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float32
0
23.2
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int64
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464
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int64
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2
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2.05
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2.25
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2.3
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2.55
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2.6
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2.65
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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
64
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64
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3.25
65
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65
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3.3
66
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66
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3.35
67
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3.4
68
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3.45
69
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69
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3.5
70
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3.55
71
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3.6
72
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3.65
73
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3.7
74
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3.75
75
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75
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3.8
76
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3.85
77
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77
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3.9
78
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3.95
79
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4
80
0
80
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4.05
81
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81
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4.1
82
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4.15
83
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4.2
84
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4.25
85
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4.3
86
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86
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4.35
87
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4.4
88
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4.45
89
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89
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4.5
90
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4.55
91
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4.6
92
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4.65
93
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4.7
94
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4.75
95
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[ 1.6519999504089355, 7.390999794006348, 0, 3.446000099182129, 23.540000915527344, -2.802000045776367, 3.2899999618530273, 0.0689999982714653, 0.0023624999448657036, 0.717018723487854, -1.073756217956543, -0.0651739165186882, -0.9517309069633484, -0.0651739165186882, 58.10599899291992, 3...
4.8
96
0
96
0
[ 0.002331136493012309, 0.04780321195721626, -0.009854649193584919, 0.05528808757662773, 0.060147590935230255, -0.008870802819728851, 0, 0, 0, 0, 0, 0, 3.786628007888794, 0 ]
[ 1.6519999504089355, 7.390999794006348, 0, 3.552000045776367, 23.540000915527344, -2.802000045776367, 3.2899999618530273, 0.07599999755620956, -0.04843125119805336, 0.8008875250816345, -1.1151000261306763, 0, -0.9517309069633484, -0.043129801750183105, 58.104000091552734, 3.928999900817...
4.85
97
0
97
0
[ -0.007462553679943085, 0.02445785515010357, -0.00543407816439867, 0.051004502922296524, -0.05375456437468529, -0.01461002416908741, 0, 0, 0, 0, 0, 0, 3.8580522537231445, 0 ]
[ 1.6519999504089355, 7.440000057220459, 0, 3.6689999103546143, 23.540000915527344, -2.802000045776367, 3.2899999618530273, 0.023000000044703484, -0.06496874988079071, 0.6614999771118164, -1.1009249687194824, 0.09680244326591492, -0.9239361882209778, -0.0488804392516613, 58.14099884033203,...
4.9
98
0
98
0
[ 0.011058210395276546, 0.0360964834690094, -0.002409381093457341, 0.058812353760004044, -0.04696354269981384, -0.005078999325633049, 0, 0, 0, 0, 0, 0, 3.9366025924682617, 0 ]
[ 1.6519999504089355, 7.440000057220459, 0.1589999943971634, 3.7820000648498535, 23.71500015258789, -2.9089999198913574, 3.569999933242798, 0.006000000052154064, -0.05315624922513962, 0.5634562373161316, -1.2403124570846558, 0.0814673975110054, -1.0475748777389526, -0.05367264151573181, 57...
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": 465,
    "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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