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observation.state
list
observation.qvel
list
action
list
timestamp
float32
0
4.35
frame_index
int64
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87
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int64
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1.65
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.55
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2.6
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2.75
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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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0
0
1
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0.05
1
1
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0.1
2
1
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0.15
3
1
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0.2
4
1
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0.25
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1
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0.3
6
1
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0.35
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1
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0.4
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1
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0.45
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1
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1
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0.55
11
1
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0.6
12
1
86
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0.65
13
1
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0.7
14
1
88
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0.75
15
1
89
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0.8
16
1
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0.85
17
1
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0.9
18
1
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0.95
19
1
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1
20
1
94
0
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1.05
21
1
95
0
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1.1
22
1
96
0
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1.15
23
1
97
0
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1.2
24
1
98
0
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1.25
25
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "observation.images.base_camera": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
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        },
        "observation.state": {
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            "names": [
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                "qpos_2",
                "qpos_3",
                "qpos_4",
                "qpos_5",
                "qpos_6",
                "qpos_7",
                "qpos_8"
            ]
        },
        "observation.qvel": {
            "dtype": "float32",
            "shape": [
                9
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            "names": [
                "qvel_0",
                "qvel_1",
                "qvel_2",
                "qvel_3",
                "qvel_4",
                "qvel_5",
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                "qvel_7",
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        },
        "action": {
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            "names": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
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            "names": null
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    },
    "total_episodes": 10,
    "total_frames": 726,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "panda",
    "splits": {
        "train": "0:10"
    }
}

Citation

BibTeX:

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