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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
14.9
frame_index
int64
0
298
episode_index
int64
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325
index
int64
0
43.1k
task_index
int64
0
6
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2
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2.05
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2.15
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2.25
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2.3
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2.35
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2.4
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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
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3.15
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3.2
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3.25
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3.35
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3.45
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
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4.05
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4.1
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4.15
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4.2
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4.25
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4.3
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4.35
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4.4
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4.45
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4.5
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4.55
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4.6
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4.65
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4.7
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4.75
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4.8
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4.85
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4.9
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[ 0.14234918355941772, 0.8671736717224121, -0.08699522167444229, -1.3813581466674805, -1.1934757232666016, 1.827468991279602, -0.03986579179763794 ]
[ 0, -0.3187499940395355, -0.3723214268684387, 0.06964285671710968, -0.1907142847776413, -0.2046428620815277, -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": 400,
    "total_frames": 50251,
    "total_tasks": 8,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:400"
    },
    "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": [
                8
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.state.joint": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "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

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