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observation.image
image
observation.wrist_image
image
observation.state
list
action
list
obj_init
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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1.7
34
0
34
0
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1.75
35
0
35
0
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1.8
36
0
36
0
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1.85
37
0
37
0
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1.9
38
0
38
0
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1.95
39
0
39
0
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2
40
0
40
0
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2.05
41
0
41
0
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
[ 0.9331271052360535, 0.19095316529273987, 0.8697190284729004, 0.5181441307067871, 1.5709431171417236, -0.9325841665267944 ]
[ 0.9458619356155396, 0.2088073343038559, 0.8395048379898071, 0.5229485630989075, 1.5707111358642578, -0.9462761878967285, 0 ]
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3.45
69
0
69
0
[ 0.9461814165115356, 0.21210165321826935, 0.8441586494445801, 0.5230981111526489, 1.5708287954330444, -0.9453786611557007 ]
[ 0.9572182893753052, 0.22933396697044373, 0.8135280609130859, 0.5283770561218262, 1.570715308189392, -0.9576343297958374, 0 ]
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3.5
70
0
70
0
[ 0.9575473666191101, 0.23261511325836182, 0.8181549310684204, 0.5284973978996277, 1.570813775062561, -0.956833004951477 ]
[ 0.9570352435112, 0.2321491241455078, 0.8079395890235901, 0.5312891602516174, 1.5707288980484009, -0.9574541449546814, 0 ]
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3.55
71
0
71
0
[ 0.9571457505226135, 0.23574841022491455, 0.8111377358436584, 0.5316780209541321, 1.5707433223724365, -0.9574186205863953 ]
[ 0.9568800330162048, 0.23428533971309662, 0.8035179376602173, 0.5336647033691406, 1.5707381963729858, -0.9573059678077698, 0 ]
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3.6
72
0
72
0
[ 0.9568809270858765, 0.2376103699207306, 0.8064091801643372, 0.5340901613235474, 1.57073974609375, -0.957314133644104 ]
[ 0.9567476511001587, 0.2357228696346283, 0.800500750541687, 0.5353062152862549, 1.5707484483718872, -0.9571738839149475, 0 ]
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3.65
73
0
73
0
[ 0.956768274307251, 0.2392140030860901, 0.8033615350723267, 0.5357984900474548, 1.5707532167434692, -0.9571827054023743 ]
[ 0.9566539525985718, 0.23672069609165192, 0.7984298467636108, 0.5364230275154114, 1.5707557201385498, -0.9570798873901367, 0 ]
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3.7
74
0
74
0
[ 0.956665575504303, 0.24022555351257324, 0.801220178604126, 0.5369539856910706, 1.5707603693008423, -0.9570863842964172 ]
[ 0.967953622341156, 0.25385797023773193, 0.7792816758155823, 0.5382127165794373, 1.5707426071166992, -0.96836918592453, 0 ]
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3.75
75
0
75
0
[ 0.9681758284568787, 0.25718218088150024, 0.7832987904548645, 0.5386073589324951, 1.5708297491073608, -0.9676259756088257 ]
[ 0.9678429961204529, 0.2559264302253723, 0.7752482295036316, 0.540278971195221, 1.5707515478134155, -0.9682617783546448, 0 ]
[ 0.3254881203174591, 0.014303787611424923, 0.8299999833106995, 0.29544883966445923, 0.19847309589385986, 0.8299999833106995, 0.30000001192092896, -0.25, 0.8199999928474426 ]
3.8
76
0
76
0
[ 0.9679720997810364, 0.2597855031490326, 0.7783861756324768, 0.5407580137252808, 1.570770025253296, -0.9682239890098572 ]
[ 0.967745304107666, 0.2575111389160156, 0.7720040082931519, 0.5420024991035461, 1.5707563161849976, -0.9681707620620728, 0 ]
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3.85
77
0
77
0
[ 0.9677337408065796, 0.26092416048049927, 0.7747993469238281, 0.5424766540527344, 1.5707579851150513, -0.9681752920150757 ]
[ 0.9676516056060791, 0.2585825026035309, 0.7697393894195557, 0.5432394742965698, 1.5707637071609497, -0.9680774807929993, 0 ]
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3.9
78
0
78
0
[ 0.9676674604415894, 0.2621714770793915, 0.7725427150726318, 0.5437633991241455, 1.57076895236969, -0.9680835604667664 ]
[ 0.9675840139389038, 0.2593490481376648, 0.7681499123573303, 0.5440949201583862, 1.57076895236969, -0.9680097103118896, 0 ]
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3.95
79
0
79
0
[ 0.9675930142402649, 0.26294490694999695, 0.7709014415740967, 0.5446464419364929, 1.5707740783691406, -0.9680143594741821 ]
[ 0.9675354957580566, 0.25988510251045227, 0.7670320868492126, 0.5446990728378296, 1.5707728862762451, -0.9679609537124634, 0 ]
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4
80
0
80
0
[ 0.9675410985946655, 0.26349249482154846, 0.7697504758834839, 0.5452696084976196, 1.5707780122756958, -0.9679642915725708 ]
[ 0.9675012230873108, 0.2602625787258148, 0.7662450075149536, 0.5451244115829468, 1.5707756280899048, -0.967926561832428, 0 ]
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4.05
81
0
81
0
[ 0.9675055146217346, 0.2638826072216034, 0.7689425349235535, 0.5457087755203247, 1.5707809925079346, -0.967928946018219 ]
[ 0.9674771428108215, 0.2605287432670593, 0.7656903862953186, 0.5454239845275879, 1.5707775354385376, -0.9679023623466492, 0 ]
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4.1
82
0
82
0
