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float32
0
20.3
frame_index
int64
0
406
episode_index
int64
0
4
index
int64
0
1.55k
task_index
int64
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1.95
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2
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2.05
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2.1
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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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2.45
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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
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3.1
62
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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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3.5
70
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3.55
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3.6
72
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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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0
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[ 0.03733006492257118, 0.5249478220939636, 0.09106682986021042, -1.8260536193847656, -0.13294124603271484, 2.3004894256591797, 0.3254307806491852, 1 ]
3.85
77
0
77
0
[ 0.0002982616424560547, 0.0009753450867719948, -0.0006801054114475846, -4.8129003005215054e-9, -1.361840951119575e-8, -7.165508630890827e-9, 0.000024999524612212554, 0.8999679088592529, 8.597969883804291e-13, 1.045733725307807e-11 ]
[ 0.03737931326031685, 0.5264039039611816, 0.09117530286312103, -1.8250137567520142, -0.13316431641578674, 2.3005294799804688, 0.3259561061859131, 1 ]
3.9
78
0
78
0
[ 0.0013352439273148775, 0.0008222803589887917, -0.0006629928830079734, -1.1309021274996667e-8, 4.462490377221684e-9, 9.374780063353683e-9, 0.000024999706511152908, 0.8999999761581421, 2.1671950692359054e-11, 3.878146415114969e-11 ]
[ 0.037471070885658264, 0.5273922681808472, 0.09130114316940308, -1.8247193098068237, -0.13349264860153198, 2.3005263805389404, 0.32654479146003723, 1 ]
3.95
79
0
79
0
[ -0.00025982112856581807, 0.00006898641731822863, 0.0005994781968183815, 5.688736592901478e-8, -1.4629913280828077e-8, 3.391032787902759e-9, 0.00002499999936844688, 0.8951499462127686, 0, 0 ]
[ 0.037585046142339706, 0.5284206867218018, 0.0914018303155899, -1.8239561319351196, -0.13388115167617798, 2.3005423545837402, 0.32699379324913025, 1 ]
4
80
0
80
0
[ -0.0003001660224981606, -0.0002582386077847332, 0.00010151266906177625, 1.3083481853470857e-8, -1.8962309056291815e-8, -2.0073057882541434e-8, 0.00002499999936844688, 0.8980123400688171, 0, 0 ]
[ 0.037681207060813904, 0.5296958088874817, 0.09148174524307251, -1.8224437236785889, -0.1342717856168747, 2.300546169281006, 0.32729005813598633, 1 ]
4.05
81
0
81
0
[ -0.0003947943332605064, -0.0005516365054063499, -0.0001502439408795908, 1.686217743213092e-8, 1.2703821994364262e-8, -2.3990141428953393e-8, 0.00002499999936844688, 0.8957546949386597, 0, 3.050565659454274e-12 ]
[ 0.037651363760232925, 0.530105710029602, 0.09158685803413391, -1.8220356702804565, -0.13438387215137482, 2.300570487976074, 0.3274039030075073, 1 ]
4.1
82
0
82
0
[ -0.0001939192443387583, -0.00029959826497361064, 0.00020651667728088796, -3.427558015189902e-9, -2.2890163098310268e-9, -3.4234545864819665e-8, 0.00002499999936844688, 0.10647459328174591, 2.0430088176759398e-11, 2.2935866747508804e-11 ]
[ 0.03761972114443779, 0.5300759673118591, 0.09173714369535446, -1.8219996690750122, -0.1343885064125061, 2.3005900382995605, 0.3274955749511719, 1 ]
4.15
83
0
83
0
