[ 0.02678571455180645, 0.013392857275903225, 0.4928571283817291, 0, 0.07821428775787354, 0, 1 ]
3.75
75
0
75
0
[ -0.13895413279533386, 0.06213812157511711, 0.46093717217445374, 3.1443331241607666, 0.0009494628175161779, 0.020156817510724068, 0.024422334507107735, -0.01827436313033104 ]
[ 0.08566644787788391, 0.26653462648391724, 0.04927762597799301, -2.767643690109253, -0.12518438696861267, 3.046208381652832, 1.0429521799087524 ]
[ 0.04285714402794838, 0.03482142835855484, 0.5116071701049805, 0, 0.0835714265704155, 0.003214285708963871, 1 ]
3.8
76
0
76
0
[ -0.14131179451942444, 0.06307192891836166, 0.4659866392612457, 3.1448981761932373, -0.0010079179191961884, 0.015381110832095146, 0.02438364364206791, -0.01830892823636532 ]
[ 0.08188283443450928, 0.24367092549800873, 0.059129830449819565, -2.7775635719299316, -0.11104091256856918, 3.0302977561950684, 1.0360262393951416 ]
[ 0.1071428582072258, 0.06428571790456772, 0.5571428537368774, 0, 0.09214285761117935, 0.014999999664723873, 1 ]
3.85
77
0
77
0
[ -0.1431678682565689, 0.06427381187677383, 0.4715369939804077, 3.1456515789031982, -0.0014794905437156558, 0.009571845643222332, 0.024345945566892624, -0.018342576920986176 ]
[ 0.0773133710026741, 0.21940243244171143, 0.07087034732103348, -2.785700798034668, -0.09410921484231949, 3.0106141567230225, 1.0265378952026367 ]
[ 0.12857143580913544, 0.0669642835855484, 0.5892857313156128, 0, 0.08892857283353806, 0.02142857201397419, 1 ]
3.9
78
0
78
0
[ -0.14434915781021118, 0.06551896035671234, 0.47768133878707886, 3.1464879512786865, -0.00021003562142141163, 0.0029449709691107273, 0.02430841326713562, -0.01837610825896263 ]
[ 0.0722089409828186, 0.1937100887298584, 0.08355662226676941, -2.7916319370269775, -0.0747889056801796, 2.9868595600128174, 1.0140968561172485 ]
[ 0.16607142984867096, 0.05624999850988388, 0.6616071462631226, 0, 0.10607142746448517, 0.028928572311997414, 1 ]
3.95
79
0
79
0
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[ 0.06680373847484589, 0.16594010591506958, 0.09664467722177505, -2.7957661151885986, -0.05289623141288757, 2.9581892490386963, 0.99839848279953 ]
[ 0.19553571939468384, 0.06428571790456772, 0.7124999761581421, 0, 0.12321428209543228, 0.025714285671710968, 1 ]
4
80
0
80
0
[ -0.14556168019771576, 0.06767597794532776, 0.4921102225780487, 3.1485509872436523, 0.006162084173411131, -0.016826216131448746, 0.024235330522060394, -0.018441352993249893 ]
[ 0.06139399856328964, 0.13607226312160492, 0.10956929624080658, -2.7977731227874756, -0.028372908011078835, 2.923588752746582, 0.9797348976135254 ]
[ 0.21964286267757416, 0.06964285671710968, 0.7178571224212646, 0, 0.13285714387893677, 0.023571427911520004, 1 ]
4.05
81
0
81
0
[ -0.14553776383399963, 0.06849700212478638, 0.5002308487892151, 3.1500205993652344, 0.009926178492605686, -0.03149731084704399, 0.024199817329645157, -0.018473055213689804 ]
[ 0.05637363716959953, 0.10553096979856491, 0.12111267447471619, -2.7967073917388916, -0.003123194444924593, 2.8832600116729736, 0.9595502614974976 ]
[ 0.2410714328289032, 0.08571428805589676, 0.7580357193946838, 0, 0.13928571343421936, 0.020357143133878708, 1 ]
4.1
82
0
82
0
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[ 0.05207681283354759, 0.074748195707798, 0.13059253990650177, -2.7924203872680664, 0.020283294841647148, 2.837946653366089, 0.9400127530097961 ]
[ 0.27321428060531616, 0.09375, 0.7982142567634583, 0, 0.15000000596046448, 0.019285714253783226, 1 ]
4.15
83
0
83
0
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[ 0.30267858505249023, 0.09375, 0.8303571343421936, 0, 0.14678572118282318, 0.014999999664723873, 1 ]
4.2
84
0
84
0
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[ 0.31339284777641296, 0.05624999850988388, 0.6964285969734192, 0, 0.1842857152223587, 0.003214285708963871, 1 ]
4.25
85
0
85
0
