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observation.images.front
imagewidth (px)
320
320
observation.images.wrist
imagewidth (px)
320
320
observation.state
list
action
list
timestamp
float32
0
15.9
frame_index
int64
0
159
episode_index
int64
0
59
index
int64
0
9.6k
task_index
int64
0
0
[ -1.7928696027791347e-10, 0.0005636083660647273, 0.0004587216826621443, 0.00013137499627191573, 0.0000059967646848235745, -0.000003563989821486757 ]
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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15
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1.6
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1.7
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1.8
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1.9
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2
20
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
45
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4.6
46
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46
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4.7
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4.8
48
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4.9
49
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49
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5
50
0
50
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5.1
51
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51
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5.2
52
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5.3
53
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53
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5.4
54
0
54
0
[ 0.24978689849376678, 0.6991242170333862, -0.02104690857231617, -0.05167541280388832, -1.4902786016464233, 1.4545022249221802 ]
[ 0.2497958242893219, 0.713030219078064, -0.038211219012737274, -0.05811714380979538, -1.4882150888442993, 1.460675597190857 ]
5.5
55
0
55
0
[ 0.24976874887943268, 0.713949978351593, -0.03767383471131325, -0.05789792910218239, -1.488224744796753, 1.4606584310531616 ]
[ 0.24979087710380554, 0.7278459072113037, -0.05482981726527214, -0.06433890759944916, -1.4861613512039185, 1.4668316841125488 ]
5.6
56
0
56
0
[ 0.2497505247592926, 0.7288019061088562, -0.05425344780087471, -0.06411027908325195, -1.486171007156372, 1.466814398765564 ]
[ 0.24978592991828918, 0.7426615953445435, -0.07144840806722641, -0.07056067138910294, -1.4841076135635376, 1.4729877710342407 ]
5.7
57
0
57
0
[ 0.24974922835826874, 0.743638277053833, -0.0708564966917038, -0.07032749056816101, -1.484117031097412, 1.4729704856872559 ]
[ 0.24978098273277283, 0.7574772834777832, -0.08806700259447098, -0.07678244262933731, -1.4820537567138672, 1.4791438579559326 ]
5.8
58
0
58
0
[ 0.24975302815437317, 0.7584576606750488, -0.08747624605894089, -0.07655026018619537, -1.482063889503479, 1.4791265726089478 ]
[ 0.24977603554725647, 0.7722930312156677, -0.10468559712171555, -0.08300420641899109, -1.4800000190734863, 1.4852999448776245 ]
5.9
59
0
59
0
[ 0.2497861087322235, 0.7733039259910583, -0.10407709330320358, -0.08276642858982086, -1.4800095558166504, 1.4852826595306396 ]
[ 0.24986831843852997, 0.7725751399993896, -0.10498731583356857, -0.08282110840082169, -1.480004072189331, 1.4304234981536865 ]
6
60
0
60
0
[ 0.24986772239208221, 0.7733106017112732, -0.10461463034152985, -0.08271005004644394, -1.480008840560913, 1.428704023361206 ]
[ 0.24995052814483643, 0.771846354007721, -0.10589755326509476, -0.08287578821182251, -1.4799985885620117, 1.3755643367767334 ]
6.1
61
0
61
0
