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observation.state.joints
list
observation.state.eef_pose
list
observation.state.gripper
float32
0
1
observation.state
list
action
list
timestamp
float32
0
420
frame_index
int64
0
2.1k
episode_index
int64
0
55
index
int64
0
55.9k
task_index
int64
0
0
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5.6
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6.6
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6.8
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7
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7.2
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7.4
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7.6
38
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7.8
39
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8
40
0
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8.2
41
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8.4
42
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1
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8.6
43
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1
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8.8
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1
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9
45
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1
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9.2
46
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1
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9.4
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1
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9.6
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1
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9.8
49
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1
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10
50
0
50
0
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1
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10.2
51
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0
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1
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10.4
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0
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1
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10.6
53
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0
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1
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10.8
54
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1
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11
55
0
55
0
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1
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11.2
56
0
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0
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1
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11.4
57
0
57
0
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1
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11.6
58
0
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99
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "generic_robot",
    "total_episodes": 56,
    "total_frames": 55872,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 5,
    "splits": {
        "train": "0:56"
    },
    "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": {
        "observation.images.main": {
            "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": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.state.joints": {
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            "shape": [
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            "names": {
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        },
        "observation.state.eef_pose": {
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            "names": {
                "axes": [
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        },
        "observation.state.gripper": {
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            "names": {
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        "observation.state": {
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            "names": {
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        "action": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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