[ -0.1408248394727707, 0.07140115648508072, 0.5374495983123779, 3.1560580730438232, 0.023340897634625435, -0.11335114389657974, 0.024068700149655342, -0.01859346218407154 ]
[ 0.043608348816633224, -0.010556872002780437, 0.14618496596813202, -2.7600293159484863, 0.06945116072893143, 2.6810059547424316, 0.8975561261177063 ]
[ 0.36696428060531616, 0.1339285671710968, 0.8116071224212646, 0, 0.15642857551574707, 0.003214285708963871, 1 ]
4.3
86
0
86
0
[ -0.13827605545520782, 0.07233487814664841, 0.5470212697982788, 3.1570544242858887, 0.02453242801129818, -0.13762116432189941, 0.02403937466442585, -0.018620485439896584 ]
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4.35
87
0
87
0
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[ 0.4446428716182709, 0.15267856419086456, 0.7901785969734192, 0, 0.1639285683631897, 0, 1 ]
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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[ 0.5357142686843872, 0.19285714626312256, 0.7848214507102966, -0.002142857061699033, 0.16178570687770844, 0, 1 ]
4.55
91
0
91
0
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4.6
92
0
92
0
[ -0.11167971044778824, 0.08307836949825287, 0.6069130897521973, 3.155031204223633, 0.025997677817940712, -0.28190311789512634, 0.023873671889305115, -0.01877368427813053 ]
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4.65
93
0
93
0
[ -0.10570710897445679, 0.08556247502565384, 0.6164452433586121, 3.1533420085906982, 0.025966515764594078, -0.3058606684207916, 0.0238486360758543, -0.01879684068262577 ]
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4.7
94
0
94
0
[ -0.09939698874950409, 0.08839056640863419, 0.6256536841392517, 3.1512019634246826, 0.025847148150205612, -0.32996419072151184, 0.0238244216889143, -0.018819237127900124 ]
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4.75
95
0
95
0
[ -0.0928114652633667, 0.09174871444702148, 0.6344595551490784, 3.148770809173584, 0.02584788389503956, -0.35369375348091125, 0.023848095908761024, -0.018934208899736404 ]
[ 0.04091693460941315, -0.06943463534116745, 0.15271273255348206, -2.451796531677246, 0.09377799928188324, 2.165748357772827, 0.9005399942398071 ]
[ 0.5892857313156128, 0.3348214328289032, 0.6321428418159485, -0.011785713955760002, 0.13500000536441803, 0, 1 ]
4.8
96
0
96
0
[ -0.08601599186658859, 0.09560161828994751, 0.642822802066803, 3.14597225189209, 0.025843879207968712, -0.37640103697776794, 0.023812759667634964, -0.018952833488583565 ]
[ 0.041829731315374374, -0.05667462944984436, 0.15526199340820312, -2.409588098526001, 0.09287040680646896, 2.1222803592681885, 0.9074256420135498 ]
[ 0.5758928656578064, 0.3857142925262451, 0.5491071343421936, -0.019285714253783226, 0.10178571194410324, 0, 1 ]
4.85
97
0
97
0
[ -0.07888729125261307, 0.09998084604740143, 0.6505798697471619, 3.1426727771759033, 0.02586584910750389, -0.3961643576622009, 0.023787466809153557, -0.018976928666234016 ]
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4.9
98
0
98
0
[ -0.07169097661972046, 0.10506384819746017, 0.6575354933738708, 3.1388542652130127, 0.025745397433638573, -0.41236114501953125, 0.023766769096255302, -0.018996892496943474 ]
[ 0.044650424271821976, -0.024385131895542145, 0.16385158896446228, -2.325032949447632, 0.08887278288602829, 2.0476529598236084, 0.9265697598457336 ]
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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": 7426,
    "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"
            ]
        },
        "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": [
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                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "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": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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