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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
frame_index
int64
0
160
episode_index
int64
0
49
index
int64
0
5.9k
task_index
int64
0
0
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2
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2.3
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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
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3.05
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3.1
62
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3.15
63
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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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[ -0.31339284777641296, 0, 0.5839285850524902, 0, -0.04285714402794838, 0, 1 ]
3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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[ -0.7553571462631226, 0.01607142947614193, 0.581250011920929, 0, -0.06428571790456772, -0.012857142835855484, 1 ]
3.7
74
0
74
0
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[ -0.7794643044471741, 0.0053571430034935474, 0.5732142925262451, 0, -0.0535714291036129, -0.013928571715950966, 1 ]
3.75
75
0
75
0
[ -0.0007514882017858326, 0.18180310726165771, 1.0934275388717651, 3.0967564582824707, 0.07623551785945892, 0.31939375400543213, 0.00550115155056119, -0.005427660886198282 ]
[ 0.17925195395946503, 0.7680431604385376, 0.09302973002195358, -1.3786497116088867, -0.18683718144893646, 2.331787586212158, 1.09296715259552 ]
[ -0.8062499761581421, 0, 0.5598214268684387, 0, -0.04178571328520775, -0.010714286006987095, 1 ]
3.8
76
0
76
0
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[ 0.1792382001876831, 0.7278184294700623, 0.09614866971969604, -1.4217572212219238, -0.19015493988990784, 2.330043077468872, 1.1016746759414673 ]
[ -0.84375, 0, 0.5330356955528259, 0, -0.02678571455180645, -0.006428571417927742, 1 ]
3.85
77
0
77
0
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[ 0.178959459066391, 0.6865003705024719, 0.09970657527446747, -1.468231201171875, -0.19329077005386353, 2.330808639526367, 1.1104580163955688 ]
[ -0.8732143044471741, 0, 0.5062500238418579, 0, -0.02142857201397419, 0, 1 ]
3.9
78
0
78
0
[ -0.029451005160808563, 0.18339236080646515, 1.1197346448898315, 3.090653657913208, 0.07118219882249832, 0.30496442317962646, 0.005469510331749916, -0.005417732987552881 ]
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3.95
79
0
79
0
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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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4.3
86
0
86
0
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4.35
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4.4
88
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0
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4.45
89
0
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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
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
[ -0.241266131401062, 0.2094794660806656, 1.1409308910369873, 3.062445640563965, 0.09952090680599213, 0.34017425775527954, 0.005303325597196817, -0.005349546205252409 ]
[ 0.15956558287143707, 0.08396801352500916, 0.24700944125652313, -2.3175854682922363, -0.28720369935035706, 2.5661675930023193, 1.353198766708374 ]
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4.8
96
0
96
0
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4.85
97
0
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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": 5896,
    "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"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "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",
                    "joint_4",
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                    "joint_6",
                    "joint_7"
                ]
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        },
        "action": {
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            "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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