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observation.state
listlengths
18
32
action
listlengths
14
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timestamp
float32
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12.9
frame_index
int64
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222
episode_index
int64
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index
int64
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4.97k
task_index
int64
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0.8
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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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21
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2.2
22
0
22
0
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2.3
23
0
23
0
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2.4
24
0
24
0
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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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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4.9
49
0
49
0
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5
50
0
50
0
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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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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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5.7
57
0
57
0
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5.8
58
0
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
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
[ -0.34912943840026855, 0.7865378856658936, 0.4120374023914337, -0.38256680965423584, 0.9237560033798218, -0.011476464569568634, 0.013631806708872318, -0.12502841651439667, 0.776086688041687, 0.12735424935817719, 0.01693773828446865, 0.9993809461593628, 0.004765496589243412, 0.030465388670563698, 0.03506600111722946, 0.03506600111722946, 0.014940808527171612, 0.014940808527171612 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13639910519123077, 0.7793013453483582, 0.13042300939559937, 0.014028298668563366, 0.9996057748794556, 0.013749207369983196, 0.02006188966333866, 0, 1, 0 ]
8.8
88
0
88
0
[ -0.34912899136543274, 0.7865378260612488, 0.41203802824020386, -0.3825644552707672, 0.9237568974494934, -0.011476889252662659, 0.013634485192596912, -0.126062273979187, 0.776385486125946, 0.12764599919319153, 0.0159124918282032, 0.9994555711746216, 0.0060477410443127155, 0.02826220728456974, 0.035066328942775726, 0.035066328942775726, 0.014941465109586716, 0.014941465109586716 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13547907769680023, 0.779855489730835, 0.12885549664497375, 0.013241587206721306, 0.9996070861816406, 0.015375629998743534, 0.01933567225933075, 0, 1, 0 ]
8.9
89
0
89
0
[ -0.3491274416446686, 0.7865374088287354, 0.41203948855400085, -0.38256368041038513, 0.9237572550773621, -0.01147534791380167, 0.01363527774810791, -0.12656831741333008, 0.7769243121147156, 0.12717856466770172, 0.015028133988380432, 0.9995214939117432, 0.007536562159657478, 0.025965170934796333, 0.035066328942775726, 0.035066328942775726, 0.01494212169200182, 0.01494212169200182 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13418801128864288, 0.7809692621231079, 0.12580639123916626, 0.01232805848121643, 0.9995903372764587, 0.017075665295124054, 0.0193806029856205, 0, 1, 0 ]
9
90
0
90
0
[ -0.34912917017936707, 0.7865391373634338, 0.4120370149612427, -0.38256874680519104, 0.9237550497055054, -0.011478680185973644, 0.013638562522828579, -0.12433597445487976, 0.7772947549819946, 0.12350811809301376, 0.014379257336258888, 0.9994863271713257, 0.008747361600399017, 0.027272552251815796, 0.03506600111722946, 0.03506600111722946, 0.014943434856832027, 0.014943434856832027 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13309980928897858, 0.7820570468902588, 0.12283570319414139, 0.011524321511387825, 0.9995689392089844, 0.018423404544591904, 0.01974179968237877, 0, 1, 0 ]
9.1
91
0
91
0
[ -0.34912776947021484, 0.7865391969680786, 0.41203954815864563, -0.3825640380382538, 0.9237571358680725, -0.011474217288196087, 0.013633660040795803, -0.12266583740711212, 0.7789391279220581, 0.12058226764202118, 0.014673043973743916, 0.9994457960128784, 0.010554857552051544, 0.02795386128127575, 0.03506600111722946, 0.03506600111722946, 0.014943434856832027, 0.014943434856832027 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13231539726257324, 0.7828916907310486, 0.12055826187133789, 0.010933496057987213, 0.9995503425598145, 0.019365955144166946, 0.020111948251724243, 0, 1, 0 ]
9.2
92
0
92
0