[ -0.0003030046937055886, -0.00015458464622497559, 0.00003138631655019708, -6.400805219186623e-9, 2.868764559238457e-9, -1.7683341013707832e-8, 0.00002499981565051712, 0.10057201236486435, 1.8545090810229148e-11, 1.15442273795896e-11 ]
[ 0.037644628435373306, 0.5301343202590942, 0.09200822561979294, -1.8220316171646118, -0.13439013063907623, 2.3005924224853516, 0.3276565670967102, 1 ]
4.2
84
0
84
0
[ -0.00030481963767670095, -0.00005450248863780871, -0.00007617473602294922, 4.487519689178043e-9, -4.27578905615178e-9, -3.532433723307804e-8, 0.000024999073502840474, 0.10000000149011612, 1.598447589568064e-11, 1.5384554741260104e-11 ]
[ 0.03765575587749481, 0.5300946831703186, 0.09233082085847855, -1.8220245838165283, -0.13438712060451508, 2.3006036281585693, 0.328025758266449, 1 ]
4.25
85
0
85
0
[ -0.0002172812819480896, -0.000077761709690094, -0.00012930482625961304, 5.220645249437439e-9, 2.175947866334127e-9, -1.510110436697687e-8, 0.000024999300876515917, 0.10000000149011612, 2.325087691823491e-11, 2.5162696579150712e-11 ]
[ 0.037657734006643295, 0.5301225185394287, 0.09256669878959656, -1.8220832347869873, -0.1343882828950882, 2.3006134033203125, 0.32846176624298096, 1 ]
4.3
86
0
86
0
[ -0.00014331490092445165, -0.000012955069905729033, -0.0004070118011441082, -7.475173369186905e-9, -2.2840687119440872e-9, -1.6747071285294624e-8, 0.000024999577362905256, 0.10000000149011612, 1.2759565973241571e-11, 2.595096880442238e-11 ]
[ 0.037653762847185135, 0.5301045775413513, 0.09267360717058182, -1.8222225904464722, -0.13439054787158966, 2.300657272338867, 0.3288804590702057, 1 ]
4.35
87
0
87
0
[ -0.00013884902000427246, 0.00013369470252655447, -0.0004349336086306721, 2.9357034581067865e-9, -1.2339296695529356e-8, -2.2444291758461077e-8, 0.000024999073502840474, 0.10000000149011612, 2.21148134527116e-11, 1.4578104348683674e-11 ]
[ 0.03765038400888443, 0.5301348567008972, 0.09276912361383438, -1.822394609451294, -0.1343895047903061, 2.3010425567626953, 0.329169899225235, 1 ]
4.4
88
0
88
0
[ -0.00005726516246795654, 0.00011734217696357518, -0.00042778998613357544, 2.7718487505268286e-9, -1.1412485179107534e-8, -3.3182296022005175e-8, 0.000024999058950925246, 0.10000000149011612, 2.696454518003044e-11, 1.9099414758083633e-11 ]
[ 0.03764910623431206, 0.5301263928413391, 0.09283297508955002, -1.8226672410964966, -0.13439598679542542, 2.3014330863952637, 0.329753041267395, 1 ]
4.45
89
0
89
0
[ -0.0010330572258681059, -0.0008886068826541305, 0.00043454914703033864, 3.69182089343667e-8, -5.2777323844566126e-8, -6.463524471200799e-8, 0.000024999852030305192, 0.8978270292282104, 0, 0 ]
[ 0.03765442222356796, 0.5301244258880615, 0.09287597239017487, -1.8229756355285645, -0.13439607620239258, 2.302070379257202, 0.33042678236961365, 1 ]
4.5
90
0
90
0
[ -0.0003407701733522117, -0.0005344703677110374, 0.00008327812247443944, 1.6958219717366774e-8, -1.6012927650521647e-9, -2.954388023113097e-8, 0.00002499999936844688, 0.8959876894950867, 0, 1.0343491688158402e-11 ]
[ 0.03764968737959862, 0.53012615442276, 0.09289074689149857, -1.8232758045196533, -0.13439829647541046, 2.3026607036590576, 0.33126798272132874, 1 ]
4.55
91
0
91
0
[ -0.00039464683504775167, -0.00028467626543715596, -0.000034783781302394345, 2.8183713141061162e-8, -2.6664930263819997e-9, -3.291482997269668e-8, 0.00002499999936844688, 0.8638899922370911, 0, 1.589626000275679e-11 ]
[ 0.037429049611091614, 0.5297811627388, 0.09298105537891388, -1.8242664337158203, -0.13440345227718353, 2.3039374351501465, 0.3318454921245575, 1 ]
4.6
92
0
92
0
[ -0.00014072656631469727, -0.0002708628890104592, 0.00025147051201201975, 1.043488762064726e-8, -5.93121507463934e-9, -3.353285293883346e-8, 0.00002499999936844688, 0.12141382694244385, 6.541609701843365e-13, 1.583755002143583e-11 ]
