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observation.image.ego_global
imagewidth (px)
360
360
observation.image.wrist
imagewidth (px)
640
640
observation.state
list
action
list
joints
list
timestamp
float32
0
16.5
frame_index
int64
0
495
episode_index
int64
0
24
index
int64
0
8.61k
task_index
int64
0
0
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[ 0.43557438254356384, 0.154941588640213, 0.20974743366241455, -0.34794852137565613, -0.7902380228042603, -0.5044360160827637, -0.855714738368988, 0.4875064790248871, -0.17346398532390594, 0 ]
[ 0.49392199516296387, 1.8722947835922241, -1.393880844116211, 0.17289188504219055, 0.6181439161300659, -0.4574631154537201 ]
2.8
84
0
84
0
[ 0.35602861642837524, 0.20565864443778992, 0.22814197838306427, -0.5279971957206726, -0.6593698859214783, -0.5352105498313904, -0.738240659236908, 0.6678813099861145, -0.09452700614929199, 68.66999816894531 ]
[ 0.43145719170570374, 0.16680149734020233, 0.20833246409893036, -0.3306324779987335, -0.8212137818336487, -0.4650699198246002, -0.8679640293121338, 0.45808660984039307, -0.19182048738002777, 0 ]
[ 0.5014579892158508, 1.879150390625, -1.398660659790039, 0.17503756284713745, 0.6181439161300659, -0.47525644302368164 ]
2.833333
85
0
85
0
[ 0.35531851649284363, 0.20905393362045288, 0.22572758793830872, -0.5012971758842468, -0.6861642003059387, -0.527143120765686, -0.7598204016685486, 0.6405498385429382, -0.11121557652950287, 68.66999816894531 ]
[ 0.4269375801086426, 0.17705392837524414, 0.2028704434633255, -0.30055665969848633, -0.8533298969268799, -0.42602086067199707, -0.8858307003974915, 0.41531234979629517, -0.20692914724349976, 0 ]
[ 0.5099709033966064, 1.8865294456481934, -1.4009284973144531, 0.17139166593551636, 0.6181439161300659, -0.5040048956871033 ]
2.866667
86
0
86
0
[ 0.35505053400993347, 0.21005645394325256, 0.22452394664287567, -0.49569299817085266, -0.6930286884307861, -0.5234498381614685, -0.7647570371627808, 0.6339505910873413, -0.11512317508459091, 68.66999816894531 ]
[ 0.4312410056591034, 0.17577074468135834, 0.2031906098127365, -0.3014689087867737, -0.8545055985450745, -0.42300906777381897, -0.8856366276741028, 0.4153057038784027, -0.20777125656604767, 0 ]
[ 0.5127794146537781, 1.8893903493881226, -1.4009284973144531, 0.16846099495887756, 0.6181439161300659, -0.5085927844047546 ]
2.9
87
0
87
0
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[ 0.4368407428264618, 0.17454834282398224, 0.2055291384458542, -0.27274829149246216, -0.870593249797821, -0.40948235988616943, -0.8941046595573425, 0.3865201771259308, -0.22622787952423096, 0 ]
[ 0.5226181149482727, 1.8996477127075195, -1.4009284973144531, 0.1573663353919983, 0.6224178075790405, -0.5375505685806274 ]
2.933333
88
0
88
0
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[ 0.4378313422203064, 0.17534054815769196, 0.21115468442440033, -0.25223028659820557, -0.8839222192764282, -0.39377841353416443, -0.8966240882873535, 0.3665305972099304, -0.24843613803386688, 0 ]
[ 0.528793454170227, 1.909643292427063, -1.4009284973144531, 0.1515049934387207, 0.624685525894165, -0.5555881261825562 ]
2.966667
89
0
89
0
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[ 0.4396640658378601, 0.17465396225452423, 0.21277658641338348, -0.22682826220989227, -0.8975669741630554, -0.37805086374282837, -0.8907927870750427, 0.3481278121471405, -0.2920534014701843, 0 ]
[ 0.5333638787269592, 1.91646409034729, -1.4009284973144531, 0.1457308828830719, 0.6265695691108704, -0.5714799761772156 ]
3
90
0
90
0
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[ 0.44908344745635986, 0.16584786772727966, 0.20903515815734863, -0.2132408320903778, -0.8991400599479675, -0.3821982443332672, -0.8875307440757751, 0.3418145179748535, -0.30895310640335083, 0 ]
[ 0.5336604714393616, 1.926721453666687, -1.4033358097076416, 0.1384042203426361, 0.6291687488555908, -0.5942275524139404 ]
3.033333
91
0
91
0
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[ 0.4528431296348572, 0.1654762327671051, 0.20778816938400269, -0.20461803674697876, -0.9038716554641724, -0.37569594383239746, -0.8835185766220093, 0.33575841784477234, -0.326590359210968, 0 ]
