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float32
0
16
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int64
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320
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int64
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49
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int64
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14.5k
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int64
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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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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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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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
[ 0.28487804532051086, 0.9306237101554871, -0.04517157003283501, 0.16420748829841614, -0.004399710800498724, -0.1093234196305275, 0.9939674139022827, 0.007607479114085436 ]
[ 0.28487804532051086, 0.9174180030822754, -0.04303544759750366, 0.15789295732975006, -0.010925055481493473, -0.10812888294458389, 0.994010329246521, 0.011539861559867859 ]
4.2
84
0
84
0
[ 0.28487804532051086, 0.9407125115394592, -0.04674693942070007, 0.16750474274158478, -0.0011883708648383617, -0.10939370840787888, 0.993982195854187, 0.0055778538808226585 ]
[ 0.28487804532051086, 0.9270036220550537, -0.044603753834962845, 0.1627264767885208, -0.00603110296651721, -0.10899046063423157, 0.9939870834350586, 0.008617507293820381 ]
4.25
85
0
85
0
[ 0.2845121920108795, 0.9511510133743286, -0.04886814206838608, 0.16878589987754822, 0.0031849497463554144, -0.10789968818426132, 0.9941520094871521, 0.003177326638251543 ]
[ 0.28487804532051086, 0.9370213150978088, -0.04609852284193039, 0.16660495102405548, -0.002781812334433198, -0.10948400944471359, 0.9939627051353455, 0.006608560681343079 ]
4.3
86
0
86
0
[ 0.28439024090766907, 0.961566150188446, -0.05112059414386749, 0.16808700561523438, 0.006602408830076456, -0.10454690456390381, 0.9944946765899658, 0.002754849148914218 ]
[ 0.2845121920108795, 0.9473894238471985, -0.04805317148566246, 0.1687091886997223, 0.000783780706115067, -0.10885341465473175, 0.994047999382019, 0.004435716196894646 ]
4.35
87
0
87
0
[ 0.2840243875980377, 0.9709634780883789, -0.05299721285700798, 0.1651315987110138, 0.00696581369265914, -0.09999562054872513, 0.9949504733085632, 0.005068490281701088 ]
[ 0.28439024090766907, 0.9576175212860107, -0.050372589379549026, 0.16874052584171295, 0.00508952746167779, -0.10657455772161484, 0.9942882657051086, 0.002539604203775525 ]
4.4
88
0
88
0
[ 0.2837804853916168, 0.9775456190109253, -0.05500040948390961, 0.16028088331222534, 0.004742983262985945, -0.09952602535486221, 0.9950006604194641, 0.00679018022492528 ]
[ 0.28414633870124817, 0.967738926410675, -0.05248770862817764, 0.16648165881633759, 0.007305169943720102, -0.10213126242160797, 0.9947375059127808, 0.0037462858017534018 ]
4.45
89
0
89
0
[ 0.2835365831851959, 0.982170820236206, -0.056695278733968735, 0.15387538075447083, 0.0003979090542998165, -0.09863537549972534, 0.9950814247131348, 0.00920479092746973 ]
[ 0.2837804853916168, 0.9755253791809082, -0.05431261286139488, 0.1621275693178177, 0.0060615758411586285, -0.09924043715000153, 0.9950270056724548, 0.006018799729645252 ]
4.5
90
0
90
0
[ 0.283292680978775, 0.985051155090332, -0.058340903371572495, 0.14580975472927094, -0.007689530961215496, -0.09995441883802414, 0.9948747158050537, 0.013239019550383091 ]
[ 0.2835365831851959, 0.9809305667877197, -0.05624910071492195, 0.15628252923488617, 0.0029586569871753454, -0.09933088719844818, 0.9950191378593445, 0.007788470014929771 ]
4.55
91
0
91
0
[ 0.2831707298755646, 0.987258791923523, -0.061613332480192184, 0.13840465247631073, -0.01368044875562191, -0.10250920802354813, 0.9945827126502991, 0.010531858541071415 ]
