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float32
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14.8
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int64
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444
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2
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2.6
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2.8
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84
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[ 0.35961073637008667, 0.025274578481912613, 0.16572822630405426, 0.6901662945747375, -0.5574260950088501, 0.31480905413627625, -0.33740466833114624, 0.03606557473540306 ]
[ 0.3472833037376404, 0.023317256942391396, 0.18670009076595306, 0.6694430708885193, -0.5440421104431152, 0.35057151317596436, -0.36464202404022217, 0.03477920591831207 ]
2.833333
85
0
85
0
[ 0.35989317297935486, 0.025279344990849495, 0.16214899718761444, 0.6932747960090637, -0.5596761107444763, 0.3093102276325226, -0.3323550522327423, 0.03606557473540306 ]
[ 0.3490274250507355, 0.02385140210390091, 0.18384377658367157, 0.6723349094390869, -0.5460205078125, 0.3451118469238281, -0.36155936121940613, 0.03477920591831207 ]
2.866667
86
0
86
0
[ 0.36035770177841187, 0.025287184864282608, 0.15888385474681854, 0.6956694722175598, -0.5621683597564697, 0.3040570020675659, -0.32796353101730347, 0.03606557473540306 ]
[ 0.3503572344779968, 0.023945631459355354, 0.17986111342906952, 0.6757462620735168, -0.5491169095039368, 0.33885306119918823, -0.35639339685440063, 0.03477920591831207 ]
2.9
87
0
87
0
[ 0.36097943782806396, 0.025852104648947716, 0.15592285990715027, 0.6990864276885986, -0.5627760291099548, 0.2995622456073761, -0.3237650394439697, 0.03606557473540306 ]
[ 0.35159456729888916, 0.023966167122125626, 0.17657119035720825, 0.6785669922828674, -0.551517903804779, 0.33389219641685486, -0.3519813120365143, 0.03486037254333496 ]
2.933333
88
0
88
0
[ 0.3612649142742157, 0.025857359170913696, 0.1518917977809906, 0.7022749781608582, -0.5641233921051025, 0.29476141929626465, -0.3188893496990204, 0.03606557473540306 ]
[ 0.3528822064399719, 0.02420400269329548, 0.17317935824394226, 0.6822284460067749, -0.5532073974609375, 0.32851219177246094, -0.3472832441329956, 0.03494153916835785 ]
2.966667
89
0
89
0
[ 0.362383097410202, 0.025321362540125847, 0.1495177149772644, 0.70387864112854, -0.5657979249954224, 0.2915271818637848, -0.3153403103351593, 0.03606557473540306 ]
[ 0.35413843393325806, 0.024441292509436607, 0.17078739404678345, 0.684518039226532, -0.5549319386482239, 0.32412055134773254, -0.3441387116909027, 0.03510386869311333 ]
3
90
0
90
0
[ 0.3630411624908447, 0.025622451677918434, 0.1469966620206833, 0.7056437730789185, -0.5671858787536621, 0.2873266041278839, -0.31274670362472534, 0.03606557473540306 ]
[ 0.35588669776916504, 0.02475050836801529, 0.16903385519981384, 0.6874141097068787, -0.5550178289413452, 0.32112419605255127, -0.34102240204811096, 0.03567202389240265 ]
3.033333
91
0
91
0
[ 0.36386561393737793, 0.02592630125582218, 0.14470192790031433, 0.708040177822113, -0.5682538151741028, 0.28281787037849426, -0.30948469042778015, 0.03606557473540306 ]
[ 0.3572182357311249, 0.024845251813530922, 0.16655461490154266, 0.689323902130127, -0.5568562150001526, 0.31712499260902405, -0.33789852261543274, 0.03575318679213524 ]
3.066667
92
0
92
0
[ 0.3647681772708893, 0.025941532105207443, 0.14152342081069946, 0.7100130915641785, -0.5693369507789612, 0.2792992889881134, -0.30615147948265076, 0.03606557473540306 ]
[ 0.35785648226737976, 0.025064900517463684, 0.1625615954399109, 0.6924995183944702, -0.5592843294143677, 0.3110966682434082, -0.3329629600048065, 0.03575318679213524 ]
3.1
93
0
93
0
[ 0.36600351333618164, 0.025400301441550255, 0.13899646699428558, 0.7117519974708557, -0.5701721906661987, 0.2767711281776428, -0.30283740162849426, 0.03606557473540306 ]
[ 0.35819268226623535, 0.025431368499994278, 0.15875723958015442, 0.6960193514823914, -0.5608652830123901, 0.30515313148498535, -0.3284337818622589, 0.03583435341715813 ]
3.133333
94
0
94
0
[ 0.36771008372306824, 0.025426482781767845, 0.13793152570724487, 0.7132724523544312, -0.5697641372680664, 0.2756151854991913, -0.301077276468277, 0.03606557473540306 ]
[ 0.3590552508831024, 0.025590576231479645, 0.15535107254981995, 0.6985146403312683, -0.5629808306694031, 0.29987001419067383, -0.3243575394153595, 0.035915520042181015 ]
3.166667
95
0
95
0
[ 0.3695286512374878, 0.025454381480813026, 0.13576896488666534, 0.7143417596817017, -0.5708982348442078, 0.27291160821914673, -0.29884833097457886, 0.03606557473540306 ]
[ 0.3604666590690613, 0.02561507560312748, 0.153733029961586, 0.7003200650215149, -0.5633929371833801, 0.2976093292236328, -0.3218212425708771, 0.03640250861644745 ]
3.2
96
0
96
0
[ 0.3716578185558319, 0.02491636574268341, 0.13477148115634918, 0.7145397067070007, -0.5721228718757629, 0.2715156674385071, -0.29730069637298584, 0.03606557473540306 ]
[ 0.3620915412902832, 0.02571539580821991, 0.15191476047039032, 0.702278196811676, -0.563844621181488, 0.2949586510658264, -0.31919267773628235, 0.03648367524147034 ]
3.233333
97
0
97
0
[ 0.37422841787338257, 0.024377303197979927, 0.13331301510334015, 0.7149420976638794, -0.5735691785812378, 0.26957327127456665, -0.29530730843544006, 0.03606557473540306 ]
[ 0.3633124530315399, 0.025742042809724808, 0.1498109996318817, 0.7043843269348145, -0.5643342733383179, 0.2920362055301666, -0.3163611590862274, 0.03648367524147034 ]
3.266667
98
0
98
0
[ 0.37567847967147827, 0.02381839044392109, 0.1309269517660141, 0.7155435085296631, -0.5752336978912354, 0.2670813798904419, -0.2928672432899475, 0.03606557473540306 ]
[ 0.36444252729415894, 0.025766242295503616, 0.1469045728445053, 0.7062763571739197, -0.5660893321037292, 0.2876769006252289, -0.31298336386680603, 0.03648367524147034 ]
3.3
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": "dk1_follower",
    "total_episodes": 81,
    "total_frames": 29042,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:81"
    },
    "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": [
                "eef_x.pos",
                "eef_y.pos",
                "eef_z.pos",
                "eef_x.quat",
                "eef_y.quat",
                "eef_z.quat",
                "eef_w.quat",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "eef_x.pos",
                "eef_y.pos",
                "eef_z.pos",
                "eef_x.quat",
                "eef_y.quat",
                "eef_z.quat",
                "eef_w.quat",
                "gripper.pos"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.context": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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