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sequence
observation.state
sequence
timestamp
float32
0
2.97
frame_index
int64
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0.066667
2
1
92
0
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0.1
3
1
93
0
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0.133333
4
1
94
0
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0.166667
5
1
95
0
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0.2
6
1
96
0
[ -40.25390625, 65.56640625, 65.478515625, 88.505859375, 88.41796875, 6.767578125, 33.310546875, 10.283203125, 0.6837607026100159, -226.93359375, 71.103515625, 71.19140625, 89.033203125, 89.12109375, -2.98828125, 50.009765625, 6.064453125, 4.593639373779297 ]
[ -39.814453125, 62.138671875, 61.787109375, 88.59375, 88.59375, 6.15234375, 33.22265625, 9.84375, 0, -225.791015625, 68.642578125, 68.73046875, 89.47265625, 89.6484375, -2.109375, 50.009765625, 6.064453125, 4 ]
0.233333
7
1
97
0
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[ -39.90234375, 62.138671875, 61.787109375, 88.59375, 88.59375, 6.15234375, 33.134765625, 9.84375, 0, -225.87890625, 68.642578125, 68.73046875, 89.47265625, 89.6484375, -2.021484375, 50.09765625, 6.064453125, 4 ]
0.266667
8
1
98
0
[ -40.4296875, 65.56640625, 65.478515625, 88.505859375, 88.41796875, 6.767578125, 33.310546875, 10.283203125, 0.6837607026100159, -226.93359375, 71.103515625, 71.103515625, 89.033203125, 89.12109375, -2.98828125, 50.009765625, 6.064453125, 4.593639373779297 ]
[ -39.814453125, 62.138671875, 61.787109375, 88.59375, 88.505859375, 6.064453125, 33.22265625, 9.84375, 0, -225.87890625, 68.642578125, 68.642578125, 89.47265625, 89.6484375, -2.021484375, 50.09765625, 6.064453125, 4 ]
0.3
9
1
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": "aloha",
    "total_episodes": 2,
    "total_frames": 178,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
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            "names": [
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                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.state": {
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                "left_shoulder",
                "left_shoulder_shadow",
                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "h264",
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        "observation.images.cam_low": {
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            "names": [
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                "video.is_depth_map": false,
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        },
        "observation.images.cam_left_wrist": {
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            "names": [
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        },
        "observation.images.cam_right_wrist": {
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            "shape": [
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
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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
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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