[ 0.9674800634384155, 0.2641559839248657, 0.7683724164962769, 0.5460179448127747, 1.570783019065857, -0.9679040312767029 ]
[ 0.9674601554870605, 0.26071637868881226, 0.7652993202209473, 0.5456352233886719, 1.5707788467407227, -0.9678853154182434, 0 ]
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4.15
83
0
83
0
[ 0.9674622416496277, 0.2643488943576813, 0.7679705023765564, 0.546235978603363, 1.5707844495773315, -0.9678864479064941 ]
[ 0.9674481749534607, 0.260848730802536, 0.7650234699249268, 0.5457842350006104, 1.570779800415039, -0.9678732752799988, 0 ]
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4.2
84
0
84
0
[ 0.9674496650695801, 0.26448503136634827, 0.7676870822906494, 0.5463897585868835, 1.570785403251648, -0.9678740501403809 ]
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4.25
85
0
85
0
[ 0.9674407839775085, 0.2645810544490814, 0.7674870491027832, 0.5464982390403748, 1.5707861185073853, -0.9678653478622437 ]
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4.3
86
0
86
0
[ 0.9674344658851624, 0.26464879512786865, 0.7673459053039551, 0.5465748310089111, 1.570786714553833, -0.967859148979187 ]
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4.35
87
0
87
0
[ 0.967430055141449, 0.2646966576576233, 0.7672462463378906, 0.5466288924217224, 1.5707870721817017, -0.9678547978401184 ]
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4.4
88
0
88
0
[ 0.9674269556999207, 0.26473042368888855, 0.7671759128570557, 0.5466670393943787, 1.5707873106002808, -0.9678517580032349 ]
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4.45
89
0
89
0
[ 0.967424750328064, 0.2647542357444763, 0.7671262621879578, 0.5466939806938171, 1.5707874298095703, -0.9678495526313782 ]
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4.5
90
0
90
0
[ 0.9674232006072998, 0.26477107405662537, 0.7670912146568298, 0.5467129945755005, 1.5707875490188599, -0.9678480625152588 ]
[ 0.9660989046096802, 0.26050466299057007, 0.7850966453552246, 0.5270042419433594, 1.5708730220794678, -0.9665369987487793, 0 ]
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4.55
91
0
91
0
[ 0.9661096334457397, 0.26486942172050476, 0.786845326423645, 0.5289238095283508, 1.570859432220459, -0.9666247367858887 ]
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4.6
92
0
92
0
[ 0.9653218984603882, 0.2502083480358124, 0.8421510457992554, 0.4893909990787506, 1.5709279775619507, -0.9658918976783752 ]
[ 0.9654266238212585, 0.22739706933498383, 0.9007413387298584, 0.444499135017395, 1.5709346532821655, -0.9658447504043579, 0 ]
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4.65
93
0
93
0
[ 0.9652777910232544, 0.2331182360649109, 0.9004085063934326, 0.4481816291809082, 1.570935606956482, -0.965850830078125 ]
[ 0.965593695640564, 0.21114574372768402, 0.9579281806945801, 0.40347814559936523, 1.5709220170974731, -0.9660114049911499, 0 ]
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4.7
94
0
94
0
[ 0.9654351472854614, 0.21679849922657013, 0.9577362537384033, 0.4071570634841919, 1.5709254741668701, -0.9660042524337769 ]
[ 0.9657977223396301, 0.19659113883972168, 1.0121656656265259, 0.3636954128742218, 1.5709065198898315, -0.9662155508995056, 0 ]
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4.75
95
0
95
0
[ 0.9656475186347961, 0.20215386152267456, 1.012237787246704, 0.3672986626625061, 1.570911169052124, -0.9662051200866699 ]
[ 0.9659874439239502, 0.18391822278499603, 1.0630946159362793, 0.3253481388092041, 1.5708919763565063, -0.9664056301116943, 0 ]
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4.8
96
0
96
0
[ 0.9658479690551758, 0.18936453759670258, 1.0634387731552124, 0.3288537263870239, 1.570896863937378, -0.9663957953453064 ]
[ 0.9661476612091064, 0.17302408814430237, 1.1109533309936523, 0.28830718994140625, 1.5708796977996826, -0.966566264629364, 0 ]
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4.85
97
0
97
0
[ 0.966020405292511, 0.17836253345012665, 1.1115480661392212, 0.29172152280807495, 1.5708847045898438, -0.9665582180023193 ]
[ 0.9662789702415466, 0.16372960805892944, 1.1561394929885864, 0.2523534297943115, 1.5708695650100708, -0.9666979312896729, 0 ]
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4.9
98
0
98
0
[ 0.9661632180213928, 0.16897234320640564, 1.1569526195526123, 0.25569120049476624, 1.5708746910095215, -0.966691792011261 ]
[ 0.9663866758346558, 0.15586631000041962, 1.1990277767181396, 0.2172778993844986, 1.5708613395690918, -0.9668059945106506, 0 ]
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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": "v2.1",
    "robot_type": "omy",
    "total_episodes": 24,
    "total_frames": 4924,
    "total_tasks": 2,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:24"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.wrist_image": {
            "dtype": "image",
            "shape": [
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                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "state"
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        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
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            "names": [
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        "obj_init": {
            "dtype": "float32",
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            "names": [
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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