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float32
0
30.4
frame_index
int64
0
304
episode_index
int64
0
9
index
int64
0
1.31k
task_index
int64
0
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[ 0.5518782138824463, -0.025235097855329514, 0.44913074374198914, 0.996953547000885, 0.005163111258298159, -0.03430686518549919, 0.00023236963897943497, -0.9991962909698486, -0.001475546509027481, 0.003561258316040039 ]
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0.1
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1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
24
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2.5
25
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2.6
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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
33
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33
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3.4
34
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3.5
35
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3.6
36
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3.7
37
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3.8
38
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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[ 0.6165686249732971, 0.17750203609466553, 0.3405546247959137, 2.998828887939453, 0.8829053640365601, -0.18245720863342285, 0.043061673641204834 ]
4.9
49
0
49
0
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[ 0.6162404417991638, 0.1770177185535431, 0.3400803208351135, 3.0003368854522705, 0.8708276152610779, -0.18430282175540924, 0.04942731186747551 ]
5
50
0
50
0
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[ 0.6160449385643005, 0.17773635685443878, 0.3423781096935272, 3.0023574829101562, 0.8627395629882812, -0.17852862179279327, 0.058414097875356674 ]
5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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[ 0.6133441925048828, 0.17545375227928162, 0.3760581314563751, -3.0104005336761475, -0.809498131275177, 0.1564835011959076, 0.08500000089406967 ]
5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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[ 0.5535150170326233, 0.006380300037562847, 0.43492889404296875, -3.125980854034424, -0.051359858363866806, 0.12278463691473007, 0.08500000089406967 ]
0
0
1
57
0
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0.1
1
1
58
0
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0.2
2
1
59
0
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0.3
3
1
60
0
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0.4
4
1
61
0
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0.5
5
1
62
0
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0.6
6
1
63
0
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[ 0.5595097541809082, -0.0862298235297203, 0.45556703209877014, -3.125515937805176, -0.013616062700748444, 0.04715205356478691, 0.08500000089406967 ]
0.7
7
1
64
0
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0.8
8
1
65
0
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0.9
9
1
66
0
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1
10
1
67
0
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1.1
11
1
68
0
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1.2
12
1
69
0
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1.3
13
1
70
0
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1.4
14
1
71
0
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1.5
15
1
72
0
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1.6
16
1
73
0
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1.7
17
1
74
0
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1.8
18
1
75
0
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1.9
19
1
76
0
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2
20
1
77
0
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2.1
21
1
78
0
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2.2