[ -0.349129855632782, 0.7865386605262756, 0.4120411276817322, -0.38256537914276123, 0.9237565398216248, -0.01147302333265543, 0.013635321520268917, -0.1217053085565567, 0.7799882888793945, 0.11856342107057571, 0.014591321349143982, 0.9994053840637207, 0.011930642649531364, 0.028872167691588402, 0.03506600111722946, 0.03506600111722946, 0.01494540460407734, 0.01494540460407734 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.1317528784275055, 0.7835115194320679, 0.1188679039478302, 0.010504976846277714, 0.9995355606079102, 0.020029747858643532, 0.020423470064997673, 0, 1, 0 ]
9.3
93
0
93
0
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[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13139230012893677, 0.7839177846908569, 0.11776015907526016, 0.010228253901004791, 0.9995254278182983, 0.020450079813599586, 0.020642708986997604, 0, 1, 0 ]
9.4
94
0
94
0
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9.5
95
0
95
0
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[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.1310148388147354, 0.7843515276908875, 0.11657800525426865, 0.009936681017279625, 0.9995142221450806, 0.020885271951556206, 0.02089041844010353, 0, 0, 0 ]
9.6
96
0
96
0
[ -0.34912893176078796, 0.7865381240844727, 0.4120398163795471, -0.38256874680519104, 0.9237551689147949, -0.01147453486919403, 0.013634092174470425, -0.12091992795467377, 0.7820136547088623, 0.11504212021827698, 0.01427694596350193, 0.9993608593940735, 0.014713073149323463, 0.029283767566084862, 0.03506600111722946, 0.03506600111722946, 0.014950001612305641, 0.014950001612305641 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13092359900474548, 0.7844579815864563, 0.11628786474466324, 0.00986582599580288, 0.9995114207267761, 0.0209895521402359, 0.020953819155693054, 0, 0, 0 ]
9.7
97
0
97
0
[ -0.3491280674934387, 0.7865371704101562, 0.41203728318214417, -0.382563054561615, 0.9237574934959412, -0.011476756073534489, 0.013632546178996563, -0.1214093416929245, 0.7817586660385132, 0.11469566076993942, 0.013735396787524223, 0.9993711113929749, 0.014911328442394733, 0.029092933982610703, 0.03506600111722946, 0.03506600111722946, 0.020109103992581367, 0.020109103992581367 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13083526492118835, 0.7845619916915894, 0.11600454151630402, 0.00979702640324831, 0.9995086193084717, 0.021089991554617882, 0.021017156541347504, 0, 0, 0 ]
9.8
98
0
98
0
[ -0.34913042187690735, 0.7865370512008667, 0.4120387136936188, -0.3825647234916687, 0.9237568378448486, -0.011476640589535236, 0.013633077032864094, -0.12137012928724289, 0.7818650007247925, 0.11460743099451065, 0.013776385225355625, 0.9993690848350525, 0.01499438751488924, 0.029099246487021446, 0.03506600111722946, 0.03506600111722946, 0.028727853670716286, 0.028727853670716286 ]
[ -0.3516276180744171, 0.7893099784851074, 0.4171420633792877, -0.38493743538856506, 0.9227895736694336, -0.0051676263101398945, 0.015995461493730545, -0.13081225752830505, 0.7845892310142517, 0.11593019217252731, 0.009779064916074276, 0.9995079040527344, 0.021116016432642937, 0.02103411965072155, 0, 0, 0 ]
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": "v2.1",
    "robot_type": null,
    "total_episodes": 47,
    "total_frames": 4966,
    "total_tasks": 1,
    "total_videos": 141,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:47"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1",
                "last_command_left_0",
                "last_command_left_1",
                "last_command_left_2",
                "last_command_left_3",
                "last_command_left_4",
                "last_command_left_5",
                "last_command_left_6",
                "last_command_right_0",
                "last_command_right_1",
                "last_command_right_2",
                "last_command_right_3",
                "last_command_right_4",
                "last_command_right_5",
                "last_command_right_6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "delta_tcp_left_x",
                "delta_tcp_left_y",
                "delta_tcp_left_z",
                "delta_tcp_left_rot_x",
                "delta_tcp_left_rot_y",
                "delta_tcp_left_rot_z",
                "delta_tcp_right_x",
                "delta_tcp_right_y",
                "delta_tcp_right_z",
                "delta_tcp_right_rot_x",
                "delta_tcp_right_rot_y",
                "delta_tcp_right_rot_z",
                "gripper_left",
                "gripper_right"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
                640,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.rgb_left": {
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            ],
            "names": [
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            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_right": {
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            "shape": [
                640,
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            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 640,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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