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float32
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120
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int64
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2.99k
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int64
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37
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int64
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67.1k
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3.12
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[ -16.947999954223633, 7.454444408416748, 64.87999725341797, -4.366000175476074, -76.71857452392578, 0, 89.5, -0.1500340849161148 ]
3.8
95
0
95
0
[ -17.29678726196289, 11.698113441467285, 62.19963073730469, -4.234354019165039, -79.75224304199219, 0.10498687624931335, 93.39933776855469 ]
[ -17.121999740600586, 8.823333740234375, 63.66352844238281, -4.320000171661377, -78.4000015258789, 0, 89.9000015258789, -0.13803067803382874 ]
3.84
96
0
96
0
[ -17.29678726196289, 12.788259506225586, 61.55268096923828, -4.234354019165039, -79.92311096191406, 0.10498687624931335, 94.8019790649414 ]
[ -17.26799964904785, 9.973333358764648, 62.85411834716797, -4.059000015258789, -79.46286010742188, 0, 90.69999694824219, -0.1306276172399521 ]
3.88
97
0
97
0
[ -17.107749938964844, 13.710691452026367, 60.72088623046875, -4.234354019165039, -80.008544921875, 0.10498687624931335, 95.95709228515625 ]
[ -17.261999130249023, 11.313333511352539, 62.06235122680664, -3.9630000591278076, -79.63714599609375, 0, 91.69999694824219, -0.12916484475135803 ]
3.92
98
0
98
0
[ -16.824195861816406, 14.465409278869629, 59.61183166503906, -4.234354019165039, -80.008544921875, 0.10498687624931335, 96.03960418701172 ]
[ -17.261999130249023, 12.5600004196167, 61.32706069946289, -4.071000099182129, -79.86000061035156, 0, 92.69999694824219, -0.13994836807250977 ]
3.96
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "piper_full",
    "total_episodes": 38,
    "total_frames": 67148,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:38"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
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            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.tau"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.image2": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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