[ 0.24994796514511108, 0.7725592255592346, -0.10551223158836365, -0.08276858180761337, -1.4800032377243042, 1.3738195896148682 ]
[ 0.2500327527523041, 0.771117627620697, -0.10680778324604034, -0.08293046802282333, -1.4799931049346924, 1.3207052946090698 ]
6.2
62
0
62
0
[ 0.25002971291542053, 0.7718364596366882, -0.10641974955797195, -0.08282295614480972, -1.4799977540969849, 1.3189642429351807 ]
[ 0.25011497735977173, 0.7703889012336731, -0.10771801322698593, -0.08298514783382416, -1.479987621307373, 1.2658461332321167 ]
6.3
63
0
63
0
[ 0.250112384557724, 0.7711049914360046, -0.10732884705066681, -0.08287763595581055, -1.479992151260376, 1.2640559673309326 ]
[ 0.250197172164917, 0.7696600556373596, -0.10862823575735092, -0.08303982764482498, -1.4799821376800537, 1.2109869718551636 ]
6.4
64
0
64
0
[ 0.25017744302749634, 0.770369827747345, -0.10824304819107056, -0.0829361155629158, -1.4799866676330566, 1.2091835737228394 ]
[ 0.25027936697006226, 0.7689313292503357, -0.10953846573829651, -0.0830945074558258, -1.4799766540527344, 1.1561279296875 ]
6.5
65
0
65
0
[ 0.25027939677238464, 0.7696477770805359, -0.10914918780326843, -0.08298685401678085, -1.4799811840057373, 1.1542195081710815 ]
[ 0.2503615915775299, 0.7682024836540222, -0.1104486957192421, -0.08314918726682663, -1.479971170425415, 1.1012687683105469 ]
6.6
66
0
66
0
[ 0.25035908818244934, 0.7689175009727478, -0.11006182432174683, -0.08304031938314438, -1.4799754619598389, 1.0993810892105103 ]
[ 0.25044381618499756, 0.7674738168716431, -0.11135892570018768, -0.08320386707782745, -1.4799658060073853, 1.0464096069335938 ]
6.7
67
0
67
0
[ 0.25044095516204834, 0.7681917548179626, -0.11096838116645813, -0.08309553563594818, -1.479970097541809, 1.0445315837860107 ]
[ 0.2505260109901428, 0.7667450308799744, -0.11226914823055267, -0.08325854688882828, -1.4799602031707764, 0.9915505051612854 ]
6.8
68
0
68
0
[ 0.25052323937416077, 0.7674664855003357, -0.11187629401683807, -0.08314963430166245, -1.4799644947052002, 0.9896754026412964 ]
[ 0.2506082355976105, 0.7660162448883057, -0.11317937821149826, -0.0833132266998291, -1.479954719543457, 0.9366913437843323 ]
6.9
69
0
69
0
[ 0.25060713291168213, 0.7667310833930969, -0.11279182136058807, -0.08320371806621552, -1.4799588918685913, 0.9348170757293701 ]
[ 0.25069043040275574, 0.765287458896637, -0.11408960819244385, -0.08336790651082993, -1.4799493551254272, 0.8818321824073792 ]
7
70
0
70
0
[ 0.2506878077983856, 0.7660057544708252, -0.11369834095239639, -0.08325836807489395, -1.4799532890319824, 0.8799580931663513 ]
[ 0.2507726550102234, 0.764558732509613, -0.11499983817338943, -0.08342258632183075, -1.479943871498108, 0.8269730806350708 ]
7.1
71
0
71
0
[ 0.25076934695243835, 0.7652817964553833, -0.11460515111684799, -0.08331306278705597, -1.4799476861953735, 0.8250990509986877 ]
[ 0.25085487961769104, 0.7638299465179443, -0.11591006815433502, -0.08347726613283157, -1.4799383878707886, 0.7721139192581177 ]
7.2
72
0
72
0
[ 0.2508556544780731, 0.7645395398139954, -0.11552473157644272, -0.08336770534515381, -1.4799420833587646, 0.7702400088310242 ]
[ 0.2509370744228363, 0.7631011605262756, -0.11682029813528061, -0.0835319459438324, -1.4799329042434692, 0.7172548174858093 ]
7.3
73
0
73
0
[ 0.25158387422561646, 0.7631473541259766, -0.11670028418302536, -0.08356671780347824, -1.4799288511276245, 0.7164049744606018 ]
[ 0.25101929903030396, 0.7623723745346069, -0.1177305206656456, -0.08358662575483322, -1.47992742061615, 0.6623956561088562 ]
7.4
74
0
74
0
[ 0.25107553601264954, 0.7609274387359619, -0.11866423487663269, -0.08424071222543716, -1.4799658060073853, 0.6617767810821533 ]