22
1
79
0
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2.3
23
1
80
0
[ 0.5605329275131226, -0.2269916832447052, 0.34371650218963623, 0.9978020787239075, 0.05947165563702583, -0.056392427533864975, 0.05830472707748413, -0.9974061250686646, -0.008202613331377506, 1.0008416175842285 ]
[ 0.5584886074066162, -0.22719602286815643, 0.33253413438796997, 3.131521701812744, 0.040132082998752594, -0.1712651401758194, 0.05616740137338638 ]
2.4
24
1
81
0
[ 0.562079131603241, -0.2234867513179779, 0.3462938964366913, 0.9973688125610352, 0.060196198523044586, -0.05510500445961952, 0.058557476848363876, -0.9969285130500793, -0.010439833626151085, 0.9992148280143738 ]
[ 0.5589202642440796, -0.22631540894508362, 0.3333940804004669, 3.131802558898926, 0.048930950462818146, -0.16810661554336548, 0.04418502375483513 ]
2.5
25
1
82
0
[ 0.5678024291992188, -0.21240147948265076, 0.3543969988822937, 0.9968282580375671, 0.06055512651801109, -0.051672983914613724, 0.057707708328962326, -0.9968717694282532, -0.0209929458796978, 0.9960809350013733 ]
[ 0.5592405200004578, -0.2254091501235962, 0.33333757519721985, 3.1321730613708496, 0.05231046304106712, -0.16803720593452454, 0.04381057247519493 ]
2.6
26
1
83
0
[ 0.5799899697303772, -0.19034996628761292, 0.37641674280166626, 0.9957127571105957, 0.07585334032773972, -0.03366125002503395, 0.07367595285177231, -0.9955894351005554, -0.03320056200027466, 0.9949895739555359 ]
[ 0.5601028203964233, -0.22324438393115997, 0.33336466550827026, 3.131977081298828, 0.05814387649297714, -0.16787633299827576, 0.04381057247519493 ]
2.7
27
1
84
0
[ 0.5904977321624756, -0.16892212629318237, 0.4065777063369751, 0.9929583072662354, 0.11386890709400177, -0.0009451229125261307, 0.11024846881628036, -0.993720531463623, -0.033831797540187836, 0.9970283508300781 ]
[ 0.5632972717285156, -0.21659117937088013, 0.3348334729671478, 3.1280999183654785, 0.07426043599843979, -0.1647208034992218, 0.04381057247519493 ]
2.8
28
1
85
0
[ 0.5989997386932373, -0.1454932689666748, 0.43775132298469543, 0.9877761006355286, 0.1545112580060959, 0.03443021699786186, 0.15201623737812042, -0.9905834197998047, -0.03173708915710449, 0.9959515333175659 ]
[ 0.5702332258224487, -0.20179855823516846, 0.3406296968460083, 3.1270604133605957, 0.11557209491729736, -0.15349328517913818, 0.04381057247519493 ]
2.9
29
1
86
0
[ 0.6073769330978394, -0.11201604455709457, 0.4724489152431488, 0.9747337698936462, 0.20211540162563324, 0.07853744924068451, 0.20043529570102692, -0.9805089235305786, -0.026380423456430435, 0.9901852011680603 ]
[ 0.5807172060012817, -0.17914049327373505, 0.35269540548324585, 3.1248984336853027, 0.17926330864429474, -0.13257461786270142, 0.04381057247519493 ]
3
30
1
87
0
[ 0.6141632199287415, -0.08121766895055771, 0.5031499862670898, 0.9583435654640198, 0.24852998554706573, 0.11831109970808029, 0.24743619561195374, -0.9675966501235962, -0.020098082721233368, 0.987985372543335 ]
[ 0.5922844409942627, -0.1495932787656784, 0.37316587567329407, 3.1197597980499268, 0.2591267228126526, -0.0965544655919075, 0.04381057247519493 ]
3.1
31
1
88
0
[ 0.6192923188209534, -0.06794151663780212, 0.5260961055755615, 0.9662444591522217, 0.24967138469219208, 0.11276480555534363, 0.2488487958908081, -0.9706295728683472, -0.010658958926796913, 0.9960495233535767 ]
[ 0.6038658022880554, -0.11556433141231537, 0.3999113440513611, 3.109198808670044, 0.3487597107887268, -0.04326677694916725, 0.04381057247519493 ]
3.2
32
1
89
0
[ 0.6146872639656067, -0.031103603541851044, 0.5441461205482483, 0.9452034831047058, 0.31105390191078186, 0.12980897724628448, 0.3125802278518677, -0.9507125616073608, -0.008065074682235718, 1.0007107257843018 ]
[ 0.6136447191238403, -0.08166776597499847, 0.43019911646842957, 3.0971899032592773, 0.42570990324020386, 0.01477571576833725, 0.04381057247519493 ]
3.3
33
1
90
0
[ 0.6102713942527771, 0.006618410348892212, 0.555330216884613, 0.9184397459030151, 0.374584823846817, 0.13811254501342773, 0.37850260734558105, -0.9247432351112366, -0.0019535738974809647, 1.002382516860962 ]
