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observation.state
list
action
list
timestamp
float32
0
20.2
frame_index
int64
0
202
episode_index
int64
0
7.34k
index
int64
0
609k
task_index
int64
0
1.38k
[ -1.8332438431883924e-12, 147.2886505126953, 164.50839233398438, 22.9235897064209, -0.0000026847665139939636, 34.37726593017578 ]
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0.1
1
0
1
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0.2
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
11
0
11
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1.2
12
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12
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1.3
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1.4
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14
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1.5
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1.6
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1.7
17
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1.8
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1.9
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2
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2.1
21
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21
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2.2
22
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2.3
23
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23
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2.4
24
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2.5
25
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25
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2.6
26
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2.7
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2.8
28
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2.9
29
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3
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3.1
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3.2
32
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3.3
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3.4
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3.5
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3.6
36
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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
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4.7
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4.8
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4.9
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5
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0
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5.1
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5.2
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5.3
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5.4
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5.5
55
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5.6
56
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5.7
57
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57
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5.8
58
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58
0
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[ 16.545146942138672, 56.26289367675781, 74.84426879882812, 71.43354797363281, 19.310060501098633, 10.80789566040039 ]
5.9
59
0
59
0
[ 16.52742576599121, 56.95694351196289, 74.15459442138672, 72.78243255615234, 19.35061264038086, 10.807878494262695 ]
[ 16.520671844482422, 57.19149398803711, 73.75615692138672, 73.41314697265625, 19.34624481201172, 10.80789566040039 ]
6
60
0
60
0
[ 16.504384994506836, 57.749629974365234, 72.95733642578125, 74.77920532226562, 19.332321166992188, 10.807876586914062 ]
[ 16.497102737426758, 57.99485778808594, 72.56673431396484, 75.41569519042969, 19.32549285888672, 10.80789566040039 ]
6.1
61
0
61
0
[ 16.480100631713867, 58.461891174316406, 71.57440948486328, 76.87779235839844, 19.308454513549805, 10.80787467956543 ]
[ 16.47260856628418, 58.65704345703125, 71.11418151855469, 77.53109741210938, 19.30116844177246, 10.80789566040039 ]
6.2
62
0
62
0
[ 16.456005096435547, 59.099586486816406, 70.12894439697266, 78.96450805664062, 19.28455352783203, 10.807873725891113 ]
