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observation.state
sequence
observation.environment_state
sequence
timestamp
float32
0
89
frame_index
int64
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2.67k
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2.3
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[ 0.263671875, -3.955078125, 6.240234375, 71.89453125, -88.59375, 0.4761905074119568 ]
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2.333333
70
0
70
0
[ 0, 8.173828125, 11.42578125, 66.005859375, -89.6484375, -0.3770028352737427 ]
[ 0.263671875, -2.8125, 6.240234375, 70.83984375, -88.59375, 0.4761905074119568 ]
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2.366667
71
0
71
0
[ 0, 10.01953125, 13.095703125, 64.951171875, -89.6484375, -0.3770028352737427 ]
[ 0.263671875, -1.40625, 6.328125, 69.9609375, -88.59375, 0.4761905074119568 ]
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2.4
72
0
72
0
[ 0, 12.041015625, 14.853515625, 63.720703125, -89.736328125, -0.3770028352737427 ]
[ 0.263671875, 0.3515625, 6.50390625, 69.08203125, -88.59375, 0.4761905074119568 ]
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2.433333
73
0
73
0
[ 0, 14.0625, 16.34765625, 62.490234375, -89.736328125, -0.3770028352737427 ]
[ 0.263671875, 2.28515625, 7.20703125, 68.466796875, -88.59375, 0.4761905074119568 ]
[ 0.3223731517791748, 0.4207056760787964, 0.6465087532997131, 0.4347519278526306, 0.35952359437942505, 0.3976410925388336, 0.6968839168548584, 0.4113680124282837, 0.3235335946083069, 0.335710734128952, 0.6585144996643066, 0.328312486410141 ]
2.466667
74
0
74
0
[ 0, 15.908203125, 17.9296875, 61.611328125, -90.17578125, -0.3770028352737427 ]
[ 0.263671875, 4.21875, 8.0859375, 67.236328125, -88.59375, 0.4761905074119568 ]
[ 0.3223864734172821, 0.4208875596523285, 0.6464883089065552, 0.43472570180892944, 0.35947385430336, 0.39785444736480713, 0.6968371868133545, 0.41127994656562805, 0.3233417868614197, 0.33709436655044556, 0.6585633754730225, 0.3284609615802765 ]
2.5
75
0
75
0
[ 0, 17.9296875, 19.599609375, 60.732421875, -90.439453125, -0.3770028352737427 ]
[ 0.263671875, 6.328125, 8.96484375, 65.830078125, -88.59375, 0.4761905074119568 ]
[ 0.3224022388458252, 0.42017871141433716, 0.6462450623512268, 0.4361875355243683, 0.35944440960884094, 0.3972381353378296, 0.6963996291160583, 0.4126795530319214, 0.3232707381248474, 0.3363669812679291, 0.6581166982650757, 0.3308091461658478 ]
2.533333
76
0
76
0
[ 0, 20.21484375, 21.533203125, 59.853515625, -90.439453125, -0.3770028352737427 ]
[ 0.263671875, 8.525390625, 10.01953125, 64.775390625, -88.59375, 0.4761905074119568 ]
[ 0.3220953941345215, 0.41983598470687866, 0.6462138891220093, 0.43542787432670593, 0.3591739237308502, 0.3968334496021271, 0.696330726146698, 0.41205593943595886, 0.323001503944397, 0.3348502814769745, 0.6580635905265808, 0.330260306596756 ]
2.566667
77
0
77
0
[ 0, 22.5, 23.37890625, 59.0625, -90.439453125, -0.3770028352737427 ]
[ 0.263671875, 10.634765625, 11.162109375, 63.720703125, -88.681640625, 0.4761905074119568 ]
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2.6
78
0
78
0
[ 0, 24.697265625, 25.224609375, 58.447265625, -90.439453125, -0.3770028352737427 ]
[ 0.263671875, 12.12890625, 12.3046875, 62.578125, -89.12109375, 0.4761905074119568 ]
[ 0.3216326832771301, 0.4187193810939789, 0.6466869115829468, 0.43323299288749695, 0.35874098539352417, 0.39544400572776794, 0.6970859169960022, 0.4100329279899597, 0.3225307762622833, 0.33147993683815, 0.658733069896698, 0.32722827792167664 ]
2.633333
79
0
79
0
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[ 0.263671875, 14.150390625, 13.7109375, 61.5234375, -89.384765625, 0.4761905074119568 ]
[ 0.3200249969959259, 0.41585519909858704, 0.6474004983901978, 0.4318123161792755, 0.35780754685401917, 0.3930930197238922, 0.6979160308837891, 0.40816253423690796, 0.32147759199142456, 0.3269087076187134, 0.6595112681388855, 0.3243211805820465 ]
2.666667
80
0
80
0
[ 0, 28.4765625, 28.740234375, 57.3046875, -90.52734375, -0.3770028352737427 ]
[ 0.263671875, 16.435546875, 15.380859375, 60.8203125, -89.560546875, 0.4761905074119568 ]
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2.7
81
0
81
0
[ 0, 30.234375, 30.322265625, 56.689453125, -90.52734375, -0.3770028352737427 ]
[ 0.263671875, 18.896484375, 17.2265625, 60.029296875, -89.560546875, 0.4761905074119568 ]
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2.733333
82
0
82
0
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[ 0.263671875, 23.37890625, 20.478515625, 58.53515625, -89.560546875, 0.4761905074119568 ]
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2.766667
83
0
83
0
