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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
10.5
frame_index
int64
0
210
episode_index
int64
0
49
index
int64
0
6.19k
task_index
int64
0
0
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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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2.8
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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
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3.55
71
0
71
0
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[ 0.7928571701049805, -0.38303571939468384, 0.5008928775787354, -0.03214285895228386, 0, -0.04500000178813934, 1 ]
3.6
72
0
72
0
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3.65
73
0
73
0
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[ 0.8035714030265808, -0.40982142090797424, 0.43392857909202576, -0.025714285671710968, 0, -0.040714286267757416, 1 ]
3.7
74
0
74
0
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[ 0.8062499761581421, -0.42053571343421936, 0.3991071283817291, -0.025714285671710968, 0, -0.03857142850756645, 1 ]
3.75
75
0
75
0
[ 0.00658255722373724, 0.05446075648069382, 0.5386083722114563, 3.119292736053467, -0.2246977537870407, -0.06927298754453659, 0.02371525578200817, -0.02279392071068287 ]
[ 0.050155919045209885, 0.2960706353187561, 0.05372405797243118, -2.2998290061950684, -0.03807271271944046, 2.549201011657715, 1.0636974573135376 ]
[ 0.8062499761581421, -0.4258928596973419, 0.375, -0.023571427911520004, 0, -0.03750000149011612, 1 ]
3.8
76
0
76
0
[ 0.01651686802506447, 0.04877626895904541, 0.5435301065444946, 3.115910768508911, -0.2327108234167099, -0.06600615382194519, 0.02371283806860447, -0.02279600314795971 ]
[ 0.046820588409900665, 0.30483701825141907, 0.04562801122665405, -2.267791509628296, -0.0396277979016304, 2.5276036262512207, 1.0585367679595947 ]
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3.85
77
0
77
0
[ 0.02651500701904297, 0.0430525578558445, 0.5478155016899109, 3.112860679626465, -0.24028730392456055, -0.06299511343240738, 0.02371036633849144, -0.022798169404268265 ]
[ 0.04348140209913254, 0.31597691774368286, 0.03773551061749458, -2.2346320152282715, -0.04055573418736458, 2.5072057247161865, 1.0527558326721191 ]
[ 0.8089285492897034, -0.4392857253551483, 0.27321428060531616, -0.019285714253783226, 0, -0.03214285895228386, 1 ]
3.9
78
0
78
0
[ 0.03656609356403351, 0.03723869472742081, 0.5514745116233826, 3.110018730163574, -0.24733774363994598, -0.060129955410957336, 0.02370765432715416, -0.022800596430897713 ]
[ 0.0401344820857048, 0.32930585741996765, 0.029971569776535034, -2.2004575729370117, -0.04103192314505577, 2.487968683242798, 1.0464078187942505 ]
[ 0.8062499761581421, -0.44732141494750977, 0.22499999403953552, -0.018214285373687744, 0, -0.02678571455180645, 1 ]
3.95
79
0
79
0
[ 0.046629760414361954, 0.031345073133707047, 0.5545520186424255, 3.107279062271118, -0.25355374813079834, -0.05740194395184517, 0.023704854771494865, -0.022803131490945816 ]
[ 0.03679575026035309, 0.34454721212387085, 0.022356107831001282, -2.1654040813446045, -0.041232965886592865, 2.4697282314300537, 1.0395066738128662 ]
[ 0.8089285492897034, -0.44732141494750977, 0.21160714328289032, -0.017142856493592262, 0, -0.025714285671710968, 1 ]
4
80
0
80
0
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[ 0.03346254676580429, 0.3612581491470337, 0.014941135421395302, -2.129519462585449, -0.04113096743822098, 2.4522104263305664, 1.032181739807129 ]
[ 0.8062499761581421, -0.4553571343421936, 0.17142857611179352, -0.01607142947614193, 0, -0.024642856791615486, 1 ]
4.05
81
0
81
0
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[ 0.7848214507102966, -0.46339285373687744, 0.12857143580913544, -0.012857142835855484, 0, -0.02250000089406967, 1 ]
4.1
82
0
82
0
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[ 0.7607142925262451, -0.46875, 0.1071428582072258, -0.010714286006987095, 0, -0.02142857201397419, 1 ]
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
[ 0.10481854528188705, -0.004965994972735643, 0.5637251734733582, 3.0949981212615967, -0.28090423345565796, -0.044531285762786865, 0.023685850203037262, -0.02282099239528179 ]
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[ 0.5062500238418579, -0.5008928775787354, 0, 0, -0.03750000149011612, -0.0010714285308495164, 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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4.45
89
0
89
0
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4.5
90
0
90
0
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[ 0.03482142835855484, -0.5008928775787354, -0.34285715222358704, 0, -0.029999999329447746, 0, 1 ]
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
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4.75
95
0
95
0
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[ -0.027952218428254128, 0.6177462935447693, -0.07629655301570892, -1.7631648778915405, 0.013051226735115051, 2.339531898498535, 0.8696411848068237 ]
[ -0.13660714030265808, -0.2785714268684387, -0.6616071462631226, 0, -0.03321428596973419, 0, 1 ]
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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[ -0.21696428954601288, -0.2571428716182709, -0.75, 0, -0.04500000178813934, 0.0010714285308495164, 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": 6195,
    "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,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "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": [
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
            }
        },
        "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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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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