[ 16.45106315612793, 59.1922607421875, 69.76617431640625, 79.4189682006836, 19.27962303161621, 10.80789566040039 ]
6.3
63
0
63
0
[ 16.4417781829834, 59.38009262084961, 69.06016540527344, 80.29595184326172, 19.26999855041504, 10.807870864868164 ]
[ 16.436235427856445, 59.470298767089844, 68.67787170410156, 80.7823486328125, 19.264833450317383, 10.80789566040039 ]
6.4
64
0
64
0
[ 16.42679214477539, 59.65898895263672, 67.97148132324219, 81.65962219238281, 19.255151748657227, 10.807870864868164 ]
[ 16.421409606933594, 59.74833679199219, 67.58956909179688, 82.14572143554688, 19.250043869018555, 10.80789566040039 ]
6.5
65
0
65
0
[ 16.416690826416016, 59.873985290527344, 65.97168731689453, 83.86695861816406, 19.242088317871094, 10.807849884033203 ]
[ 16.416797637939453, 59.82598876953125, 65.1460952758789, 84.65245056152344, 19.2373104095459, 10.80789566040039 ]
6.6
66
0
66
0
[ 16.416709899902344, 59.8347282409668, 62.99964141845703, 86.8036117553711, 19.229785919189453, 10.807873725891113 ]
[ 16.416593551635742, 59.798213958740234, 61.99613952636719, 87.77803802490234, 19.225332260131836, 10.80789566040039 ]
6.7
67
0
67
0
[ 16.416513442993164, 59.800758361816406, 59.65959167480469, 90.15750122070312, 19.21787452697754, 10.807853698730469 ]
[ 16.41638946533203, 59.77043151855469, 58.846187591552734, 90.90361785888672, 19.21335220336914, 10.80789566040039 ]
6.8
68
0
68
0
[ 16.416305541992188, 59.77381134033203, 56.73686599731445, 93.01298522949219, 19.205875396728516, 10.80787181854248 ]
[ 16.41625213623047, 59.75190734863281, 56.746219635009766, 92.98733520507812, 19.205366134643555, 10.80789566040039 ]
6.9
69
0
69
0
[ 16.4162540435791, 59.71691131591797, 56.7664680480957, 92.9883804321289, 19.205364227294922, 10.807867050170898 ]
[ 16.41625213623047, 59.75190734863281, 56.746219635009766, 92.98733520507812, 19.205366134643555, 10.80789566040039 ]
7
70
0
70
0
[ 16.41625213623047, 59.716678619384766, 56.76559066772461, 92.98750305175781, 19.205366134643555, 10.807868003845215 ]
[ 16.41625213623047, 59.75190734863281, 56.746219635009766, 92.98733520507812, 19.205366134643555, 10.80789566040039 ]
7.1
71
0
71
0
[ -1.8332438431883924e-12, 147.2886505126953, 164.50839233398438, 22.9235897064209, -0.0000026847665139939636, 34.37726593017578 ]
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0
0
1
72
1
[ 3.6764323711395264, 140.68202209472656, 157.14801025390625, 31.10987663269043, 4.097542762756348, 15.208755493164062 ]
[ 4.467373847961426, 139.1007537841797, 155.17042541503906, 33.13780212402344, 5.010742664337158, 10.80789566040039 ]
0.1
1
1
73
1
[ 6.729048252105713, 134.44158935546875, 150.0646209716797, 38.83538055419922, 7.545590400695801, 11.58594036102295 ]
[ 7.817903995513916, 132.9598388671875, 148.16693115234375, 40.7984619140625, 8.76880168914795, 10.80789566040039 ]
0.2
2
1
74
1
[ 10.399368286132812, 128.30218505859375, 143.05209350585938, 46.5283203125, 11.658029556274414, 10.805231094360352 ]
[ 11.168434143066406, 126.81890869140625, 141.1634521484375, 48.45912170410156, 12.526860237121582, 10.80789566040039 ]
0.3
3
1
75
1
[ 13.439468383789062, 122.15045166015625, 136.04454040527344, 54.18922424316406, 15.04159164428711, 10.807755470275879 ]
[ 14.518964767456055, 120.67799377441406, 134.15997314453125, 56.119781494140625, 16.2849178314209, 10.80789566040039 ]
0.4
4
1
76
1
[ 17.09028434753418, 115.99517822265625, 129.04002380371094, 61.84061813354492, 19.174053192138672, 10.807815551757812 ]
[ 17.869495391845703, 114.53707122802734, 127.156494140625, 63.78044128417969, 20.04297637939453, 10.80789566040039 ]
0.5
5
1
77
1
[ 20.157440185546875, 109.83348083496094, 122.03402709960938, 69.4902572631836, 22.557369232177734, 10.807804107666016 ]
[ 21.22002601623535, 108.39614868164062, 120.15300750732422, 71.44110107421875, 23.801036834716797, 10.80789566040039 ]
0.6
6
1
78
1
[ 23.75718879699707, 103.67655944824219, 115.02947998046875, 77.14195251464844, 26.690397262573242, 10.807868003845215 ]
[ 24.570556640625, 102.25523376464844, 113.14952850341797, 79.10176086425781, 27.55909538269043, 10.80789566040039 ]
0.7
7
1
79
1
[ 24.656105041503906, 101.65129089355469, 112.93087005615234, 79.42332458496094, 27.552593231201172, 10.807868003845215 ]
[ 24.64272689819336, 101.70236206054688, 113.03726959228516, 79.26165008544922, 27.54286003112793, 10.80789566040039 ]