[ 0.2834146320819855, 0.9845250248908997, -0.057820335030555725, 0.14860616624355316, -0.0033436778467148542, -0.09882794320583344, 0.9950370788574219, 0.011136271990835667 ]
4.6
92
0
92
0
[ 0.2831707298755646, 0.9900491833686829, -0.06574582308530807, 0.13131533563137054, -0.01614367961883545, -0.1029304713010788, 0.9945460557937622, 0.004711724352091551 ]
[ 0.2831707298755646, 0.9866504669189453, -0.05990457907319069, 0.14082255959510803, -0.011013627052307129, -0.10117720812559128, 0.9947216510772705, 0.01309853233397007 ]
4.65
93
0
93
0
[ 0.2831707298755646, 0.9917730689048767, -0.06877932697534561, 0.1258467137813568, -0.019621165469288826, -0.10271561145782471, 0.9945175647735596, 0.00042802406824193895 ]
[ 0.2831707298755646, 0.989041805267334, -0.06409282982349396, 0.1336953043937683, -0.015441314317286015, -0.10311712324619293, 0.9945215582847595, 0.007499611936509609 ]
4.7
94
0
94
0
[ 0.2834146320819855, 0.9934319257736206, -0.07144232839345932, 0.12027206271886826, -0.021923677995800972, -0.10382938385009766, 0.9943385720252991, -0.005528670735657215 ]
[ 0.2831707298755646, 0.9914422631263733, -0.06762300431728363, 0.12759624421596527, -0.01745610311627388, -0.10275500267744064, 0.9945498108863831, 0.0025536278262734413 ]
4.75
95
0
95
0
[ 0.28414633870124817, 0.9947637915611267, -0.07293067872524261, 0.11489463597536087, -0.02201986312866211, -0.10669593513011932, 0.9939976334571838, -0.009974155575037003 ]
[ 0.2834146320819855, 0.9927977919578552, -0.07028679549694061, 0.12234921008348465, -0.021236179396510124, -0.10309891402721405, 0.9944421052932739, -0.002340260660275817 ]
4.8
96
0
96
0
[ 0.2852438986301422, 0.9947317242622375, -0.07406184077262878, 0.10995539277791977, -0.024235861375927925, -0.11023243516683578, 0.9935022592544556, -0.014683755114674568 ]
[ 0.28414633870124817, 0.9943330883979797, -0.0723358765244484, 0.11684703081846237, -0.02206888236105442, -0.1050507202744484, 0.9941890239715576, -0.0081481309607625 ]
4.85
97
0
97
0
[ 0.285731703042984, 0.99416184425354, -0.07449444383382797, 0.10524562001228333, -0.026402639225125313, -0.11236044764518738, 0.9931504130363464, -0.01817185990512371 ]
[ 0.2852438986301422, 0.9949281811714172, -0.0733523815870285, 0.11157248169183731, -0.022818559780716896, -0.10842260718345642, 0.9937697052955627, -0.012103788554668427 ]
4.9
98
0
98
0
[ 0.2867073118686676, 0.9936919808387756, -0.07358542084693909, 0.10098379105329514, -0.026531964540481567, -0.11213577538728714, 0.9931727647781372, -0.018166596069931984 ]
[ 0.285731703042984, 0.9944643378257751, -0.0742674469947815, 0.10682877153158188, -0.025386683642864227, -0.1115308329463005, 0.9932965040206909, -0.016685524955391884 ]
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": "v3.0",
    "robot_type": "xense_flare",
    "total_episodes": 50,
    "total_frames": 14455,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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": [
                "gripper.pos",
                "tcp.x",
                "tcp.y",
                "tcp.z",
                "tcp.qw",
                "tcp.qx",
                "tcp.qy",
                "tcp.qz"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "gripper.pos",
                "tcp.x",
                "tcp.y",
                "tcp.z",
                "tcp.qw",
                "tcp.qx",
                "tcp.qy",
                "tcp.qz"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_tactile": {
            "dtype": "video",
            "shape": [
                350,
                200,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 350,
                "video.width": 200,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_tactile": {
            "dtype": "video",
            "shape": [
                350,
                200,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 350,
                "video.width": 200,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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