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float32
0
9.5
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int64
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190
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int64
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29
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int64
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3.77k
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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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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
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3.95
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4
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4.05
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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
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4.35
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4.4
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0
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[ -0.1319049447774887, -0.4284211993217468, -0.12007518112659454, -2.7706780433654785, -0.06363411992788315, 2.348242998123169, 0.8158915042877197, 0 ]
4.45
89
0
89
0
[ 0.3540303707122803, -0.07697887718677521, 0.2781056761741638, 0.9919164776802063, -0.1137537807226181, 0.05477674677968025, -0.012701468542218208, 0, 0, 0 ]
[ -0.13134606182575226, -0.4601564109325409, -0.11667615920305252, -2.7697677612304688, -0.06468215584754944, 2.3371002674102783, 0.8155565857887268, 0 ]
4.5
90
0
90
0
[ 0.3551483750343323, -0.07148198038339615, 0.28472059965133667, 0.9913331270217896, -0.11362408846616745, 0.06447750329971313, -0.013813652098178864, 0, 0, 0 ]
[ -0.13209454715251923, -0.48553726077079773, -0.1168719157576561, -2.7742927074432373, -0.0646493062376976, 2.3381869792938232, 0.8122387528419495, 0 ]
4.55
91
0
91
0
[ 0.35766392946243286, -0.06486707180738449, 0.29021748900413513, 0.9906086921691895, -0.11347422748804092, 0.07478738576173782, -0.014994997531175613, 0, 0, 0 ]
[ -0.1316646933555603, -0.5068238377571106, -0.11670244485139847, -2.7807610034942627, -0.06340578943490982, 2.339017391204834, 0.8140312433242798, 0 ]
4.6
92
0
92
0
[ 0.362508624792099, -0.0575999952852726, 0.29394418001174927, 0.9898819923400879, -0.11333209276199341, 0.08385957032442093, -0.016033945605158806, 0, 0, 0 ]
[ -0.12992574274539948, -0.5311590433120728, -0.1142813041806221, -2.785285711288452, -0.061773594468832016, 2.3319897651672363, 0.815733015537262, 0 ]
4.65
93
0
93
0
[ 0.3683781921863556, -0.05061241611838341, 0.2959938645362854, 0.9891583323478699, -0.11319629848003387, 0.09200318157672882, -0.016966095194220543, 0, 0, 0 ]
[ -0.12744919955730438, -0.5620080232620239, -0.11165064573287964, -2.782493829727173, -0.05414469540119171, 2.310056686401367, 0.8082347512245178, 0 ]
4.7
94
0
94
0
[ 0.37415459752082825, -0.04492918774485588, 0.2959938645362854, 0.988778829574585, -0.11312687397003174, 0.09599591791629791, -0.017422959208488464, 0, 0, 0 ]
[ -0.12318456918001175, -0.5942813158035278, -0.10657846927642822, -2.782576322555542, -0.041665781289339066, 2.295952320098877, 0.8072842359542847, 0 ]
4.75
95
0
95
0
[ 0.3760179579257965, -0.04492918774485588, 0.2959938645362854, 0.988778829574585, -0.11312687397003174, 0.09599591791629791, -0.017422959208488464, 0, 0, 0 ]
[ -0.1172502338886261, -0.6156042814254761, -0.10021267086267471, -2.7897210121154785, -0.029174190014600754, 2.309093952178955, 0.8076494336128235, 0 ]
4.8
96
0
96
0
[ 0.3768564760684967, -0.04492918774485588, 0.2959938645362854, 0.988778829574585, -0.11312687397003174, 0.09599591791629791, -0.017422959208488464, 0, 0, 0 ]
[ -0.08352762460708618, -0.6120285391807556, -0.060465168207883835, -2.8139686584472656, 0.018722180277109146, 2.395430564880371, 0.8447766900062561, 0 ]
4.85
97
0
97
0
[ 0.3793720006942749, -0.04492918774485588, 0.2959938645362854, 0.988778829574585, -0.11312687397003174, 0.09599591791629791, -0.017422959208488464, 0, 0, 0 ]
[ -0.07996952533721924, -0.6109405755996704, -0.0586002916097641, -2.8106801509857178, 0.017131680622696877, 2.397101640701294, 0.8382132649421692, 0 ]
4.9
98
0
98
0
[ 0.382632851600647, -0.04492918774485588, 0.2959938645362854, 0.988778829574585, -0.11312687397003174, 0.09599591791629791, -0.017422959208488464, 0, 0, 0 ]
[ -0.08159039914608002, -0.607480525970459, -0.05987630411982536, -2.813342332839966, 0.012885305099189281, 2.4032297134399414, 0.8347994089126587, 0 ]
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_right",
    "total_episodes": 30,
    "total_frames": 3775,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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
            ]
        },
        "observation.images.cam_3": {
            "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
            }
        },
        "observation.images.cam_2": {
            "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": {
            "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
        }
    }
}

Citation

BibTeX:

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