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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
9.15
frame_index
int64
0
183
episode_index
int64
0
49
index
int64
0
7.24k
task_index
int64
0
0
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2
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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
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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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3.55
71
0
71
0
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[ 0.6508928537368774, -0.6160714030265808, 0.5732142925262451, 0, 0.003214285708963871, -0.03750000149011612, 1 ]
3.6
72
0
72
0
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[ 0.6482142806053162, -0.637499988079071, 0.5544642806053162, 0, 0.007499999832361937, -0.039642855525016785, 1 ]
3.65
73
0
73
0
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[ 0.65625, -0.6696428656578064, 0.4794642925262451, 0, 0.02250000089406967, -0.035357143729925156, 1 ]
3.7
74
0
74
0
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[ 0.6401785612106323, -0.6830357313156128, 0.4419642984867096, 0, 0.018214285373687744, -0.03321428596973419, 1 ]
3.75
75
0
75
0
[ -0.1511649489402771, 0.0021608120296150446, 0.6724973917007446, 3.1758577823638916, -0.043416667729616165, -0.06210675090551376, 0.005306188482791185, -0.005118400789797306 ]
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[ 0.6267856955528259, -0.6991071701049805, 0.42053571343421936, 0, 0.008571428246796131, -0.028928572311997414, 1 ]
3.8
76
0
76
0
[ -0.14384588599205017, -0.00725523242726922, 0.677498459815979, 3.1755025386810303, -0.0506112203001976, -0.05954262241721153, 0.00529681658372283, -0.0051244525238871574 ]
[ 0.00027630277327261865, -0.43271780014038086, -0.03340679407119751, -2.720876693725586, 0.026142023503780365, 2.2502269744873047, 0.7711619734764099 ]
[ 0.6160714030265808, -0.7178571224212646, 0.3883928656578064, 0, 0.006428571417927742, -0.024642856791615486, 1 ]
3.85
77
0
77
0
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[ -0.006510510109364986, -0.41606223583221436, -0.051417309790849686, -2.6930625438690186, 0.01587727479636669, 2.2402355670928955, 0.7584944367408752 ]
[ 0.6160714030265808, -0.7285714149475098, 0.3482142984867096, 0, 0.011785713955760002, -0.024642856791615486, 1 ]
3.9
78
0
78
0
[ -0.12917238473892212, -0.026670388877391815, 0.6865066885948181, 3.174607992172241, -0.06274905055761337, -0.0554344542324543, 0.005279361270368099, -0.00513727031648159 ]
[ -0.01287489477545023, -0.3978230059146881, -0.06897784024477005, -2.664837598800659, 0.006828213110566139, 2.2310707569122314, 0.7451403737068176 ]
[ 0.5973214507102966, -0.7526785731315613, 0.28928571939468384, 0, 0.013928571715950966, -0.023571427911520004, 1 ]
3.95
79
0
79
0
[ -0.12195746600627899, -0.03667261078953743, 0.6901360750198364, 3.1740221977233887, -0.06841485947370529, -0.05476042255759239, 0.005271018948405981, -0.005144251044839621 ]
[ -0.018865307793021202, -0.3778674900531769, -0.0862317755818367, -2.6364426612854004, -0.0011270405957475305, 2.2228641510009766, 0.7312409281730652 ]
[ 0.581250011920929, -0.7794643044471741, 0.22232143580913544, 0, 0.019285714253783226, -0.02142857201397419, 1 ]
4
80
0
80
0
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4.05
81
0
81
0
[ -0.10798598825931549, -0.05750032141804695, 0.6948996782302856, 3.1724748611450195, -0.07860299944877625, -0.05718042701482773, 0.005254562944173813, -0.005159301217645407 ]
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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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[ 0.5758928656578064, -0.824999988079071, 0, 0.002142857061699033, 0.002142857061699033, -0.017142856493592262, 1 ]
4.3
86
0
86
0
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4.35
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0
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0
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4.4
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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
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0
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4.6
92
0
92
0
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4.65
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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[ -0.08338917791843414, 0.07820344716310501, -0.3225097954273224, -2.160734176635742, 0.04163837060332298, 2.1944355964660645, 0.43916141986846924 ]
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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": 7239,
    "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",
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                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
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            "names": [
                "height",
                "width",
                "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": {
                "motors": [
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                    "joint_3",
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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",
                    "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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