[ 0.2511014938354492, 0.761643648147583, -0.11864075064659119, -0.08364130556583405, -1.4799219369888306, 0.6075365543365479 ]
7.5
75
0
75
0
[ 0.2508818805217743, 0.757900595664978, -0.12053018063306808, -0.08481895923614502, -1.479983925819397, 0.6074246764183044 ]
[ 0.25118371844291687, 0.7609148621559143, -0.11955098062753677, -0.08369598537683487, -1.4799164533615112, 0.5526773929595947 ]
7.6
76
0
76
0
[ 0.24961361289024353, 0.7532491683959961, -0.12161264568567276, -0.08498605340719223, -1.4800289869308472, 0.5525033473968506 ]
[ 0.2512659430503845, 0.7601860761642456, -0.12046121060848236, -0.0837506651878357, -1.479910969734192, 0.497818261384964 ]
7.7
77
0
77
0
[ 0.2479885220527649, 0.74896240234375, -0.12260829657316208, -0.08508848398923874, -1.4801183938980103, 0.49775755405426025 ]
[ 0.2513481378555298, 0.7594572901725769, -0.12137144058942795, -0.08380534499883652, -1.4799054861068726, 0.44295912981033325 ]
7.8
78
0
78
0
[ 0.24261514842510223, 0.7440117597579956, -0.12335294485092163, -0.08501448482275009, -1.480139970779419, 0.4429107904434204 ]
[ 0.25143036246299744, 0.758728563785553, -0.12228167057037354, -0.08386002480983734, -1.4799000024795532, 0.3880999982357025 ]
7.9
79
0
79
0
[ 0.23832082748413086, 0.7408740520477295, -0.12449911236763, -0.08521482348442078, -1.4800803661346436, 0.3899112939834595 ]
[ 0.22763235867023468, 0.7319672107696533, -0.12190070748329163, -0.08317609131336212, -1.4800776243209839, 0.3885042369365692 ]
8
80
0
80
0
[ 0.22743748128414154, 0.732433021068573, -0.12179756909608841, -0.08326355367898941, -1.4800952672958374, 0.3912270963191986 ]
[ 0.2169439047574997, 0.7230603694915771, -0.11930231004953384, -0.08113735914230347, -1.4800750017166138, 0.38709720969200134 ]
8.1
81
0
81
0
[ 0.21658359467983246, 0.7238230109214783, -0.1188574805855751, -0.08103743940591812, -1.4800795316696167, 0.3890315294265747 ]
[ 0.2062554508447647, 0.7141535878181458, -0.11670390516519547, -0.07909862697124481, -1.480072259902954, 0.3856901526451111 ]
8.2
82
0
82
0
[ 0.2058493047952652, 0.7147821187973022, -0.11637043207883835, -0.07903674989938736, -1.4800827503204346, 0.3885963559150696 ]
[ 0.19556698203086853, 0.7052468061447144, -0.11410550773143768, -0.07705988734960556, -1.480069637298584, 0.3842831254005432 ]
8.3
83
0
83
0
[ 0.19518236815929413, 0.7058731913566589, -0.11376526206731796, -0.07699833065271378, -1.4800764322280884, 0.387184202671051 ]
[ 0.18487851321697235, 0.6963399648666382, -0.1115071028470993, -0.0750211551785469, -1.4800668954849243, 0.38287606835365295 ]
8.4
84
0
84
0
[ 0.1845218539237976, 0.6969677209854126, -0.1111697256565094, -0.07495975494384766, -1.480074167251587, 0.38487324118614197 ]
[ 0.17419005930423737, 0.687433123588562, -0.10890870541334152, -0.07298242300748825, -1.4800642728805542, 0.3814690411090851 ]
8.5
85
0
85
0
[ 0.1738123744726181, 0.6880545020103455, -0.10856831073760986, -0.07291910797357559, -1.4800704717636108, 0.38333532214164734 ]
[ 0.16350160539150238, 0.6785262823104858, -0.10631030052900314, -0.0709436908364296, -1.480061650276184, 0.3800619840621948 ]
8.6
86
0
86
0
[ 0.16315697133541107, 0.6791530251502991, -0.10596881061792374, -0.07087831944227219, -1.4800682067871094, 0.38196060061454773 ]
[ 0.1528131514787674, 0.6696195006370544, -0.10371189564466476, -0.06890496611595154, -1.4800589084625244, 0.37865495681762695 ]
8.7
87
0
87
0
[ 0.15247374773025513, 0.6702494621276855, -0.10336548835039139, -0.06883956491947174, -1.4800653457641602, 0.3805866837501526 ]
