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float32
0
14.9
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int64
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298
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int64
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4
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1.47k
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2
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.7
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2.75
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2.8
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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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64
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3.25
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3.3
66
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66
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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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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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4.05
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4.1
82
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4.15
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4.2
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4.25
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4.3
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4.35
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4.4
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4.45
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4.5
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4.55
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4.6
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4.65
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4.7
94
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4.75
95
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0
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[ 1.2920000553131104, 2.007999897003174, -3.260999917984009, 3.2860000133514404, 18.80299949645996, -8.539999961853027, 3.1500000953674316, 0.0689999982714653, 0.22798125445842743, 0.799706220626831, -1.1458125114440918, -0.017251919955015182, -1.1108319759368896, 0.02396100014448166, 54.7...
4.8
96
0
96
0
[ 0.0021309047006070614, -0.01194070279598236, 0.001417961553670466, 0.02657495252788067, -0.00022734762751497328, 0.006043553818017244, 0, 0, 0, 0, 0, 0, 3.1555464267730713, 0 ]
[ 1.3830000162124634, 2.007999897003174, -3.260999917984009, 3.2860000133514404, 18.80299949645996, -8.649999618530273, 3.1500000953674316, 0.04899999871850014, 0.009449999779462814, 0.8457750082015991, -1.2981936931610107, 0.046005118638277054, -1.151086449623108, -0.1140543594956398, 54....
4.85
97
0
97
0
[ 0.07593446969985962, 0.3314121663570404, -0.11802811175584793, -0.02435781992971897, -0.49179136753082275, -0.8261591196060181, 0, 0, 0, 0, 0, 0, 3.331221580505371, 0 ]
[ 1.3830000162124634, 2.007999897003174, -3.260999917984009, 3.2860000133514404, 18.80299949645996, -8.649999618530273, 3.1500000953674316, -0.024000000208616257, 0.04606875032186508, 0.655593752861023, -1.1706187725067139, 0.06325703859329224, -1.1261670589447021, -0.08434271812438965, 54...
4.9
98
0
98
0
[ 0.011000026017427444, -0.006251527927815914, 0.0025847163051366806, 0.012519774958491325, 0.01757694035768509, -0.004124336410313845, 0, 0, 0, 0, 0, 0, 14.581338882446289, 0 ]
[ 1.4249999523162842, 2.36899995803833, -3.380000114440918, 3.2860000133514404, 18.236000061035156, -9.557999610900879, 3.0799999237060547, 0.05400000140070915, 0.04724999889731407, 0.8386874794960022, -1.162350058555603, 0.034503839910030365, -1.1261670589447021, -0.02779475972056389, 55....
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": "v3.0",
    "robot_type": "piper",
    "total_episodes": 5,
    "total_frames": 1473,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz",
                "gripper.pos",
                "gripper.effort"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.effort",
                "joint_1.effort",
                "joint_2.effort",
                "joint_3.effort",
                "joint_4.effort",
                "joint_5.effort",
                "joint_6.effort",
                "end_effector.x",
                "end_effector.y",
                "end_effector.z",
                "end_effector.rx",
                "end_effector.ry",
                "end_effector.rz"
            ],
            "shape": [
                20
            ]
        },
        "observation.images.top": {
            "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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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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