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observation.images.image
imagewidth (px)
256
256
observation.images.wrist_image
imagewidth (px)
256
256
observation.state
list
observation.state.joint
list
action
list
timestamp
float32
0
7.45
frame_index
int64
0
149
episode_index
int64
0
49
index
int64
0
5.38k
task_index
int64
0
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2.5
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2.55
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2.7
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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
[ -0.06303485482931137, 0.156574085354805, 0.5147315263748169, 3.102388381958008, -0.16367678344249725, -0.15638765692710876, 0.005798996426165104, -0.007363155484199524 ]
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[ 0.0669642835855484, 0, 0.2517857253551483, 0, 0.07285714149475098, -0.018214285373687744, 1 ]
3.55
71
0
71
0
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3.6
72
0
72
0
[ -0.06181641295552254, 0.15646466612815857, 0.5210418701171875, 3.1010982990264893, -0.1714089810848236, -0.17988792061805725, 0.005266148597002029, -0.006180241703987122 ]
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3.65
73
0
73
0
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3.7
74
0
74
0
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[ 0.36964285373687744, 0.3776785731315613, 0.7124999761581421, -0.006428571417927742, 0.07071428745985031, -0.03642857074737549, 1 ]
3.75
75
0
75
0
[ -0.05471282824873924, 0.16289766132831573, 0.5402122735977173, 3.1043829917907715, -0.1850111335515976, -0.19871830940246582, 0.005260308273136616, -0.006007037125527859 ]
[ 0.10610639303922653, 0.24388350546360016, 0.22569459676742554, -2.365910291671753, -0.047421082854270935, 2.4754443168640137, 1.272909164428711 ]
[ 0.4258928596973419, 0.47410714626312256, 0.7526785731315613, -0.0053571430034935474, 0.0771428570151329, -0.03750000149011612, 1 ]
3.8
76
0
76
0
[ -0.05135734751820564, 0.1675177365541458, 0.5488486289978027, 3.106043815612793, -0.19082599878311157, -0.2050151228904724, 0.005252285860478878, -0.005907035898417234 ]
[ 0.10674114525318146, 0.23520639538764954, 0.2320031374692917, -2.347338914871216, -0.03735823929309845, 2.4457995891571045, 1.2749241590499878 ]
[ 0.4258928596973419, 0.5142857432365417, 0.7607142925262451, 0, 0.0867857113480568, -0.02678571455180645, 1 ]
3.85
77
0
77
0
[ -0.047815725207328796, 0.17311158776283264, 0.5578123331069946, 3.1077966690063477, -0.19593720138072968, -0.21324530243873596, 0.0052422755397856236, -0.005862902384251356 ]
[ 0.10772883147001266, 0.22840292751789093, 0.23926745355129242, -2.325364112854004, -0.027461139485239983, 2.4135591983795166, 1.2781460285186768 ]
[ 0.42321428656578064, 0.5973214507102966, 0.7205356955528259, 0, 0.11571428924798965, 0, 1 ]
3.9
78
0
78
0
[ -0.04447329044342041, 0.17967142164707184, 0.5664994120597839, 3.1095662117004395, -0.19757036864757538, -0.22533853352069855, 0.005233376752585173, -0.00582024734467268 ]
[ 0.10909338295459747, 0.22463327646255493, 0.24753327667713165, -2.3003056049346924, -0.017744921147823334, 2.3789846897125244, 1.2809361219406128 ]
[ 0.43392857909202576, 0.6482142806053162, 0.6937500238418579, 0, 0.12214285880327225, 0, 1 ]
3.95
79
0
79
0
[ -0.04102545976638794, 0.1869916468858719, 0.5748344659805298, 3.111250877380371, -0.19700218737125397, -0.240034818649292, 0.005224762950092554, -0.0057789781130850315 ]
[ 0.11080044507980347, 0.22437721490859985, 0.2563054859638214, -2.2718992233276367, -0.008842531591653824, 2.3430190086364746, 1.2840746641159058 ]
[ 0.4392857253551483, 0.6910714507102966, 0.6803571581840515, 0, 0.10821428894996643, 0, 1 ]
4
80
0
80
0
[ -0.03713775798678398, 0.19489283859729767, 0.5830981135368347, 3.1128060817718506, -0.19602778553962708, -0.2547048032283783, 0.005216651596128941, -0.005738369654864073 ]
[ 0.11284470558166504, 0.22708909213542938, 0.2652297914028168, -2.2402849197387695, -0.00149012531619519, 2.3067948818206787, 1.2888517379760742 ]
