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observation.state
list
action
list
timestamp
float32
0
36.9
frame_index
int64
0
369
episode_index
int64
0
101
index
int64
0
21.8k
task_index
int64
0
0
[ -0.33958861231803894, 0.6490557789802551, 0.3926906883716583, 0.03067067824304104, 0.9921799898147583, -0.08259964734315872, 0.08840548992156982, 0.293164998292923, 0.6024622917175293, 0.4218396246433258, 0.1822337955236435, -0.9831575751304626, -0.0030234740115702152, 0.013521643355488777...
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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11
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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19
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2
20
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20
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2.1
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2.2
22
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22
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2.3
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2.4
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2.5
25
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25
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2.6
26
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2.7
27
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27
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2.8
28
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28
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2.9
29
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3
30
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
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6.5
65
0
65
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6.6
66
0
66
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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0
0
1
87
0
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0.1
1
1
88
0
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0.2
2
1
89
0
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0.3
3
1
90
0
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0.4
4
1
91
0
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0.5
5
1
92
0
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0.6
6
1
93
0
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0.7
7
1
94
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0.8
8
1
95
0
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0.9
9
1
96
0
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1
10
1
97
0
[ -0.2944428324699402, 0.6399298906326294, 0.39002567529678345, 0.39445760846138, 0.9165424108505249, -0.029808560386300087, 0.058861128985881805, 0.30055731534957886, 0.6085609197616577, 0.42809343338012695, 0.1638287454843521, -0.9863311052322388, -0.012665018439292908, 0.01227426156401634...
[ -0.00012508034706115723, 0.00015658140182495117, 0.00010386109352111816, 0.0006546525983139873, -0.00029182853177189827, -0.009902549907565117, 0, 0, 0, 0, 0, 0, 0, 0 ]
1.1
11
1
98
0
[ -0.29383161664009094, 0.6401650309562683, 0.3902359902858734, 0.39967799186706543, 0.9142651557922363, -0.029696060344576836, 0.05911778658628464, 0.30055704712867737, 0.608559787273407, 0.4280935823917389, 0.1638321876525879, -0.9863305687904358, -0.012664943933486938, 0.01227327063679695...
[ -0.00008440017700195312, 0.00009810924530029297, 0.0000603795051574707, 0.00046420947182923555, -0.00017920383834280074, -0.0060472008772194386, 0, 0, 0, 0, 0, 0, 0, 0 ]
1.2
12
1
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": 102,
    "total_frames": 21838,
    "total_tasks": 1,
    "total_videos": 306,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:102"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1",
                "last_command_left_0",
                "last_command_left_1",
                "last_command_left_2",
                "last_command_left_3",
                "last_command_left_4",
                "last_command_left_5",
                "last_command_left_6",
                "last_command_right_0",
                "last_command_right_1",
                "last_command_right_2",
                "last_command_right_3",
                "last_command_right_4",
                "last_command_right_5",
                "last_command_right_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "delta_tcp_left_x",
                "delta_tcp_left_y",
                "delta_tcp_left_z",
                "delta_tcp_left_rot_x",
                "delta_tcp_left_rot_y",
                "delta_tcp_left_rot_z",
                "delta_tcp_right_x",
                "delta_tcp_right_y",
                "delta_tcp_right_z",
                "delta_tcp_right_rot_x",
                "delta_tcp_right_rot_y",
                "delta_tcp_right_rot_z",
                "gripper_left",
                "gripper_right"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_left": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_right": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "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
        }
    }
}

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BibTeX:

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