[ 0.03734274581074715, 0.5297448635101318, 0.0930866152048111, -1.8248481750488281, -0.1344083994626999, 2.3043134212493896, 0.33204323053359985, 1 ]
4.65
93
0
93
0
[ -0.0002016797661781311, 0.00003830194327747449, 0.00034549980773590505, 2.4237960971618122e-8, -2.379354491210961e-8, -1.508116831416828e-8, 0.000024999217203003354, 0.10000000149011612, 2.783179242626943e-11, 0 ]
[ 0.03730476647615433, 0.529764711856842, 0.0932464525103569, -1.8256422281265259, -0.1344037801027298, 2.304511785507202, 0.33223992586135864, 1 ]
4.7
94
0
94
0
[ -0.00013381541066337377, 0.00006226301047718152, 0.00011757462925743312, 1.774198565840379e-8, -9.209616180783087e-9, -2.4075415439028802e-8, 0.00002499997390259523, 0.10000000149011612, 2.2697449388736635e-12, 0 ]
[ 0.03726986423134804, 0.5297106504440308, 0.09344437718391418, -1.8262829780578613, -0.13439851999282837, 2.304858922958374, 0.33242636919021606, 1 ]
4.75
95
0
95
0
[ -0.00008340329077327624, -0.000032173098588828, 0.000023572147256345488, -3.29484461936147e-9, -9.078939822160237e-10, -2.3367466184254226e-8, 0.000024999699235195294, 0.10000000149011612, 1.0767281163892584e-11, 8.480548728539983e-12 ]
[ 0.03723723813891411, 0.5296995639801025, 0.09364908188581467, -1.8268929719924927, -0.13438265025615692, 2.305367946624756, 0.3325292468070984, 0.9439253807067871 ]
4.8
96
0
96
0
[ -0.00001935213731485419, 0.00035715848207473755, -0.0007464051013812423, 1.3324315872864645e-8, 5.423207660726348e-9, -2.823551703556859e-8, 0.00002499956826795824, 0.10000000149011612, 1.6930103152734688e-11, 1.7722249015528213e-11 ]
[ 0.03722930699586868, 0.529717743396759, 0.09381377696990967, -1.8272051811218262, -0.13436725735664368, 2.3055357933044434, 0.33280041813850403, 0.8748663663864136 ]
4.85
97
0
97
0
[ -0.00007659495167899877, 0.0004476025642361492, -0.0002527087926864624, 1.1975498814820185e-8, -1.0420481366679724e-8, -2.3513274882702717e-8, 0.000024999500965350308, 0.10000000149011612, 1.58357615215321e-11, 1.297205658862266e-11 ]
[ 0.03721233829855919, 0.5297586917877197, 0.09390874952077866, -1.82737135887146, -0.13434681296348572, 2.3057234287261963, 0.33323046565055847, 0.8063097596168518 ]
4.9
98
0
98
0
[ 0.00011201352026546374, 0.00026556552620604634, -0.00015967637591529638, 4.023895439075886e-9, 1.0938674410709837e-9, -1.4581019058823586e-8, 0.000024999419110827148, 0.10000000149011612, 1.8565654222313377e-11, 2.0716785925634085e-11 ]
[ 0.03720410540699959, 0.5297374725341797, 0.0939909890294075, -1.827451467514038, -0.13429413735866547, 2.3060967922210693, 0.3336666524410248, 0.7372233271598816 ]
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": 5,
    "total_frames": 1547,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": [
                8
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        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
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                "channels"
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            "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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                224,
                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_6_scene": {
            "dtype": "video",
            "shape": [
                224,
                224,
                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
            }
        },
        "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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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