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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
8.35
frame_index
int64
0
167
episode_index
int64
0
49
index
int64
0
5.31k
task_index
int64
0
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2
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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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
62
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3.15
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3.2
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3.25
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3.3
66
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3.35
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3.4
68
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3.45
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3.5
70
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70
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[ 0.32678571343421936, 0.7553571462631226, 0, 0, -0.01607142947614193, -0.023571427911520004, 1 ]
3.55
71
0
71
0
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3.6
72
0
72
0
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[ 0.3910714387893677, 0.6776785850524902, -0.23839285969734192, 0, -0.007499999832361937, -0.03642857074737549, 1 ]
3.65
73
0
73
0
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[ 0.42053571343421936, 0.6133928298950195, -0.36964285373687744, 0, -0.011785713955760002, -0.05249999836087227, 1 ]
3.7
74
0
74
0
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[ 0.09378071874380112, 0.121945321559906, 0.3004966676235199, -2.1276350021362305, 0.08300791680812836, 2.1110808849334717, 1.3590524196624756 ]
[ 0.43660715222358704, 0.5705357193946838, -0.4526785612106323, 0, -0.02250000089406967, -0.06321428716182709, 1 ]
3.75
75
0
75
0
[ -0.01958213374018669, 0.22328954935073853, 0.6640603542327881, 3.14150071144104, -0.36879968643188477, -0.25891679525375366, 0.03606029972434044, -0.025857487693428993 ]
[ 0.09732922166585922, 0.15009422600269318, 0.3080854117870331, -2.1088528633117676, 0.0748080462217331, 2.124816417694092, 1.3812134265899658 ]
[ 0.4312500059604645, 0.543749988079071, -0.4982142746448517, 0, -0.039642855525016785, -0.07071428745985031, 1 ]
3.8
76
0
76
0
[ -0.014074059203267097, 0.23056165874004364, 0.6576617360115051, 3.142406940460205, -0.38254034519195557, -0.2517912983894348, 0.03606143593788147, -0.025851868093013763 ]
[ 0.10105618089437485, 0.17951422929763794, 0.3144817054271698, -2.0901927947998047, 0.06500984728336334, 2.1406502723693848, 1.4038954973220825 ]
[ 0.4044642746448517, 0.5062500238418579, -0.5973214507102966, 0, -0.05892857164144516, -0.0835714265704155, 1 ]
3.85
77
0
77
0
[ -0.008420875295996666, 0.2374083399772644, 0.6504470705986023, 3.14300799369812, -0.3979320824146271, -0.2428387850522995, 0.03606197610497475, -0.025847062468528748 ]
[ 0.10509037971496582, 0.2097712904214859, 0.3197716176509857, -2.0723085403442383, 0.053546659648418427, 2.1588566303253174, 1.4275286197662354 ]
[ 0.3482142984867096, 0.5116071701049805, -0.6053571701049805, 0, -0.0803571417927742, -0.07821428775787354, 1 ]
3.9
78
0
78
0
[ -0.0029551065526902676, 0.24413245916366577, 0.6428112983703613, 3.143517017364502, -0.41327184438705444, -0.23162345588207245, 0.03606279939413071, -0.025842199102044106 ]
[ 0.10962837189435959, 0.23974134027957916, 0.324471116065979, -2.055635929107666, 0.04050549119710922, 2.1789896488189697, 1.451822280883789 ]
[ 0.2651785612106323, 0.46071428060531616, -0.6348214149475098, 0, -0.09321428835391998, -0.06321428716182709, 1 ]
3.95
79
0
79
0
[ 0.0018627326935529709, 0.25064828991889954, 0.635014533996582, 3.143538475036621, -0.4265623688697815, -0.21898646652698517, 0.03606302663683891, -0.025837508961558342 ]
[ 0.11469759047031403, 0.2682296931743622, 0.32869863510131836, -2.0409610271453857, 0.025924425572156906, 2.1998238563537598, 1.4759032726287842 ]
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4
80
0
80
0
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[ 0.12003368139266968, 0.2943018972873688, 0.331787109375, -2.0296850204467773, 0.009984811767935753, 2.220532178878784, 1.498863935470581 ]
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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
[ 0.004624036606401205, 0.2689878046512604, 0.594295084476471, 3.1265268325805664, -0.44918084144592285, -0.1616213023662567, 0.036050982773303986, -0.02581244893372059 ]
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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
88
0
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4.45
89
0
89
0
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[ 0, 0.02142857201397419, 0.3053571283817291, -0.03750000149011612, 0.023571427911520004, 0, -1 ]
4.5
90
0
90
0
[ -0.005670160986483097, 0.2693387567996979, 0.5974657535552979, 3.107527256011963, -0.45950815081596375, -0.1296069324016571, 0.03471465781331062, -0.02745971269905567 ]
[ 0.15794706344604492, 0.3235960304737091, 0.33179280161857605, -2.0797722339630127, -0.0733146071434021, 2.3197226524353027, 1.608310341835022 ]
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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
[ -0.00948941521346569, 0.2702459692955017, 0.6092730760574341, 3.101137638092041, -0.46385326981544495, -0.14205323159694672, 0.036534667015075684, -0.03492116555571556 ]
[ 0.1614059954881668, 0.298495352268219, 0.3331056237220764, -2.078059196472168, -0.059601880609989166, 2.2852935791015625, 1.607992172241211 ]
[ 0, 0, 0.3723214268684387, 0, 0.056785713881254196, -0.009642857126891613, -1 ]
4.7
94
0
94
0
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[ 0, 0, 0.3053571283817291, 0, 0.040714286267757416, -0.017142856493592262, -1 ]
4.75
95
0
95
0
[ -0.010656346566975117, 0.27014079689979553, 0.6182003021240234, 3.0995993614196777, -0.46893972158432007, -0.1581064909696579, 0.03821294754743576, -0.03773554041981697 ]
[ 0.16136455535888672, 0.283689945936203, 0.33303993940353394, -2.0705764293670654, -0.04396997019648552, 2.2560365200042725, 1.6012474298477173 ]
[ 0, 0, 0.20357142388820648, 0, 0.02250000089406967, -0.020357143133878708, -1 ]
4.8
96
0
96
0
[ -0.01067958865314722, 0.2699648141860962, 0.6216452717781067, 3.0989162921905518, -0.472651869058609, -0.16411440074443817, 0.03855304792523384, -0.0383000411093235 ]
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[ 0, 0, 0.11517857015132904, 0, 0.003214285708963871, -0.020357143133878708, -1 ]
4.85
97
0
97
0
[ -0.010397184640169144, 0.26980555057525635, 0.6240780353546143, 3.0982890129089355, -0.47649335861206055, -0.16767524182796478, 0.038743920624256134, -0.03861500322818756 ]
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[ -0.02410714328289032, 0, 0, 0, -0.007499999832361937, -0.020357143133878708, -1 ]
4.9
98
0
98
0
[ -0.010088018141686916, 0.2696917653083801, 0.6252683997154236, 3.097595691680908, -0.47987180948257446, -0.16956909000873566, 0.03884910047054291, -0.03879260644316673 ]
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[ -0.04553571343421936, 0, 0, 0, -0.03642857074737549, -0.018214285373687744, -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": 5306,
    "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": [
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                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
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        },
        "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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        "episode_index": {
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            "names": null
        },
        "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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