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float32
0
28.3
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int64
0
283
episode_index
int64
0
4
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int64
0
1.22k
task_index
int64
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[ 0.5401690602302551, 0.04069458693265915, 0.5070808529853821, -0.14300945401191711, -0.06380316615104675, 0.7754271030426025, 0 ]
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2.2
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
35
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3.6
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3.7
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3.8
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3.9
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4
40
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4.1
41
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4.2
42
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4.3
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4.4
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4.5
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4.6
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4.7
47
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4.8
48
0
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4.9
49
0
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5
50
0
50
0
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5.1
51
0
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5.2
52
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5.3
53
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5.4
54
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5.5
55
0
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5.6
56
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5.7
57
0
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5.8
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
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6.2
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6.3
63
0
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6.4
64
0
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6.5
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6.6
66
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6.7
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6.8
68
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6.9
69
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7
70
0
70
0
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[ 0.6638856530189514, -0.27738240361213684, 0.31608685851097107, 0.019321085885167122, 0.0014839211944490671, 2.113677978515625, 0.08500000089406967, 0, 0 ]
[ 4.828131675720215, -22.17789077758789, -75.15396881103516, 0.6602839827537537, -0.1729080080986023, -1.261240005493164 ]
7.1
71
0
71
0
[ 0.6641408801078796, -0.3008413314819336, 0.3050660789012909, -0.050287168473005295, -0.019947007298469543, 2.027782678604126, 0 ]
[ 0.6622650623321533, -0.282995343208313, 0.3138979971408844, 0.009661913849413395, -0.0025739981792867184, 2.104617118835449, 0.08500000089406967, 0, 0 ]
[ 4.596043109893799, -22.129831314086914, -74.87638854980469, 0.66935795545578, -0.15652799606323242, -1.27497398853302 ]
7.2
72
0
72
0
[ 0.6641880869865417, -0.30448484420776367, 0.3003237843513489, -0.061072058975696564, -0.029784655198454857, 2.0059163570404053, 0 ]
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7.3
73
0
73
0
[ 0.6644458174705505, -0.3067917227745056, 0.29452139139175415, -0.06614860892295837, -0.045267920941114426, 1.9890986680984497, 0 ]
[ 0.6598867774009705, -0.2927156090736389, 0.30797794461250305, -0.02237026020884514, -0.00803477130830288, 2.0719563961029053, 0.08500000089406967, 0, 0 ]
[ 4.030345916748047, -22.567232131958008, -75.21745300292969, 0.6411699652671814, -0.09242899715900421, -1.2767499685287476 ]
7.4
74
0
74
0
[ 0.6645410656929016, -0.3087655305862427, 0.2886667549610138, -0.06249692663550377, -0.05713280290365219, 1.9833773374557495, 0 ]
[ 0.6590102314949036, -0.29682397842407227, 0.3037269413471222, -0.03867669031023979, -0.014118039049208164, 2.053178071975708, 0.08500000089406967, 0, 0 ]
[ 4.850918769836426, -22.242835998535156, -74.85175323486328, 0.6678940057754517, -0.16478700935840607, -1.2641199827194214 ]
7.5
75
0
75
0
[ 0.6649441719055176, -0.3106345534324646, 0.28319525718688965, -0.06073407083749771, -0.06147497519850731, 1.9809420108795166, 0 ]
[ 0.6585383415222168, -0.3001661002635956, 0.29898694157600403, -0.049079108983278275, -0.02396210841834545, 2.0362000465393066, 0.08500000089406967, 0, 0 ]
