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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
15.7
frame_index
int64
0
313
episode_index
int64
0
49
index
int64
0
11.7k
task_index
int64
0
0
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3.1
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3.15
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3.3
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3.45
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3.5
70
0
70
0
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3.55
71
0
71
0
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[ 0.20892857015132904, -0.4312500059604645, 0.8116071224212646, 0, 0.03321428596973419, -0.05249999836087227, 1 ]
3.6
72
0
72
0
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[ 0.21160714328289032, -0.4660714268684387, 0.8196428418159485, 0, 0.018214285373687744, -0.05249999836087227, 1 ]
3.65
73
0
73
0
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[ 0.23839285969734192, -0.5571428537368774, 0.7901785969734192, 0, 0.008571428246796131, -0.05785714462399483, 1 ]
3.7
74
0
74
0
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[ 0.24910713732242584, -0.6241071224212646, 0.7633928656578064, 0, 0.012857142835855484, -0.06321428716182709, 1 ]
3.75
75
0
75
0
[ -0.06763242930173874, -0.03568127006292343, 0.5766274929046631, 3.4288907051086426, -0.1439761072397232, -0.22428958117961884, 0.002652364084497094, -0.0017877829959616065 ]
[ -0.0692511573433876, 0.08337972313165665, -0.08488622307777405, -2.460042715072632, 0.40308526158332825, 2.3346285820007324, 0.4044038951396942 ]
[ 0.2571428716182709, -0.6455357074737549, 0.7607142925262451, 0, 0.013928571715950966, -0.06428571790456772, 1 ]
3.8
76
0
76
0
[ -0.0655897781252861, -0.04337728023529053, 0.5863642692565918, 3.4271349906921387, -0.15969999134540558, -0.2186736762523651, 0.002638461533933878, -0.0017853382742032409 ]
[ -0.07140859216451645, 0.06732988357543945, -0.10091333091259003, -2.4489941596984863, 0.38852399587631226, 2.310204267501831, 0.41331541538238525 ]
[ 0.2571428716182709, -0.6455357074737549, 0.7633928656578064, 0, 0.013928571715950966, -0.06428571790456772, 1 ]
3.85
77
0
77
0
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3.9
78
0
78
0
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[ -0.0758630633354187, 0.04074741527438164, -0.1332973837852478, -2.421182155609131, 0.3615797162055969, 2.2600841522216797, 0.42774897813796997 ]
[ 0.27589285373687744, -0.6589285731315613, 0.7098214030265808, 0, 0.012857142835855484, -0.061071429401636124, 1 ]
3.95
79
0
79
0
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[ -0.07803928852081299, 0.030818719416856766, -0.14911308884620667, -2.4046525955200195, 0.34936633706092834, 2.23553204536438, 0.4335857033729553 ]
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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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[ 0.27321428060531616, -0.7124999761581421, 0, 0, 0.01607142947614193, -0.05785714462399483, 1 ]
4.3
86
0
86
0
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4.35
87
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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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
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0
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4.7
94
0
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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
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0
[ -0.015833785757422447, -0.18284505605697632, 0.6096729040145874, 3.370487689971924, -0.4003661870956421, -0.2177533507347107, 0.0025269449688494205, -0.0018429411575198174 ]
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4.9
98
0
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[ -0.13660714030265808, 0, -0.3857142925262451, -0.06750000268220901, 0, 0, 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": 11734,
    "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": [
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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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            "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": {
            "dtype": "float32",
            "shape": [
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            "names": {
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                    "joint_6",
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
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                    "yaw",
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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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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