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float32
0
58.8
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int64
0
1.18k
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int64
0
0
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int64
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1.18k
task_index
int64
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2.15
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2.2
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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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2.45
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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
60
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3.05
61
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3.1
62
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3.15
63
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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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3.5
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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
78
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3.95
79
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4
80
0
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4.05
81
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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
86
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86
0
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[ 0.5693349242210388, 0.10315831005573273, -0.700128436088562, -2.2820489406585693, 0.16309109330177307, 2.4718804359436035, 0.9322038292884827, 1 ]
4.35
87
0
87
0
[ 0.5617893934249878, -0.04436108097434044, 0.243305504322052, 0.979365885257721, -0.1799250990152359, 0.05310006067156792, -0.02419046312570572, 0.8873805403709412, 0, 0 ]
[ 0.5730792284011841, 0.10495677590370178, -0.7001574635505676, -2.2752790451049805, 0.16392020881175995, 2.464522123336792, 0.9329282641410828, 1 ]
4.4
88
0
88
0
[ 0.5634533166885376, -0.043864499777555466, 0.24363666772842407, 0.9794356226921082, -0.17936378717422485, 0.05536458641290665, -0.023487333208322525, 0.8826693296432495, 0, 0 ]
[ 0.5764553546905518, 0.10698428004980087, -0.7001579403877258, -2.268712282180786, 0.16505588591098785, 2.4583003520965576, 0.9335005879402161, 1 ]
4.45
89
0
89
0
[ 0.5625991821289062, -0.04273511469364166, 0.24543538689613342, 0.9801356196403503, -0.1756649613380432, 0.05131514370441437, -0.024015191942453384, 0.9087134003639221, 0, 0 ]
[ 0.5795586705207825, 0.10928674042224884, -0.7001396417617798, -2.262563943862915, 0.16642449796199799, 2.453704357147217, 0.9338008761405945, 1 ]
4.5
90
0
90
0
[ 0.5636804699897766, -0.04372592270374298, 0.2444210797548294, 0.9798145890235901, -0.17723198235034943, 0.05333944037556648, -0.024166028946638107, 0.8968333005905151, 0, 0 ]
[ 0.5824102163314819, 0.1113167479634285, -0.7001223564147949, -2.257005453109741, 0.167557030916214, 2.4497976303100586, 0.9340407848358154, 1 ]
4.55
91
0
91
0
[ 0.5633060932159424, -0.044634249061346054, 0.24369476735591888, 0.9796818494796753, -0.17772172391414642, 0.05429351329803467, -0.02365347556769848, 0.8920273184776306, 0, 0 ]
[ 0.5849738121032715, 0.11307343095541, -0.7001544237136841, -2.2522146701812744, 0.16857101023197174, 2.445145606994629, 0.9340691566467285, 1 ]
4.6
92
0
92
0
[ 0.5638831853866577, -0.04441073536872864, 0.2422269880771637, 0.9795678853988647, -0.17834976315498352, 0.05593071132898331, -0.023692218586802483, 0.8890324831008911, 0, 0 ]
[ 0.5870303511619568, 0.1147325187921524, -0.7001914381980896, -2.2474467754364014, 0.1697186827659607, 2.4409992694854736, 0.9340671896934509, 1 ]
4.65
93
0
93
0
[ 0.5646073818206787, -0.044320374727249146, 0.2414671778678894, 0.9796045422554016, -0.17814713716506958, 0.05708702281117439, -0.023203041404485703, 0.8892994523048401, 0, 0 ]
[ 0.5891174674034119, 0.11646753549575806, -0.700197160243988, -2.242945671081543, 0.1711726039648056, 2.438737630844116, 0.9340506196022034, 1 ]
4.7
94
0
94
0
[ 0.56102055311203, -0.04139987379312515, 0.2469836324453354, 0.9807608127593994, -0.1734214723110199, 0.04757791757583618, -0.024090051651000977, 0.9246649742126465, 0, 0 ]
[ 0.5907259583473206, 0.11823852360248566, -0.7001864910125732, -2.239466428756714, 0.1726115643978119, 2.437143564224243, 0.9340413808822632, 1 ]
4.75
95
0
95
0
[ 0.5624811053276062, -0.04202166199684143, 0.24611246585845947, 0.9804423451423645, -0.1745847910642624, 0.050020065158605576, -0.024035558104515076, 0.9176375865936279, 0, 0 ]
[ 0.5924800634384155, 0.11970018595457077, -0.7001899480819702, -2.2355988025665283, 0.17392511665821075, 2.4347403049468994, 0.9340237975120544, 1 ]
4.8
96
0
96
0
[ 0.5628064870834351, -0.042204350233078, 0.2464992254972458, 0.9805094599723816, -0.17398187518119812, 0.05106549710035324, -0.023393593728542328, 0.9135798811912537, 0, 0 ]
[ 0.5945043563842773, 0.12049497663974762, -0.7002187967300415, -2.2316548824310303, 0.17405188083648682, 2.430020809173584, 0.9340194463729858, 1 ]
4.85
97
0
97
0
[ 0.5640343427658081, -0.04177933931350708, 0.2445516288280487, 0.9802365303039551, -0.17496371269226074, 0.05366404354572296, -0.02349742129445076, 0.9101043939590454, 0, 0 ]
[ 0.5959829092025757, 0.1208956241607666, -0.7002346515655518, -2.2291996479034424, 0.1741531491279602, 2.426926851272583, 0.9340134859085083, 1 ]
4.9
98
0
98
0
[ 0.5649092793464661, -0.04141612350940704, 0.24432924389839172, 0.9803287982940674, -0.17437860369682312, 0.054866231977939606, -0.023016104474663734, 0.9110068082809448, 0, 0 ]
[ 0.5974939465522766, 0.12165752798318863, -0.700224757194519, -2.2266950607299805, 0.1744249016046524, 2.4236135482788086, 0.933987021446228, 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": "v3.0",
    "robot_type": "single_arm_franka",
    "total_episodes": 1,
    "total_frames": 1176,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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": [
                "r_x",
                "r_y",
                "r_z",
                "r_qx",
                "r_qy",
                "r_qz",
                "r_qw",
                "r_gripper",
                "kp",
                "kd"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper"
            ],
            "shape": [
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        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_4_wrist": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_2_scene": {
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            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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