[ 0.14212468266487122, 0.660712718963623, -0.10111349076032639, -0.06686622649431229, -1.4800562858581543, 0.3772478997707367 ]
8.8
88
0
88
0
[ 0.1417631059885025, 0.6613406538963318, -0.10076238960027695, -0.06679920107126236, -1.4800630807876587, 0.37923556566238403 ]
[ 0.13143622875213623, 0.6518058776855469, -0.0985150933265686, -0.06482749432325363, -1.4800535440444946, 0.3758408725261688 ]
8.9
89
0
89
0
[ 0.1310584992170334, 0.6524321436882019, -0.09816591441631317, -0.0647653341293335, -1.480060338973999, 0.3778568506240845 ]
[ 0.12074776738882065, 0.6428990364074707, -0.09591668844223022, -0.06278876215219498, -1.4800509214401245, 0.37443381547927856 ]
9
90
0
90
0
[ 0.12040784955024719, 0.6435365080833435, -0.09555479139089584, -0.06272290647029877, -1.480057954788208, 0.3764960467815399 ]
[ 0.11005929857492447, 0.6339922547340393, -0.09331829100847244, -0.06075003370642662, -1.4800481796264648, 0.3730267882347107 ]
9.1
91
0
91
0
[ 0.10970298945903778, 0.6346144676208496, -0.09296734631061554, -0.060687318444252014, -1.4800552129745483, 0.3751249313354492 ]
[ 0.09937083721160889, 0.6250854134559631, -0.09071988612413406, -0.05871129781007767, -1.4800455570220947, 0.37161973118782043 ]
9.2
92
0
92
0
[ 0.09902335703372955, 0.6257200837135315, -0.09035752713680267, -0.05864361301064491, -1.4800527095794678, 0.3737333416938782 ]
[ 0.0886823832988739, 0.616178572177887, -0.08812148869037628, -0.05667256563901901, -1.4800429344177246, 0.37021270394325256 ]
9.3
93
0
93
0
[ 0.08834943920373917, 0.6168122291564941, -0.08775623887777328, -0.056605689227581024, -1.4800500869750977, 0.3724052309989929 ]
[ 0.07799392193555832, 0.6072717905044556, -0.0855230838060379, -0.05463382974267006, -1.480040192604065, 0.3688056468963623 ]
9.4
94
0
94
0
[ 0.07765644788742065, 0.6079033017158508, -0.08515991270542145, -0.05456751585006714, -1.4800472259521484, 0.371033638715744 ]
[ 0.06730546057224274, 0.5983649492263794, -0.08292467892169952, -0.052595097571611404, -1.4800374507904053, 0.36739858984947205 ]
9.5
95
0
95
0
[ 0.06696223467588425, 0.5990024209022522, -0.08255165815353394, -0.052525658160448074, -1.4800516366958618, 0.3697296380996704 ]
[ 0.056616995483636856, 0.5894581079483032, -0.08032628148794174, -0.05055636540055275, -1.4800348281860352, 0.3659915626049042 ]
9.6
96
0
96
0
[ 0.05630277097225189, 0.5900973677635193, -0.07995051890611649, -0.05048437416553497, -1.4800491333007812, 0.36831018328666687 ]
[ 0.04592853784561157, 0.5805513262748718, -0.07772787660360336, -0.048517633229494095, -1.4800320863723755, 0.3645845353603363 ]
9.7
97
0
97
0
[ 0.045600369572639465, 0.5811870098114014, -0.0773526206612587, -0.048446811735630035, -1.4800463914871216, 0.36694496870040894 ]
[ 0.03524008020758629, 0.5716444849967957, -0.07512947171926498, -0.04647890105843544, -1.4800294637680054, 0.36317747831344604 ]
9.8
98
0
98
0
[ 0.03491217643022537, 0.5722814202308655, -0.07475191354751587, -0.04640756919980049, -1.4800440073013306, 0.3655683994293213 ]
[ 0.024551620706915855, 0.5627376437187195, -0.0725310742855072, -0.044440168887376785, -1.4800268411636353, 0.3617704212665558 ]
9.9
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": "so101",
    "total_episodes": 60,
    "total_frames": 9600,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:60"
    },
    "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.front": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.wrist": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "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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