Search is not available for this dataset
action
sequence
observation.state
sequence
observation.images.laptop
imagewidth (px)
640
640
observation.images.phone
imagewidth (px)
640
640
timestamp
float32
0
17.6
frame_index
int64
0
88
episode_index
int64
0
59
index
int64
0
4.09k
task_index
int64
0
0
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0.2
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0
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0.4
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0.6
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1
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1.2
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1.4
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1.6
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1.8
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2
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2.2
11
0
11
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2.4
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2.6
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2.8
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3
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3.2
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0
16
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3.4
17
0
17
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3.6
18
0
18
0
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3.8
19
0
19
0
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4
20
0
20
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4.2
21
0
21
0
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4.4
22
0
22
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4.6
23
0
23
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4.8
24
0
24
0
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5
25
0
25
0
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5.2
26
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26
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5.4
27
0
27
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5.6
28
0
28
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5.8
29
0
29
0
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6
30
0
30
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6.2
31
0
31
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6.4
32
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32
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6.6
33
0
33
0
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6.8
34
0
34
0
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7
35
0
35
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7.2
36
0
36
0
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7.4
37
0
37
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7.6
38
0
38
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7.8
39
0
39
0
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8
40
0
40
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8.2
41
0
41
0
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8.4
42
0
42
0
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8.6
43
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8.8
44
0
44
0
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9
45
0
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9.2
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0
46
0
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9.4
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9.6
48
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9.8
49
0
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10
50
0
50
0
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10.2
51
0
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10.4
52
0
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10.6
53
0
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10.8
54
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11
55
0
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11.2
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11.4
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0
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[ -2.0299999713897705, 71.2969970703125, -50.369998931884766, -1.777999997138977, 19.63800048828125, -7.072999954223633, 0 ]
11.6
58
0
58
0
[ -3.3580000400543213, 63.87699890136719, -42.60300064086914, -0.8420000076293945, 17.027000427246094, -7.072999954223633, 0 ]
[ -3.3580000400543213, 63.87699890136719, -42.60300064086914, -0.8420000076293945, 17.027000427246094, -7.072999954223633, 0 ]
11.8
59
0
59
0
[ -3.490999937057495, 57.03499984741211, -34.86600112915039, 0.23999999463558197, 14.060999870300293, -7.072999954223633, 0 ]
[ -3.490999937057495, 57.03499984741211, -34.86600112915039, 0.23999999463558197, 14.060999870300293, -7.072999954223633, 0 ]
12
60
0
60
0
[ -3.490999937057495, 50.67599868774414, -28.04199981689453, 1.2300000190734863, 11.496999740600586, -7.072999954223633, 0 ]
[ -3.490999937057495, 50.67599868774414, -28.04199981689453, 1.2300000190734863, 11.496999740600586, -7.072999954223633, 0 ]
12.2
61
0
61
0
[ -3.490999937057495, 44.277000427246094, -21.158000946044922, 2.2690000534057617, 11.01200008392334, -7.060999870300293, 0 ]
[ -3.490999937057495, 44.277000427246094, -21.158000946044922, 2.2690000534057617, 11.01200008392334, -7.060999870300293, 0 ]
12.4
62
0
62
0
[ -3.490999937057495, 39.11600112915039, -16.65399932861328, 2.437000036239624, 11.01200008392334, -6.739999771118164, 0 ]
