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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
7.6
frame_index
int64
0
152
episode_index
int64
0
49
index
int64
0
6.61k
task_index
int64
0
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2
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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
60
0
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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, 0, -0.03750000149011612, -0.02142857201397419, 0, -0.007499999832361937, 1 ]
3.55
71
0
71
0
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[ 0.01607142947614193, 0, 0, -0.027857143431901932, 0, -0.011785713955760002, 1 ]
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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3.75
75
0
75
0
[ 0.19710823893547058, 0.0510006844997406, 0.4613925516605377, 3.163196563720703, -0.023911934345960617, 0.01715725287795067, 0.019942959770560265, -0.019552532583475113 ]
[ 0.04155255854129791, 0.8854681849479675, 0.03268679976463318, -1.5087698698043823, -0.006517345551401377, 2.406301975250244, 0.8679051399230957 ]
[ 0.1205357164144516, -0.07767856866121292, 0.5276785492897034, 0, 0.08571428805589676, 0, 1 ]
3.8
76
0
76
0
[ 0.197474405169487, 0.0503646545112133, 0.4659150540828705, 3.162222385406494, -0.026123834773898125, 0.0058061727322638035, 0.019932279363274574, -0.019555391743779182 ]
[ 0.04117877408862114, 0.880204975605011, 0.032206419855356216, -1.5028197765350342, -0.0064138080924749374, 2.3878724575042725, 0.8687130808830261 ]
[ 0.07500000298023224, -0.04285714402794838, 0.6991071701049805, 0, 0.09214285761117935, 0.0053571430034935474, 1 ]
3.85
77
0
77
0
[ 0.19774657487869263, 0.04992365092039108, 0.47305557131767273, 3.161756992340088, -0.0264056995511055, -0.008509548380970955, 0.01992180570960045, -0.019558217376470566 ]
[ 0.0405755452811718, 0.8705639839172363, 0.03222684934735298, -1.4968277215957642, -0.0057394057512283325, 2.363171100616455, 0.8680834770202637 ]
[ 0.06964285671710968, -0.10178571194410324, 0.7526785731315613, 0, 0.1007142886519432, 0.019285714253783226, 1 ]
3.9
78
0
78
0
[ 0.19788317382335663, 0.04924223572015762, 0.4818665087223053, 3.1610684394836426, -0.024804074317216873, -0.02477804757654667, 0.019910503178834915, -0.019562019035220146 ]
[ 0.03971874341368675, 0.8582733869552612, 0.03217761963605881, -1.4906277656555176, -0.0050484552048146725, 2.3343491554260254, 0.8660337924957275 ]
[ 0.07232142984867096, -0.16607142984867096, 0.8866071701049805, 0.002142857061699033, 0.09214285761117935, 0.009642857126891613, 1 ]
3.95
79
0
79
0
[ 0.19813549518585205, 0.04790022224187851, 0.49224111437797546, 3.160142183303833, -0.023173101246356964, -0.04101608321070671, 0.019898932427167892, -0.019566364586353302 ]
[ 0.03838961198925972, 0.8439212441444397, 0.03159939497709274, -1.4838078022003174, -0.004055173136293888, 2.3028411865234375, 0.8629873394966125 ]
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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
87
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
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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
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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
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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": 6609,
    "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": {
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            "shape": [
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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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                3
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            "names": [
                "height",
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                "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": {
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            "names": {
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                    "joint_3",
                    "joint_4",
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                    "joint_6",
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                ]
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
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                    "pitch",
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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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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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