0.8
8
1
80
1
[ 24.62668800354004, 101.73030090332031, 113.27393341064453, 78.99396514892578, 27.524673461914062, 10.807868957519531 ]
[ 24.62159538269043, 101.78096771240234, 113.38188934326172, 78.8319320678711, 27.517826080322266, 10.80789566040039 ]
0.9
9
1
81
1
[ 24.607555389404297, 101.80894470214844, 113.61857604980469, 78.56427764892578, 27.500213623046875, 10.807868003845215 ]
[ 24.600467681884766, 101.85958099365234, 113.72650909423828, 78.40220642089844, 27.4927921295166, 10.80789566040039 ]
1
10
1
82
1
[ 24.58586311340332, 101.8875961303711, 113.96321105957031, 78.13458251953125, 27.47506332397461, 10.807867050170898 ]
[ 24.57933807373047, 101.93818664550781, 114.07112884521484, 77.97248840332031, 27.467758178710938, 10.80789566040039 ]
1.1
11
1
83
1
[ 24.56489372253418, 101.96624755859375, 114.30784606933594, 77.70488739013672, 27.45005226135254, 10.807867050170898 ]
[ 24.564847946166992, 101.46595001220703, 115.53076171875, 75.97169494628906, 27.430810928344727, 10.80789566040039 ]
1.2
12
1
84
1
[ 24.564794540405273, 100.38444519042969, 118.44952392578125, 72.13103485107422, 27.38987922668457, 10.807878494262695 ]
[ 24.564712524414062, 99.96504974365234, 119.19949340820312, 70.77214050292969, 27.37308692932129, 10.80789566040039 ]
1.3
13
1
85
1
[ 24.564687728881836, 98.43175506591797, 122.22222137451172, 66.48416137695312, 27.3526668548584, 10.807829856872559 ]
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1.4
14
1
86
1
[ 24.5647029876709, 96.63699340820312, 124.99153137207031, 61.64452362060547, 27.353137969970703, 10.807840347290039 ]
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1.5
15
1
87
1
[ 24.56467628479004, 94.54549407958984, 126.93145751953125, 57.523590087890625, 27.353673934936523, 10.807819366455078 ]
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1.6
16
1
88
1
[ 24.564682006835938, 92.25704956054688, 128.0869903564453, 54.49034118652344, 27.353708267211914, 10.807875633239746 ]
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1.7
17
1
89
1
[ 24.564613342285156, 90.43883514404297, 129.18359375, 51.012569427490234, 27.353790283203125, 10.80781078338623 ]
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1.8
18
1
90
1
[ 24.38541030883789, 89.77144622802734, 128.39080810546875, 51.22928237915039, 27.35371971130371, -4.453841686248779 ]
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1.9
19
1
91
1
[ 24.19832420349121, 89.09355163574219, 127.5506591796875, 51.452877044677734, 27.353668212890625, -3.463916301727295 ]
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2
20
1
92
1
[ 24.013805389404297, 88.41285705566406, 126.71504211425781, 51.679351806640625, 27.35360336303711, -3.4646458625793457 ]
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2.1
21
1
93
1
[ 23.948671340942383, 88.14922332763672, 126.41609954833984, 51.76768493652344, 27.35357093811035, -3.4646718502044678 ]
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2.2
22
1
94
1
[ 23.949764251708984, 88.14808654785156, 126.41525268554688, 51.767696380615234, 27.35357093811035, -3.4646658897399902 ]
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2.3
23
1
95
1
[ 23.949817657470703, 88.14808654785156, 126.41523742675781, 51.767696380615234, 27.35357093811035, -3.4646594524383545 ]
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2.4
24
1
96
1
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2.5
25
1
97
1
[ 23.958858489990234, 90.70735168457031, 124.63789367675781, 56.34204864501953, 27.131980895996094, -3.4646692276000977 ]
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2.6
26
1
98
1
[ 23.973007202148438, 94.56460571289062, 122.36994934082031, 62.42750930786133, 26.777952194213867, -3.4646241664886475 ]
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2.7
27
1
99
1
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 10,
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                "gripper"
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            "names": [
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    "total_episodes": 7343,
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    "robot_type": "so101",
    "splits": {
        "train": "0:7343"
    }
}

Citation

BibTeX:

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