[ -3.490999937057495, 39.11600112915039, -16.65399932861328, 2.437000036239624, 11.01200008392334, -6.739999771118164, 0 ]
12.6
63
0
63
0
[ -3.490999937057495, 35.93299865722656, -13.03499984741211, 2.437000036239624, 11.01200008392334, -6.519000053405762, 0 ]
[ -3.490999937057495, 35.93299865722656, -13.03499984741211, 2.437000036239624, 11.01200008392334, -6.519000053405762, 0 ]
12.8
64
0
64
0
[ -3.490999937057495, 32.599998474121094, -8.541999816894531, 2.437000036239624, 11.01200008392334, -5.607999801635742, 0 ]
[ -3.490999937057495, 32.599998474121094, -8.541999816894531, 2.437000036239624, 11.01200008392334, -5.607999801635742, 0 ]
13
65
0
65
0
[ -3.490999937057495, 30.124000549316406, -5.433000087738037, 2.437000036239624, 8.895999908447266, -5.1020002365112305, 0 ]
[ -3.490999937057495, 30.124000549316406, -5.433000087738037, 2.437000036239624, 8.895999908447266, -5.1020002365112305, 0 ]
13.2
66
0
66
0
[ -3.490999937057495, 27.89699935913086, -2.940000057220459, 2.437000036239624, 7.546999931335449, -4.875, 0 ]
[ -3.490999937057495, 27.89699935913086, -2.940000057220459, 2.437000036239624, 7.546999931335449, -4.875, 0 ]
13.4
67
0
67
0
[ -3.490999937057495, 26.961000442504883, -1.8609999418258667, 2.437000036239624, 6.183000087738037, -4.625, 0 ]
[ -3.490999937057495, 26.961000442504883, -1.8609999418258667, 2.437000036239624, 6.183000087738037, -4.625, 0 ]
13.6
68
0
68
0
[ -3.490999937057495, 26.961000442504883, 0.9169999957084656, 2.437000036239624, 4.583000183105469, -4.51200008392334, 0 ]
[ -3.490999937057495, 26.961000442504883, 0.9169999957084656, 2.437000036239624, 4.583000183105469, -4.51200008392334, 0 ]
13.8
69
0
69
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, 2.1760001182556152, -4.171000003814697, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, 2.1760001182556152, -4.171000003814697, 0 ]
14
70
0
70
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, 0.7710000276565552, -3.496000051498413, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, 0.7710000276565552, -3.496000051498413, 0 ]
14.2
71
0
71
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, -0.2529999911785126, -2.6579999923706055, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, -0.2529999911785126, -2.6579999923706055, 0 ]
14.4
72
0
72
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, -1.684999942779541, -1.215000033378601, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.437000036239624, -1.684999942779541, -1.215000033378601, 0 ]
14.6
73
0
73
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.3630000054836273, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.3630000054836273, 0 ]
14.8
74
0
74
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.5899999737739563, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.5899999737739563, 0 ]
15
75
0
75
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.6069999933242798, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.6069999933242798, 0 ]
15.2
76
0
76
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
15.4
77
0
77
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
15.6
78
0
78
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
15.8
79
0
79
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
16
80
0
80
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
16.200001
81
0
81
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
16.4
82
0
82
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
16.6
83
0
83
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 2.5299999713897705, -2.0380001068115234, 0.7070000171661377, 0 ]
16.799999
84
0
84
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
0
0
1
85
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
0.2
1
1
86
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -2.0380001068115234, 0.7070000171661377, 0 ]
0.4
2
1
87
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
0.6
3
1
88
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
0.8
4
1
89
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
1
5
1
90
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
1.2
6
1
91
0
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.490999937057495, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
1.4
7
1
92
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
1.6
8
1
93
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
1.8
9
1
94
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
2
10
1
95
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
2.2
11
1
96
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
2.4
12
1
97
0
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 1.3680000305175781, 4.175000190734863, -1.9359999895095825, 0.7070000171661377, 0 ]
2.6
13
1
98
0
[ -3.9630000591278076, 26.961000442504883, 0.9049999713897705, 4.072999954223633, -0.1889999955892563, 0.7070000171661377, 0 ]
[ -3.9630000591278076, 26.961000442504883, 0.9049999713897705, 4.072999954223633, -0.1889999955892563, 0.7070000171661377, 0 ]
2.8
14
1
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "piper",
    "total_episodes": 60,
    "total_frames": 4095,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:60"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_angle",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_angle",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "observation.images.phone": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "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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