[ 0.5351431965827942, 1.9295648336410522, -1.4033358097076416, 0.13346745073795319, 0.6299363374710083, -0.6015193462371826 ]
3.066667
92
0
92
0
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[ 0.4546901285648346, 0.16501758992671967, 0.21007493138313293, -0.17334076762199402, -0.9176395535469055, -0.3576180040836334, -0.8791525363922119, 0.307836651802063, -0.3637683391571045, 0 ]
[ 0.5351431965827942, 1.9377288818359375, -1.4055511951446533, 0.11508099734783173, 0.6336694359779358, -0.6252263188362122 ]
3.1
93
0
93
0
[ 0.35612159967422485, 0.2172556221485138, 0.20290829241275787, -0.35534554719924927, -0.8318345546722412, -0.426357626914978, -0.8557044267654419, 0.4730491638183594, -0.2097485214471817, 68.66999816894531 ]
[ 0.4665977954864502, 0.16087466478347778, 0.21433687210083008, -0.15808895230293274, -0.9191280007362366, -0.3608485162258148, -0.8760669827461243, 0.29915252327919006, -0.3781724274158478, 0 ]
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3.133333
94
0
94
0
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[ 0.47813501954078674, 0.15858645737171173, 0.21659137308597565, -0.14884519577026367, -0.9226002097129822, -0.35588476061820984, -0.8729091286659241, 0.2916865348815918, -0.39108648896217346, 0 ]
[ 0.5311135649681091, 1.9501492977142334, -1.4123893976211548, 0.08228544145822525, 0.6325355768203735, -0.6614235639572144 ]
3.166667
95
0
95
0
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[ 0.48078399896621704, 0.1584337204694748, 0.22018657624721527, -0.12848857045173645, -0.9300781488418579, -0.34415891766548157, -0.8690376281738281, 0.2727862000465393, -0.41274845600128174, 0 ]
[ 0.5287759900093079, 1.9539871215820312, -1.4175878763198853, 0.06806822121143341, 0.6325355768203735, -0.6765130162239075 ]
3.2
96
0
96
0
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[ 0.48803383111953735, 0.15914219617843628, 0.21917101740837097, -0.11564543098211288, -0.9293004274368286, -0.3507518768310547, -0.8666983246803284, 0.2669128179550171, -0.42141613364219666, 0 ]
[ 0.5261070132255554, 1.9567607641220093, -1.4237109422683716, 0.057880666106939316, 0.6325355768203735, -0.6910616755485535 ]
3.233333
97
0
97
0
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[ 0.4984382688999176, 0.16127724945545197, 0.2144967019557953, -0.11121775954961777, -0.9300823211669922, -0.3501107096672058, -0.8688265085220337, 0.2620296776294708, -0.42009636759757996, 0 ]
[ 0.5206643342971802, 1.9630059003829956, -1.4301478862762451, 0.04769311100244522, 0.6325355768203735, -0.7048776745796204 ]
3.266667
98
0
98
0
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[ 0.5028602480888367, 0.16235709190368652, 0.21364402770996094, -0.08446437120437622, -0.9386250972747803, -0.33443793654441833, -0.8660176992416382, 0.2351561337709427, -0.44126516580581665, 0 ]
[ 0.5160589814186096, 1.9681520462036133, -1.4431962966918945, 0.030789444223046303, 0.6325355768203735, -0.7280089855194092 ]
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": 50,
    "total_frames": 17660,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.image.ego_global": {
            "dtype": "image",
            "names": [
                "channels",
                "height",
                "width"
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            "shape": [
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            ]
        },
        "observation.image.wrist": {
            "dtype": "image",
            "names": [
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                "height",
                "width"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": null,
            "shape": [
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        },
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "joints": {
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            "shape": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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