[ 0.4553571343421936, 0.7124999761581421, 0.6401785612106323, 0.006428571417927742, 0.09535714238882065, 0, 1 ]
4.05
81
0
81
0
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[ 0.4848214387893677, 0.731249988079071, 0.5249999761581421, 0.019285714253783226, 0.06321428716182709, 0, 1 ]
4.1
82
0
82
0
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[ 0.11793208122253418, 0.2424038052558899, 0.28295376896858215, -2.1694648265838623, 0.008706504479050636, 2.2402613162994385, 1.3029186725616455 ]
[ 0.4982142746448517, 0.7419642806053162, 0.4178571403026581, 0.029999999329447746, 0.03857142850756645, 0, 1 ]
4.15
83
0
83
0
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[ 0.4982142746448517, 0.7473214268684387, 0.20892857015132904, 0.024642856791615486, 0, 0, 1 ]
4.2
84
0
84
0
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[ 0.47678571939468384, 0.7392857074737549, 0.0535714291036129, 0.03321428596973419, 0, 0, 1 ]
4.25
85
0
85
0
[ -0.009076466783881187, 0.24014011025428772, 0.610893189907074, 3.131655693054199, -0.19233888387680054, -0.29160526394844055, 0.005172268021851778, -0.005534878931939602 ]
[ 0.12866424024105072, 0.2968786954879761, 0.3065381944179535, -2.0571229457855225, 0.008507758378982544, 2.181483268737793, 1.3327696323394775 ]
[ 0.4446428716182709, 0.7419642806053162, 0, 0.028928572311997414, -0.013928571715950966, 0, 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
[ 0.021573536098003387, 0.2858321964740753, 0.5974389314651489, 3.1457526683807373, -0.19900073111057281, -0.25468990206718445, 0.005173142068088055, -0.00540566211566329 ]
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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
[ 0.03189893439412117, 0.30452123284339905, 0.5697932839393616, 3.137937545776367, -0.2220209389925003, -0.23698554933071136, 0.0051741874776780605, -0.005379244685173035 ]
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4.7
94
0
94
0
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4.75
95
0
95
0
[ 0.03343198820948601, 0.3102482855319977, 0.5500783920288086, 3.126274585723877, -0.25047510862350464, -0.24488934874534607, 0.005173589568585157, -0.005374649073928595 ]
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[ -0.26249998807907104, 0, -0.7392857074737549, -0.012857142835855484, 0.010714286006987095, -0.07607142627239227, 1 ]
4.8
96
0
96
0
[ 0.03219020739197731, 0.3115943968296051, 0.5408602952957153, 3.118515729904175, -0.2655313014984131, -0.25442588329315186, 0.005174127407371998, -0.005372060928493738 ]
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4.85
97
0
97
0
[ 0.029533086344599724, 0.31260403990745544, 0.532071590423584, 3.1098792552948, -0.2778511941432953, -0.26582327485084534, 0.005175055470317602, -0.005369411315768957 ]
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4.9
98
0
98
0
[ 0.026651082560420036, 0.314757376909256, 0.5249826312065125, 3.104186534881592, -0.2885081171989441, -0.2736101448535919, 0.0045633683912456036, -0.00842796079814434 ]
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[ -0.3910714387893677, 0.05624999850988388, -0.6857143044471741, -0.011785713955760002, 0, -0.0503571443259716, 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": 5377,
    "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"
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            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "joint_1",
                    "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",
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                    "roll",
                    "pitch",
                    "yaw",
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                ]
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        },
        "timestamp": {
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        "frame_index": {
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            "names": null
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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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