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observation.images.image
image
observation.images.wrist_image
image
observation.state
sequence
observation.state.joint
sequence
action
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.35
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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
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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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3.3
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3.35
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3.4
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3.45
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0
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3.5
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0
70
0
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3.55
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0
71
0
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3.6
72
0
72
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3.65
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0
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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
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0
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0
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4
80
0
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4.05
81
0
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0
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4.1
82
0
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0
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4.15
83
0
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0
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4.2
84
0
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0
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4.25
85
0
85
0
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4.3
86
0
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4.35
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4.4
88
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
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0
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4.6
92
0
92
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4.65
93
0
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0
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4.7
94
0
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4.75
95
0
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0
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4.8
96
0
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0
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4.85
97
0
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4.9
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": 13298,
    "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": [
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            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
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            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.state.end_effector": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper",
                    "gripper"
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        },
        "observation.state.joint": {
            "dtype": "float32",
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            "names": {
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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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                    "z",
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                    "pitch",
                    "yaw",
                    "gripper"
                ]
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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