[ 5.216185092926025, -21.34283447265625, -74.31661987304688, 0.7751590013504028, -0.18047399818897247, -1.2611409425735474 ]
7.6
76
0
76
0
[ 0.6663637757301331, -0.3118857443332672, 0.2774832844734192, -0.058393701910972595, -0.0625748336315155, 1.977183222770691, 0 ]
[ 0.6582698822021484, -0.3028123378753662, 0.29336294531822205, -0.054366979748010635, -0.03607812523841858, 2.021883249282837, 0.08500000089406967, 0, 0 ]
[ 4.589526653289795, -22.09876823425293, -74.66146850585938, 0.6847360134124756, -0.14024299383163452, -1.2585269212722778 ]
7.7
77
0
77
0
[ 0.6688886880874634, -0.3125624358654022, 0.2725144922733307, -0.05243421345949173, -0.06738527864217758, 1.9777395725250244, 0 ]
[ 0.6583669185638428, -0.305151104927063, 0.28782349824905396, -0.05763133615255356, -0.0454021692276001, 2.0104169845581055, 0.08500000089406967, 0, 0 ]
[ 4.774213790893555, -21.800416946411133, -74.74189758300781, 0.7183220386505127, -0.12131600081920624, -1.2546099424362183 ]
7.8
78
0
78
0
[ 0.6703540682792664, -0.3133804202079773, 0.26932385563850403, -0.047999799251556396, -0.06825752556324005, 1.975523591041565, 0 ]
[ 0.6590864062309265, -0.3070344924926758, 0.28205928206443787, -0.058695241808891296, -0.05203799903392792, 2.001939296722412, 0.08500000089406967, 0, 0 ]
[ 5.589297771453857, -21.53710174560547, -74.42729949951172, 0.7510850429534912, -0.21608901023864746, -1.2531169652938843 ]
7.9
79
0
79
0
[ 0.6701940298080444, -0.3134424090385437, 0.2687668800354004, -0.041087035089731216, -0.06857097148895264, 1.9777917861938477, 0 ]
[ 0.6604892015457153, -0.30811700224876404, 0.276591420173645, -0.05744829401373863, -0.057620979845523834, 1.9950625896453857, 0.08500000089406967, 0, 0 ]
[ 5.277342796325684, -20.713315963745117, -74.3188705444336, 0.836150050163269, -0.18244600296020508, -1.2535929679870605 ]
8
80
0
80
0
[ 0.671707034111023, -0.3148094117641449, 0.2689438760280609, -0.03821798413991928, -0.051448892802000046, 1.9865940809249878, 0 ]
[ 0.6619393229484558, -0.3087383508682251, 0.2716750502586365, -0.05518689006567001, -0.06297825276851654, 1.9906704425811768, 0.08500000089406967, 0, 0 ]
[ 4.462033271789551, -21.859312057495117, -74.71442413330078, 0.7390590310096741, -0.08160699903964996, -1.256519079208374 ]
8.1
81
0
81
0
[ 0.6730980277061462, -0.3174644112586975, 0.2683168649673462, -0.039338119328022, -0.04212837293744087, 1.9941693544387817, 0 ]
[ 0.6631117463111877, -0.30939608812332153, 0.2687978446483612, -0.05130211263895035, -0.06613177061080933, 1.9890073537826538, 0.08500000089406967, 0, 0 ]
[ 5.467534065246582, -21.803159713745117, -74.74553680419922, 0.7251450419425964, -0.20467700064182281, -1.2530760765075684 ]
8.2
82
0
82
0
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[ 0.6645164489746094, -0.31041330099105835, 0.26759055256843567, -0.04862600192427635, -0.06318478286266327, 1.9892432689666748, 0.08500000089406967, 0, 0 ]
[ 5.89527702331543, -21.57693862915039, -74.56563568115234, 0.7413939833641052, -0.2310899943113327, -1.2618180513381958 ]
8.3
83
0
83
0
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[ 0.6661966443061829, -0.3116484582424164, 0.2673100531101227, -0.046323083341121674, -0.057153236120939255, 1.9894020557403564, 0.08500000089406967, 0, 0 ]
[ 4.751615047454834, -22.21187973022461, -74.69512939453125, 0.6977670192718506, -0.1319129914045334, -1.2589670419692993 ]
8.4
84
0
84
0
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[ 0.6675976514816284, -0.3132682740688324, 0.2668713629245758, -0.044557783752679825, -0.052264850586652756, 1.9901552200317383, 0.08500000089406967, 0, 0 ]
[ 4.5498762130737305, -22.449689865112305, -74.97994232177734, 0.6542360186576843, -0.10472699999809265, -1.265936017036438 ]
8.5
85
0
85
0
[ 0.6766870617866516, -0.32151541113853455, 0.26525387167930603, -0.03436766564846039, -0.0457741804420948, 1.9953279495239258, 0 ]
[ 0.6685138940811157, -0.3152936100959778, 0.2663290500640869, -0.04281346872448921, -0.04890761524438858, 1.9920207262039185, 0.08500000089406967, 0, 0 ]
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8.6
86
0
86
0
[ 0.677276074886322, -0.3216654062271118, 0.2638738751411438, -0.035526592284440994, -0.048210252076387405, 1.9921550750732422, 0 ]
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[ 4.553960800170898, -22.38074493408203, -74.39612579345703, 0.6635230183601379, -0.14196200668811798, -1.270321011543274 ]
8.7
87
0
87
0
[ 0.677975058555603, -0.32188940048217773, 0.2610248625278473, -0.035429928451776505, -0.05128408223390579, 1.9910842180252075, 0 ]
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[ 4.91388463973999, -22.09619903564453, -74.91474914550781, 0.6952069997787476, -0.14357499778270721, -1.2571009397506714 ]
