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observation.state
list
action
list
timestamp
float32
0
26.5
frame_index
int64
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663
episode_index
int64
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50
index
int64
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26.4k
task_index
int64
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1.88
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1.92
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1.96
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2
50
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2.04
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2.08
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2.12
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2.16
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2.2
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2.24
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2.28
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2.32
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2.36
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2.4
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2.44
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2.48
62
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2.52
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2.56
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2.6
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2.64
66
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2.68
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2.72
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2.76
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2.8
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2.84
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2.88
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2.92
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2.96
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3
75
0
75
0
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3.04
76
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3.08
77
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3.12
78
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3.16
79
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3.2
80
0
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3.24
81
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3.28
82
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3.32
83
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3.36
84
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3.4
85
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3.44
86
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3.48
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3.52
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3.56
89
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3.6
90
0
90
0
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[ 0.27341151237487793, 0.0049097780138254166, 0.27064505219459534, -0.6901670098304749, 1.4792027473449707, -0.6645155549049377, 43.56275177001953 ]
3.64
91
0
91
0
[ 0.2720920741558075, 0.005741089582443237, 0.26759567856788635, -0.7707371115684509, 1.4869831800460815, -0.741283118724823, 43.20000076293945, -0.0404839962720871 ]
[ 0.27567651867866516, 0.004216174129396677, 0.27324074506759644, -0.6366515159606934, 1.4725425243377686, -0.6138638257980347, 43.56275177001953 ]
3.68
92
0
92
0
[ 0.2741067111492157, 0.005199143197387457, 0.2704988121986389, -0.6983723044395447, 1.4797959327697754, -0.671288251876831, 43.20000076293945, -0.03783559799194336 ]
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3.72
93
0
93
0
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[ 0.2801152765750885, -0.0016203298000618815, 0.2797275483608246, -0.539451003074646, 1.4565868377685547, -0.5382451415061951, 43.56275177001953 ]
3.76
94
0
94
0
[ 0.2783987820148468, 0.0012353751808404922, 0.2761598527431488, -0.5878210663795471, 1.4648829698562622, -0.5757194757461548, 43.29999923706055, -0.02988683432340622 ]
[ 0.28084367513656616, -0.0031089128460735083, 0.28091126680374146, -0.53885817527771, 1.4563367366790771, -0.5429901480674744, 43.56275177001953 ]
3.8
95
0
95
0
[ 0.2800876498222351, -0.0015443963930010796, 0.27956077456474304, -0.5502828359603882, 1.4581772089004517, -0.5483856797218323, 43.400001525878906, -0.02399815060198307 ]
[ 0.28102558851242065, -0.0031132465228438377, 0.28123152256011963, -0.5375359654426575, 1.456049919128418, -0.5416942238807678, 43.56275177001953 ]
3.84
96
0
96
0
[ 0.28093382716178894, -0.003165091387927532, 0.2815215289592743, -0.5080922245979309, 1.4541559219360352, -0.5133025646209717, 43.400001525878906, -0.02159833535552025 ]
[ 0.2810053825378418, -0.004587592091411352, 0.28123152256011963, -0.5375359654426575, 1.456049919128418, -0.5469406843185425, 43.56275177001953 ]
3.88
97
0
97
0
[ 0.2811528146266937, -0.0036204515490680933, 0.2820647358894348, -0.511966347694397, 1.4518601894378662, -0.5180310606956482, 43.400001525878906, -0.018538501113653183 ]
[ 0.2809210419654846, -0.008272814564406872, 0.28123152256011963, -0.5375359654426575, 1.456049919128418, -0.5600568652153015, 43.56275177001953 ]
3.92
98
0
98
0
[ 0.2811713218688965, -0.005008917301893234, 0.28165432810783386, -0.5461226105690002, 1.454763650894165, -0.555982768535614, 43.400001525878906, -0.016184652224183083 ]
[ 0.2807217836380005, -0.013429594226181507, 0.28123152256011963, -0.5375359654426575, 1.456049919128418, -0.57841956615448, 43.56275177001953 ]
3.96
99
0
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": "piper_full",
    "total_episodes": 51,
    "total_frames": 26426,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:51"
    },
    "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",
            "fps": 25,
            "shape": [
                7
            ],
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "fps": 25,
            "shape": [
                8
            ],
            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "gripper.pos",
                "gripper.tau"
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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