[ 0.618672251701355, -0.05203726887702942, 0.459877073764801, 3.0838217735290527, 0.49381014704704285, 0.06864868849515915, 0.04381057247519493 ]
3.4
34
1
91
0
[ 0.6074129939079285, 0.04324672371149063, 0.5555450320243835, 0.8931164145469666, 0.4349074065685272, 0.12635810673236847, 0.43571028113365173, -0.8998897075653076, 0.011024678125977516, 0.9997393488883972 ]
[ 0.6190193295478821, -0.022303825244307518, 0.4861309826374054, 3.068748950958252, 0.5669764876365662, 0.11380555480718613, 0.04381057247519493 ]
3.5
35
1
92
0
[ 0.6029079556465149, 0.0754905417561531, 0.5444381833076477, 0.8751296997070312, 0.47267040610313416, 0.10048449784517288, 0.47249653935432434, -0.880206823348999, 0.025356248021125793, 0.9951063990592957 ]
[ 0.6169366240501404, 0.00909782201051712, 0.5062730312347412, 3.053814649581909, 0.6460461020469666, 0.14573806524276733, 0.04381057247519493 ]
3.6
36
1
93
0
[ 0.5987200736999512, 0.1012510284781456, 0.526461124420166, 0.86617112159729, 0.49301090836524963, 0.06886982917785645, 0.4897218644618988, -0.8687611818313599, 0.033459924161434174, 0.9920994639396667 ]
[ 0.6133108735084534, 0.04330560192465782, 0.5185160636901855, 3.0380711555480957, 0.7314915060997009, 0.16626836359500885, 0.04381057247519493 ]
3.7
37
1
94
0
[ 0.5972219109535217, 0.11998549848794937, 0.5119854807853699, 0.8607295751571655, 0.506442129611969, 0.049129389226436615, 0.5006601810455322, -0.8623292446136475, 0.033262304961681366, 0.9923208355903625 ]
[ 0.6089643836021423, 0.07738003134727478, 0.5210298299789429, 3.0263495445251465, 0.8085435628890991, 0.16973546147346497, 0.04381057247519493 ]
3.8
38
1
95
0
[ 0.597093403339386, 0.13703295588493347, 0.49703603982925415, 0.8543221950531006, 0.5199209451675415, 0.0386054627597332, 0.5140188932418823, -0.8550828695297241, 0.030017171055078506, 0.9937059879302979 ]
[ 0.6044105887413025, 0.10752295702695847, 0.5172727108001709, -3.0125057697296143, -0.866654634475708, -0.15839746594429016, 0.04381057247519493 ]
3.9
39
1
96
0
[ 0.5991181135177612, 0.15298309922218323, 0.480633407831192, 0.848146378993988, 0.53367018699646, 0.024644464254379272, 0.5272438526153564, -0.8475067019462585, 0.03315703198313713, 0.9959589838981628 ]
[ 0.6001231670379639, 0.13145525753498077, 0.5095157623291016, -2.995896816253662, -0.9038240313529968, -0.13625934720039368, 0.04381057247519493 ]
4
40
1
97
0
[ 0.6025865077972412, 0.16536107659339905, 0.4635009467601776, 0.8426132202148438, 0.54457026720047, 0.013513652607798576, 0.5367867350578308, -0.8420478701591492, 0.034665919840335846, 0.9969378709793091 ]
[ 0.5979781746864319, 0.14827513694763184, 0.4991168975830078, -2.9839673042297363, -0.9283965229988098, -0.10818428546190262, 0.04381057247519493 ]
4.1
41
1
98
0
[ 0.6090933680534363, 0.17358043789863586, 0.44582879543304443, 0.8382906317710876, 0.5520018935203552, 0.0042883302085101604, 0.5444250106811523, -0.8385993838310242, 0.03585555776953697, 0.9955492615699768 ]
[ 0.5979110598564148, 0.16008895635604858, 0.4843111038208008, -2.9763050079345703, -0.9399559497833252, -0.06943101435899734, 0.04381057247519493 ]
4.2
42
1
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": 10,
    "total_frames": 1312,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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_6d.0",
                "orientation_6d.1",
                "orientation_6d.2",
                "orientation_6d.3",
                "orientation_6d.4",
                "orientation_6d.5",
                "gripper"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper"
            ],
            "shape": [
                7
            ]
        },
        "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.left_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
            }
        },
        "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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