8.8
88
0
88
0
[ 0.6782260537147522, -0.3216054141521454, 0.25556886196136475, -0.037812571972608566, -0.06268011033535004, 1.9904024600982666, 0 ]
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8.9
89
0
89
0
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[ 4.891732692718506, -21.807647705078125, -74.8404312133789, 0.7236469984054565, -0.16185300052165985, -1.263535976409912 ]
9
90
0
90
0
[ 0.6774550676345825, -0.3191254138946533, 0.24713987112045288, -0.041630201041698456, -0.07345644384622574, 1.987803339958191, 0 ]
[ 0.6728079319000244, -0.318589985370636, 0.2598954439163208, -0.037585824728012085, -0.04998121038079262, 1.993943214416504, 0.08500000089406967, 0, 0 ]
[ 4.764227867126465, -22.056926727294922, -74.90986633300781, 0.7040389776229858, -0.15852698683738708, -1.2596620321273804 ]
9.1
91
0
91
0
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[ 0.6730756759643555, -0.31817999482154846, 0.2555347681045532, -0.03904864937067032, -0.05692111700773239, 1.993770718574524, 0.08500000089406967, 0, 0 ]
[ 5.777160167694092, -21.70947265625, -74.95413970947266, 0.7278010249137878, -0.2353450059890747, -1.2623718976974487 ]
9.2
92
0
92
0
[ 0.6774340271949768, -0.3186244070529938, 0.2414228618144989, -0.03457112982869148, -0.0642053484916687, 1.9872380495071411, 0 ]
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[ 5.098748207092285, -21.802629470825195, -74.80809020996094, 0.7293040156364441, -0.16545799374580383, -1.2634460926055908 ]
9.3
93
0
93
0
[ 0.6772780418395996, -0.32064440846443176, 0.23934586346149445, -0.024253565818071365, -0.048269595950841904, 1.9987167119979858, 0 ]
[ 0.6731528639793396, -0.31674519181251526, 0.2465495467185974, -0.04383032023906708, -0.06942195445299149, 1.9921228885650635, 0.08500000089406967, 0, 0 ]
[ 4.971640110015869, -22.028079986572266, -74.90898895263672, 0.6959400177001953, -0.1498049944639206, -1.2616870403289795 ]
9.4
94
0
94
0
[ 0.676861047744751, -0.32266440987586975, 0.23784886300563812, -0.02041890099644661, -0.02977578155696392, 2.008302927017212, 0 ]
[ 0.6734620928764343, -0.31623202562332153, 0.24298429489135742, -0.043946199119091034, -0.07155337929725647, 1.9915677309036255, 0.08500000089406967, 0, 0 ]
[ 4.746689796447754, -21.753419876098633, -74.39727783203125, 0.7390809655189514, -0.13630999624729156, -1.260735034942627 ]
9.5
95
0
95
0
[ 0.677323043346405, -0.3244774043560028, 0.2366618663072586, -0.031129037961363792, -0.032515063881874084, 2.0050082206726074, 0 ]
[ 0.6738725304603577, -0.31666240096092224, 0.23982881009578705, -0.04071417823433876, -0.068462073802948, 1.992842674255371, 0.08500000089406967, 0, 0 ]
[ 5.225815773010254, -22.02617645263672, -74.16960906982422, 0.6974369883537292, -0.18837900459766388, -1.263706088066101 ]
9.6
96
0
96
0
[ 0.6773090362548828, -0.32661741971969604, 0.23636886477470398, -0.026633573696017265, -0.032554786652326584, 2.0111513137817383, 0 ]
[ 0.6743540167808533, -0.31817880272865295, 0.23770202696323395, -0.03660934790968895, -0.05898647382855415, 1.9950512647628784, 0.08500000089406967, 0, 0 ]
[ 5.2278571128845215, -21.796119689941406, -74.5414810180664, 0.7290640473365784, -0.18887300789356232, -1.256290078163147 ]
9.7
97
0
97
0
[ 0.6774090528488159, -0.32804641127586365, 0.2361038625240326, -0.027981949970126152, -0.03271599858999252, 2.0117340087890625, 0 ]
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[ 4.659032344818115, -21.874664306640625, -74.4411392211914, 0.7153400182723999, -0.1268330067396164, -1.2653690576553345 ]
9.8
98
0
98
0
[ 0.6781680583953857, -0.32890141010284424, 0.2357148677110672, -0.03047923929989338, -0.036645323038101196, 2.008920192718506, 0 ]
[ 0.674511730670929, -0.3216732442378998, 0.23515231907367706, -0.03459234535694122, -0.04703015089035034, 1.9996373653411865, 0.08500000089406967, 0, 0 ]
[ 4.963791847229004, -21.969079971313477, -74.71211242675781, 0.7058400511741638, -0.1729929894208908, -1.2550309896469116 ]
9.9
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": "custom_manipulator",
    "total_episodes": 5,
    "total_frames": 1224,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "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": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
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            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
                9
            ]
        },
        "observation.images.wrist_rgb": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front_rgb": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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