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2 classes
observation.state
sequence
timestamp
float32
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52.5
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
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4.05
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4.1
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4.15
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4.2
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4.25
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4.3
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4.35
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false
[ 0.12259898334741592, 0.0927310585975647, 1.0089514255523682, 0.9845559597015381, -0.1518697291612625, -0.06702472269535065, -0.055612966418266296, 0.022379618138074875, -0.026987621560692787 ]
4.4
88
0
88
0
[ 0.3569999933242798, 1, 0.1599999964237213, 0.02760254591703415, 0.06285592913627625, -0.21442383527755737, 1 ]
false
[ 0.1252727210521698, 0.10577496141195297, 1.0127760171890259, 0.9822253584861755, -0.1641816794872284, -0.06933590024709702, -0.058909326791763306, 0.022384505718946457, -0.026980943977832794 ]
4.45
89
0
89
0
[ 0.21699999272823334, 1, 0.11999999731779099, 0.0193950105458498, 0.062380071729421616, -0.21298786997795105, 1 ]
false
[ 0.12832483649253845, 0.11859194189310074, 1.0154610872268677, 0.9797605872154236, -0.17651909589767456, -0.07109511643648148, -0.06209401786327362, 0.022389069199562073, -0.026974640786647797 ]
4.5
90
0
90
0
[ 0.37299999594688416, 1, -0.024000000208616257, 0.007372511085122824, 0.05931936576962471, -0.21181637048721313, 1 ]
false
[ 0.13097085058689117, 0.13126105070114136, 1.0169155597686768, 0.9771685600280762, -0.188644140958786, -0.07335194200277328, -0.0646105706691742, 0.022392403334379196, -0.026969648897647858 ]
4.55
91
0
91
0
[ 0.13300000131130219, 1, -0.0820000022649765, 0.001461317646317184, 0.05653402581810951, -0.2090143859386444, 1 ]
false
[ 0.13410265743732452, 0.14379774034023285, 1.0170133113861084, 0.9744720458984375, -0.20086772739887238, -0.07464694231748581, -0.0669640302658081, 0.022395625710487366, -0.02696487307548523 ]
4.6
92
0
92
0
[ 0.41499999165534973, 1, -0.17499999701976776, -0.008640251122415066, 0.05128208547830582, -0.2155514508485794, 1 ]
false
[ 0.13637381792068481, 0.156306192278862, 1.0158476829528809, 0.9716811776161194, -0.21277104318141937, -0.07679290324449539, -0.0683152824640274, 0.022396771237254143, -0.026962222531437874 ]
4.65
93
0
93
0
[ 0.23800000548362732, 1, -0.22300000488758087, -0.007247834466397762, 0.04350074753165245, -0.22224333882331848, 1 ]
false
[ 0.13950926065444946, 0.1687610149383545, 1.0136314630508423, 0.9687565565109253, -0.22507615387439728, -0.07721500098705292, -0.06992360949516296, 0.02239864319562912, -0.026958927512168884 ]
4.7
94
0
94
0
[ 0.492000013589859, 1, -0.11599999666213989, -0.00937686488032341, 0.03769215941429138, -0.22847458720207214, 1 ]
false
[ 0.14244726300239563, 0.18123923242092133, 1.010298490524292, 0.9656526446342468, -0.23753681778907776, -0.07761456072330475, -0.07118462771177292, 0.022398199886083603, -0.02695794217288494 ]
4.75
95
0
95
0
[ 0.22599999606609344, 1, -0.07800000160932541, -0.00728951208293438, 0.03522023558616638, -0.2299538254737854, 1 ]
false
[ 0.14632509648799896, 0.19374190270900726, 1.007256269454956, 0.9623296856880188, -0.25045955181121826, -0.0764617994427681, -0.07311046868562698, 0.02239866741001606, -0.026956070214509964 ]
4.8
96
0
96
0
[ 0.550000011920929, 1, 0.00800000037997961, -0.0043565924279391766, 0.03151484206318855, -0.23217089474201202, 1 ]
false
[ 0.14947909116744995, 0.20627224445343018, 1.0048502683639526, 0.9588329792022705, -0.2632431983947754, -0.0762154683470726, -0.0743878111243248, 0.02239617519080639, -0.02695711888372898 ]
4.85
97
0
97
0
[ 0.3059999942779541, 1, 0.04899999871850014, -0.0013609464513137937, 0.034076984971761703, -0.22830559313297272, 1 ]
false
[ 0.15366356074810028, 0.21886688470840454, 1.0033900737762451, 0.9550848603248596, -0.2763933837413788, -0.0743851438164711, -0.0767231285572052, 0.022395584732294083, -0.026956358924508095 ]
4.9
98
0
98
0
[ 0.5440000295639038, 1, 0.10999999940395355, -0.003022607881575823, 0.035941943526268005, -0.22662793099880219, 1 ]
false
[ 0.15730242431163788, 0.23145832121372223, 1.0024501085281372, 0.9511883854866028, -0.28925180435180664, -0.07335064560174942, -0.07870025187730789, 0.02239130809903145, -0.02695922739803791 ]
4.95
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": "robomimic",
    "total_episodes": 300,
    "total_frames": 62756,
    "total_tasks": 1,
    "total_videos": 600,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:300"
    },
    "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": [
                7
            ],
            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "robot0_eef_pos_0",
                "robot0_eef_pos_1",
                "robot0_eef_pos_2",
                "robot0_eef_quat_0",
                "robot0_eef_quat_1",
                "robot0_eef_quat_2",
                "robot0_eef_quat_3",
                "robot0_gripper_qpos_0",
                "robot0_gripper_qpos_1"
            ]
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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