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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
13.6
frame_index
int64
0
271
episode_index
int64
0
49
index
int64
0
8.38k
task_index
int64
0
0
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2.55
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2.6
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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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[ 0.16607142984867096, 0, 0.5678571462631226, 0.029999999329447746, 0.03214285895228386, -0.027857143431901932, 1 ]
3.55
71
0
71
0
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[ 0.14464285969734192, 0, 0.6214285492897034, 0.034285712987184525, 0.04928571358323097, -0.027857143431901932, 1 ]
3.6
72
0
72
0
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[ 0.10178571194410324, 0, 0.7232142686843872, 0.03321428596973419, 0.07821428775787354, -0.02250000089406967, 1 ]
3.65
73
0
73
0
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3.7
74
0
74
0
[ 0.01728019118309021, -0.2523547112941742, 0.5760865211486816, 3.1112780570983887, -0.6213366985321045, 0.008767985738813877, 0.021286435425281525, -0.033903513103723526 ]
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[ 0.05624999850988388, 0.15535713732242584, 0.8035714030265808, 0.013928571715950966, 0.1071428582072258, 0, 1 ]
3.75
75
0
75
0
[ 0.016663534566760063, -0.2511707544326782, 0.5856844186782837, 3.111558675765991, -0.6209659576416016, -0.008340478874742985, 0.021257542073726654, -0.033914655447006226 ]
[ -0.16804324090480804, 0.3519022762775421, -0.28919345140457153, -2.078979015350342, 0.18862150609493256, 2.395709991455078, 0.5987081527709961 ]
[ 0.02946428582072258, 0.23571428656578064, 0.8008928298950195, 0.0053571430034935474, 0.1071428582072258, 0, 1 ]
3.8
76
0
76
0
[ 0.016137128695845604, -0.24913401901721954, 0.5956783294677734, 3.1107404232025146, -0.6197855472564697, -0.027258479967713356, 0.021229268983006477, -0.033925771713256836 ]
[ -0.16431067883968353, 0.3339644968509674, -0.29122138023376465, -2.072204351425171, 0.17046549916267395, 2.361589193344116, 0.6146038174629211 ]
[ 0.013392857275903225, 0.30267858505249023, 0.8035714030265808, 0.0010714285308495164, 0.10499999672174454, 0, 1 ]
3.85
77
0
77
0
[ 0.015675395727157593, -0.2461487352848053, 0.6059653759002686, 3.108994245529175, -0.6185227632522583, -0.04713958501815796, 0.021204637363553047, -0.03393277898430824 ]
[ -0.15990996360778809, 0.31547003984451294, -0.2918758690357208, -2.065276861190796, 0.1515072137117386, 2.326514959335327, 0.6326157450675964 ]
[ 0, 0.3642857074737549, 0.8196428418159485, 0, 0.1007142886519432, 0, 1 ]
3.9
78
0
78
0
[ 0.015250266529619694, -0.2422381341457367, 0.616566002368927, 3.1066548824310303, -0.6174490451812744, -0.06714487075805664, 0.021179163828492165, -0.033941175788640976 ]
[ -0.15493525564670563, 0.29629385471343994, -0.2911613881587982, -2.0584213733673096, 0.13268333673477173, 2.2908575534820557, 0.6520496606826782 ]
[ 0, 0.4285714328289032, 0.824999988079071, 0, 0.09535714238882065, 0.002142857061699033, 1 ]
3.95
79
0
79
0
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[ -0.14947596192359924, 0.2765725255012512, -0.2889992594718933, -2.0517284870147705, 0.1146925762295723, 2.255082130432129, 0.6722127199172974 ]
[ 0, 0.5276785492897034, 0.824999988079071, 0, 0.09535714238882065, 0.017142856493592262, 1 ]
4
80
0
80
0
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[ 0, 0.581250011920929, 0.7955357432365417, 0, 0.09857142716646194, 0.02678571455180645, 1 ]
4.05
81
0
81
0
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[ 0, 0.6053571701049805, 0.7446428537368774, 0, 0.08785714209079742, 0.028928572311997414, 1 ]
4.1
82
0
82
0
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[ 0, 0.6696428656578064, 0.675000011920929, 0.004285714123398066, 0.06964285671710968, 0.035357143729925156, 1 ]
4.15
83
0
83
0
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4.2
84
0
84
0
[ 0.013950318098068237, -0.1990624964237213, 0.6776164770126343, 3.0946381092071533, -0.586461067199707, -0.1743164360523224, 0.021028373390436172, -0.03398860991001129 ]
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4.25
85
0
85
0
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[ 0.01875000074505806, 0.8035714030265808, 0.5223214030265808, 0, 0.05464285612106323, 0.05249999836087227, 1 ]
4.3
86
0
86
0
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4.35
87
0
87
0
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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
[ 0.01535661332309246, -0.13626466691493988, 0.718242347240448, 3.0912578105926514, -0.5263718962669373, -0.23254728317260742, 0.020915495231747627, -0.03399854898452759 ]
[ -0.07599891722202301, 0.10237056016921997, -0.1800340861082077, -2.009910821914673, 0.008783269673585892, 1.9628866910934448, 0.8627888560295105 ]
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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
[ 0.01776944100856781, -0.09274770319461823, 0.7379311323165894, 3.0911457538604736, -0.49373242259025574, -0.246445432305336, 0.02085772715508938, -0.033988747745752335 ]
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4.75
95
0
95
0
[ 0.018784083425998688, -0.0817030817270279, 0.7415974736213684, 3.0927371978759766, -0.4864039719104767, -0.24699360132217407, 0.020845718681812286, -0.03398390859365463 ]
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4.8
96
0
96
0
[ 0.01985747739672661, -0.07066450268030167, 0.7447993159294128, 3.0950794219970703, -0.4793810248374939, -0.2468286007642746, 0.02083432674407959, -0.03397861123085022 ]
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4.85
97
0
97
0
[ 0.0209214948117733, -0.05962067469954491, 0.7475512027740479, 3.097947120666504, -0.47267165780067444, -0.2464652955532074, 0.020823385566473007, -0.03397294506430626 ]
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4.9
98
0
98
0
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[ 0.10178571194410324, 0.8303571343421936, 0.14196428656578064, 0.023571427911520004, 0, 0.031071428209543228, 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": 8383,
    "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",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
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                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"
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            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
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                    "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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                    "pitch",
                    "yaw",
                    "gripper"
                ]
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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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