[ 0, 33.837890625, 33.75, 55.634765625, -90.52734375, -0.3770028352737427 ]
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2.8
84
0
84
0
[ 0, 35.5078125, 35.419921875, 55.283203125, -90.52734375, -0.3770028352737427 ]
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2.833333
85
0
85
0
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[ 0.263671875, 29.267578125, 25.48828125, 56.77734375, -89.560546875, 0.4761905074119568 ]
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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[ 0.263671875, 34.716796875, 30.76171875, 55.1953125, -89.560546875, 0.4761905074119568 ]
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2.966667
89
0
89
0
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3
90
0
90
0
[ 0, 45.87890625, 45.17578125, 52.294921875, -90.52734375, -0.3770028352737427 ]
[ 0.263671875, 38.3203125, 34.1015625, 54.228515625, -89.560546875, 0.4761905074119568 ]
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3.033333
91
0
91
0
[ 0, 47.4609375, 46.669921875, 51.591796875, -90.52734375, -0.282752126455307 ]
[ 0.263671875, 40.078125, 35.859375, 53.701171875, -89.560546875, 0.4761905074119568 ]
[ 0.30983927845954895, 0.3962615728378296, 0.6536573171615601, 0.4002155065536499, 0.3521023988723755, 0.37306681275367737, 0.7066255211830139, 0.37688949704170227, 0.3121042251586914, 0.2974114716053009, 0.6664595007896423, 0.28066226840019226 ]
3.066667
92
0
92
0
[ 0, 49.04296875, 48.1640625, 50.888671875, -90.52734375, -0.18850141763687134 ]
[ 0.263671875, 41.8359375, 37.44140625, 53.26171875, -89.560546875, 0.4761905074119568 ]
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3.1
93
0
93
0
[ 0, 50.625, 49.658203125, 50.2734375, -90.52734375, 0 ]
[ 0.263671875, 43.681640625, 38.935546875, 52.646484375, -89.560546875, 0.4761905074119568 ]
[ 0.30877038836479187, 0.3947277367115021, 0.6537281274795532, 0.3989504873752594, 0.3510480225086212, 0.3705090284347534, 0.7067817449569702, 0.37534770369529724, 0.31026139855384827, 0.2940618097782135, 0.6667253971099854, 0.27821195125579834 ]
3.133333
94
0
94
0
[ 0, 52.294921875, 51.15234375, 49.482421875, -90.52734375, 0.09425070881843567 ]
[ 0.263671875, 45.52734375, 40.517578125, 51.943359375, -89.560546875, 0.4761905074119568 ]
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3.166667
95
0
95
0
[ 0, 54.052734375, 52.646484375, 48.515625, -90.52734375, 0.18850141763687134 ]
[ 0.263671875, 47.197265625, 42.099609375, 51.328125, -89.560546875, 0.4761905074119568 ]
[ 0.3073049485683441, 0.3951661288738251, 0.6559454798698425, 0.39278775453567505, 0.34966108202934265, 0.37083131074905396, 0.7092610597610474, 0.3682898283004761, 0.30852431058883667, 0.2926122546195984, 0.6682805418968201, 0.27118778228759766 ]
3.2
96
0
96
0
[ 0, 55.810546875, 54.052734375, 47.4609375, -90.52734375, 0.282752126455307 ]
[ 0.263671875, 48.8671875, 43.505859375, 50.80078125, -89.560546875, 0.4761905074119568 ]
[ 0.3062707185745239, 0.39608410000801086, 0.6563912034034729, 0.3924791216850281, 0.34896454215049744, 0.37099382281303406, 0.7097898125648499, 0.36804792284965515, 0.30778637528419495, 0.29270321130752563, 0.6686391830444336, 0.2696681618690491 ]
3.233333
97
0
97
0
[ 0, 57.568359375, 55.458984375, 46.142578125, -90.52734375, 0.47125354409217834 ]
[ 0.263671875, 50.80078125, 45.17578125, 50.009765625, -89.560546875, 0.4761905074119568 ]
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3.266667
98
0
98
0
[ 0, 59.23828125, 56.77734375, 44.912109375, -90.52734375, 0.6597549915313721 ]
[ 0.263671875, 52.55859375, 46.669921875, 49.130859375, -89.560546875, 0.4761905074119568 ]
[ 0.30426836013793945, 0.39699965715408325, 0.656784176826477, 0.39192453026771545, 0.3476819396018982, 0.37135395407676697, 0.7105118036270142, 0.36766308546066284, 0.30641165375709534, 0.29271894693374634, 0.6691277623176575, 0.267911434173584 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 5,
    "total_frames": 10376,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
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            "name": [
                "x11",
                "y11",
                "x12",
                "y12",
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                "x22",
                "y22",
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                "y31",
                "x32",
                "y32"
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        "timestamp": {
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        "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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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