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float32
0
9.55
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int64
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191
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int64
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int64
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3
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3.1
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3.15
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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
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4.05
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4.1
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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
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4.75
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[ -0.23399999737739563, 10.390999794006348, -3.569000005722046, -5.078000068664551, 23.69499969482422, -11.064000129699707, 2.7300000190734863, 0.017000000923871994, 0.01535625010728836, 0.9249187707901001, -1.3867875337600708, -0.04504667967557907, -0.9737750291824341, 0.0009584400104358792...
4.8
96
0
96
0
[ -0.02351589873433113, -0.012986519373953342, 0.0013436840381473303, -0.0034767845645546913, 0.02714601717889309, -0.053335465490818024, 0, 0, 0, 0, 0, 0, 2.898902177810669, 0 ]
[ -0.23399999737739563, 10.760000228881836, -3.694999933242798, -4.9679999351501465, 23.86199951171875, -12.015000343322754, 2.940000057220459, 0.07400000095367432, 0, 0.5020312666893005, -1.0241436958312988, -0.12172187864780426, -0.9948607087135315, -0.0009584400104358792, 62.97399902343...
4.85
97
0
97
0
[ -0.01693902164697647, 0.02780780754983425, 0.0038776060100644827, -0.02957814931869507, 0.004860078915953636, -0.04314854368567467, 0, 0, 0, 0, 0, 0, 3.255603075027466, 0 ]
[ -0.23399999737739563, 10.760000228881836, -3.694999933242798, -4.9679999351501465, 23.75, -12.04699993133545, 2.799999952316284, -0.08699999749660492, 0.06851249933242798, 0.666225016117096, -1.3643437623977661, -0.09105180203914642, -1.0044450759887695, -0.03546227887272835, 63.05099868...
4.9
98
0
98
0
[ 0.0022802476305514574, 0.01185432355850935, 0.010541828349232674, 0.018055634573101997, 0.032350391149520874, -0.08852691948413849, 0, 0, 0, 0, 0, 0, 3.3195159435272217, 0 ]
[ -0.23399999737739563, 10.760000228881836, -3.694999933242798, -4.9679999351501465, 23.75, -12.151000022888184, 2.799999952316284, -0.023000000044703484, -0.06024375185370445, 0.5492812395095825, -1.3466249704360962, -0.09871932119131088, -0.980484127998352, -0.07571675628423691, 63.05099...
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": 1,
    "total_frames": 192,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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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