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observation.state
listlengths
18
18
action
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float32
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16.1
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int64
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161
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3.53k
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int64
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2.6
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2.7
27
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2.8
28
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28
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2.9
29
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29
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3
30
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3.1
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3.2
32
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3.3
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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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38
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3.9
39
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39
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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
43
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4.4
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4.5
45
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4.6
46
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46
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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
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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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5.5
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5.6
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5.7
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5.8
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5.9
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6
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6.1
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6.2
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6.3
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6.4
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6.5
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6.6
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6.7
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6.8
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6.9
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7
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7.1
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7.2
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7.3
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7.4
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7.5
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7.6
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7.7
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7.8
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7.9
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8
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0
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8.1
81
0
81
0
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8.2
82
0
82
0
[ -0.061214737594127655, 0.774333119392395, 0.21853499114513397, -0.02001146413385868, 0.9802955389022827, -0.014139123260974884, 0.19601084291934967, 0.20329409837722778, 0.7907431721687317, 0.3097222149372101, -0.01077038049697876, -0.981384813785553, -0.05911315232515335, 0.18241004645824432, 0.03493433818221092, 0.03493433818221092, 0.03498884290456772, 0.03498884290456772 ]
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8.3
83
0
83
0
[ -0.069231778383255, 0.7740271687507629, 0.22435763478279114, -0.022207466885447502, 0.9770321846008301, -0.012127120979130268, 0.21158412098884583, 0.2032950073480606, 0.7907424569129944, 0.30972063541412354, -0.010772012174129486, -0.9813846945762634, -0.05911388248205185, 0.1824106127023697, 0.03493433818221092, 0.03493433818221092, 0.03498884290456772, 0.03498884290456772 ]
[ -0.005572162568569183, -0.0006818771362304688, 0.00441211462020874, -0.005660471506416798, -0.028042839840054512, -0.000015113601875782479, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.4
84
0
84
0
[ -0.0747566968202591, 0.7743762731552124, 0.22937984764575958, -0.0227183997631073, 0.9739475250244141, -0.008333726786077023, 0.22547857463359833, 0.2032896876335144, 0.790741503238678, 0.30972039699554443, -0.010768427513539791, -0.98138427734375, -0.059111252427101135, 0.18241381645202637, 0.03493433818221092, 0.03493433818221092, 0.03498884290456772, 0.03498884290456772 ]
[ -0.014315277338027954, -0.0022956132888793945, 0.005248740315437317, -0.00781068904325366, -0.02453254535794258, -0.007197489496320486, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.5
85
0
85
0
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[ -0.027163639664649963, -0.004542648792266846, 0.006532162427902222, -0.008199872449040413, -0.018940508365631104, -0.013054024428129196, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.6
86
0
86
0
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[ -0.02683039754629135, -0.004526257514953613, 0.005728423595428467, -0.006624876521527767, -0.013197685591876507, -0.012131561525166035, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.7
87
0
87
0
[ -0.11515402793884277, 0.7662975192070007, 0.24103562533855438, -0.03486497327685356, 0.9676304459571838, -0.002825741423293948, 0.24993562698364258, 0.20329099893569946, 0.7907484769821167, 0.30971619486808777, -0.010765289887785912, -0.9813860654830933, -0.05910978093743324, 0.18240474164485931, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
[ -0.020341619849205017, -0.0034428834915161133, 0.004135563969612122, -0.004608105402439833, -0.00842436496168375, -0.008976521901786327, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
8.8
88
0
88
0
[ -0.1444539874792099, 0.763681948184967, 0.24581068754196167, -0.04481640085577965, 0.9656168222427368, 0.000880584993865341, 0.256075918674469, 0.20329590141773224, 0.7907447218894958, 0.309711217880249, -0.010768955573439598, -0.9813872575759888, -0.059104420244693756, 0.18240009248256683, 0.03493433818221092, 0.03493433818221092, 0.03498884290456772, 0.03498884290456772 ]
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8.9
89
0
89
0
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9
90
0
90
0
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9.1
91
0
91
0
[ -0.19915905594825745, 0.7546430230140686, 0.25474151968955994, -0.056962013244628906, 0.9633178114891052, 0.001883990247733891, 0.2622414827346802, 0.2027672678232193, 0.7863903045654297, 0.28636616468429565, -0.011845259927213192, -0.9881849884986877, -0.053000591695308685, 0.14332140982151031, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
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9.2
92
0
92
0
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9.3
93
0
93
0
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9.4
94
0
94
0
[ -0.20969216525554657, 0.7475718855857849, 0.259306937456131, -0.050116345286369324, 0.9630409479141235, 0.004530935548245907, 0.26461276412010193, 0.177727609872818, 0.7687011957168579, 0.21383915841579437, -0.012395501136779785, -0.9975641369819641, -0.034839410334825516, 0.059146951884031296, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
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9.5
95
0
95
0
[ -0.21240460872650146, 0.7456356287002563, 0.26098722219467163, -0.04629651829600334, 0.9631568193435669, 0.005886455532163382, 0.2648601233959198, 0.16787947714328766, 0.7625480890274048, 0.18817831575870514, -0.01303255744278431, -0.9988832473754883, -0.029816245660185814, 0.034255675971508026, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
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9.6
96
0
96
0
[ -0.21283085644245148, 0.7439419031143188, 0.262075811624527, -0.043691668659448624, 0.962990403175354, 0.005871438421308994, 0.26590612530708313, 0.1613512486219406, 0.7590199708938599, 0.1703236699104309, -0.013314766809344292, -0.9993956089019775, -0.02717658318579197, 0.017103007063269615, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
[ -0.0022012293338775635, -0.0008092522621154785, 0.0006175637245178223, -0.0017985939048230648, -0.0006665451801382005, 0.00027296633925288916, -0.002163529396057129, -0.001438736915588379, -0.006712421774864197, 0.002510860562324524, -0.012573723681271076, -0.0002174368273699656, 0, 0, 0 ]
9.7
97
0
97
0
[ -0.2137608677148819, 0.7430893182754517, 0.26252007484436035, -0.04326104372739792, 0.962863028049469, 0.0057258144952356815, 0.26644033193588257, 0.15760064125061035, 0.7569183111190796, 0.15977545082569122, -0.014247562736272812, -0.9995694160461426, -0.024723395705223083, 0.006837296765297651, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
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9.8
98
0
98
0
[ -0.2138742059469223, 0.7427908778190613, 0.26335543394088745, -0.042628705501556396, 0.9627491235733032, 0.005882890895009041, 0.26694992184638977, 0.15552939474582672, 0.7554888725280762, 0.15370705723762512, -0.014195555821061134, -0.9996429085731506, -0.02257881686091423, 0.0016578780487179756, 0.03493466600775719, 0.03493466600775719, 0.03498884290456772, 0.03498884290456772 ]
[ -0.0008643567562103271, -0.0003228187561035156, 0.00024625658988952637, -0.0007199010578915477, -0.0002790837606880814, 0.0001112961326725781, -0.0006528198719024658, -0.0008092522621154785, -0.003130391240119934, 0.0023806458339095116, -0.003939996473491192, -0.00012002539733657613, 0, 0.5763125419616699, 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": 25,
    "total_frames": 3527,
    "total_tasks": 1,
    "total_videos": 75,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:25"
    },
    "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": [
                18
            ],
            "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"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "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",
                "termination_signal"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_left": {
            "dtype": "video",
            "shape": [
                256,
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            "names": [
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                "width",
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            "info": {
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                "video.width": 256,
                "video.codec": "av1",
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        },
        "observation.images.rgb_right": {
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            "names": [
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            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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