Search is not available for this dataset
observation.state
sequence
action
sequence
timestamp
float32
0
10
frame_index
int64
0
100
episode_index
int64
0
1.48k
index
int64
0
38.2k
task_index
int64
0
0
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0.1
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0.2
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0.3
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1
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1.1
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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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2.2
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2.3
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2.4
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0.1
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1
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0.2
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1
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0.3
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0.4
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0.5
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0.6
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1
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0.7
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0.8
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0.9
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1
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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
20
1
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2.1
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2.2
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1
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2.3
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0
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2
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0.1
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2
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0.2
2
2
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0.3
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0.4
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2
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0.5
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2
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0.6
6
2
55
0
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[ -0.17433594167232513, -0.09358222782611847, 0.10363230109214783, 0, 0, -0.6416378021240234, 0 ]
0.7
7
2
56
0
[ 0.5955954194068909, -0.19549493491649628, 0.09494176506996155, 0.9605526924133301, 0.2780977785587311, 0.00013250969641376287, 0.00040395560790784657, 0 ]
[ -0.19697856903076172, -0.05333547666668892, 0.1778002679347992, 0, 0, -0.7559887170791626, 0 ]
0.8
8
2
57
0
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[ -0.1924625039100647, 0.06604772061109543, 0.2105797827243805, 0, 0, -0.5533683896064758, 0 ]
0.9
9
2
58
0
[ 0.5816288590431213, -0.20014667510986328, 0.08390073478221893, 0.9259381890296936, 0.37755316495895386, -0.009523569606244564, -0.001157590770162642, 0 ]
[ -0.19761689007282257, 0.1767849177122116, 0.3542594611644745, 0, 0, -0.6023209095001221, 0 ]
1
10
2
59
0
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[ -0.1453104317188263, 0.26524364948272705, 0.4348839521408081, 0, 0, -0.6601681709289551, 0 ]
1.1
11
2
60
0
[ 0.5719289183616638, -0.21561582386493683, 0.0707811787724495, 0.8851560354232788, 0.465061753988266, -0.014501002617180347, 0.0024653247091919184, 0 ]
[ -0.033215101808309555, 0.3262906074523926, 0.1964651197195053, 0, 0, -0.4831169843673706, 0 ]
1.2
12
2
61
0
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[ 0.005042536649852991, 0.009449642151594162, -0.0002702095080167055, 0, 0, 0.006527735851705074, 0 ]
1.3
13
2
62
0
[ 0.576641321182251, -0.22272969782352448, 0.06145204231142998, 0.8518378734588623, 0.5237049460411072, -0.007868592627346516, 0.006589244119822979, 0 ]
[ 0.084701769053936, 0.2445588856935501, 0.17472495138645172, 0, 0, -0.14290498197078705, 0 ]
1.4
14
2
63
0
[ 0.5773965716362, -0.21949473023414612, 0.06028357520699501, 0.8402363657951355, 0.5421569347381592, -0.006804309319704771, 0.004733810666948557, 0 ]
[ 0.09796524792909622, 0.34159913659095764, 0.1377352625131607, 0, 0, -0.10407175123691559, 0 ]
1.5
15
2
64
0
[ 0.5846253633499146, -0.21366974711418152, 0.06027504801750183, 0.8157052993774414, 0.5784260034561157, -0.0038106567226350307, 0.005807908251881599, 0 ]
[ 0.0394195131957531, 0.36808663606643677, 0.19421394169330597, 0, 0, -0.1249222457408905, 0 ]
1.6
16
2
65
0
[ 0.5922512412071228, -0.21031059324741364, 0.058308981359004974, 0.7902958989143372, 0.6126547455787659, -0.0037011336535215378, 0.008534939959645271, 0 ]
[ 0.02819274365901947, 0.3875690996646881, 0.31677013635635376, 0, 0, -0.20445632934570312, 0 ]
1.7
17
2
66
0
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[ 0.0008680784376338124, 0.3361338973045349, 0.31407293677330017, 0, 0, -0.24130947887897491, 0 ]
1.8
18
2
67
0
[ 0.6019564867019653, -0.20657911896705627, 0.04941369220614433, 0.7283255457878113, 0.6851031184196472, -0.008107262663543224, 0.010482056997716427, 0 ]
[ -0.018197815865278244, 0.24957023561000824, 0.30204805731773376, 0, 0, -0.3133673071861267, 0 ]
1.9
19
2
68
0
[ 0.603169858455658, -0.2066093534231186, 0.04718080908060074, 0.6933062076568604, 0.720533549785614, -0.00826170016080141, 0.009468525648117065, 0 ]
[ -0.01713012345135212, -0.0006602815701626241, -0.000020974503058823757, 0, 0, -0.06963104009628296, 0 ]
2
20
2
69
0
[ 0.6032536625862122, -0.20715956389904022, 0.045869335532188416, 0.6783844828605652, 0.7346201539039612, -0.0076728458516299725, 0.008300327695906162, 0 ]
[ -0.03007357008755207, 0.0806291252374649, 0.058144211769104004, 0, 0, -0.03756977245211601, 0 ]
2.1
21
2
70
0
[ 0.603010356426239, -0.20723450183868408, 0.04576889052987099, 0.6756674647331238, 0.7371264696121216, -0.007642317097634077, 0.007720108609646559, 0 ]
[ -0.03801840916275978, 0.21416440606117249, 0.0081718098372221, 0, 0, 0.0698482021689415, 0 ]
2.2
22
2
71
0
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[ -0.02690308913588524, 0.26497337222099304, 0.12274303287267685, 0, 0, -0.11988309025764465, 0 ]
2.3
23
2
72
0
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[ -0.00016257649986073375, 0.0009554913267493248, 0.042846180498600006, 0, 0, 0.0005440139211714268, 0 ]
2.4
24
2
73
0
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[ -0.005577110685408115, 0.02945323847234249, 0.3808521330356598, 0, 0, -0.3661019206047058, 0 ]
2.5
25
2
74
0
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[ -0.0001609088503755629, 0.0011369570856913924, 0.05141574889421463, 0, 0, 0.0006541594630107284, 0 ]
2.6
26
2
75
0
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[ -0.02142278291285038, 0.07730501145124435, 0.07400151342153549, 0, 0, 0.041874051094055176, 0 ]
2.7
27
2
76
0
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[ -0.2921634614467621, 0.3172226846218109, -0.0016237183008342981, 0, 0, 0.12943021953105927, 0 ]
2.8
28
2
77
0
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[ -0.35659337043762207, 0.4316174387931824, 0.07648590207099915, 0, 0, 0.16186943650245667, 0 ]
2.9
29
2
78
0
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[ -0.2974121570587158, 0.2948872447013855, 0.17454829812049866, 0, 0, -0.008694137446582317, 0 ]
3
30
2
79
0
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[ -0.28208276629447937, 0.0923319160938263, 0.16700099408626556, 0, 0, -0.0580052025616169, 0 ]
3.1
31
2
80
0
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[ -0.2236333191394806, 0.14276784658432007, 0.019122939556837082, 0, 0, 0.03925366327166557, 0 ]
3.2
32
2
81
0
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[ -0.17696259915828705, -0.07985568791627884, -0.022715207189321518, 0, 0, -0.08839676529169083, 0 ]
3.3
33
2
82
0
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3.4
34
2
83
0
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[ -0.3289508819580078, 0.07644792646169662, -0.03227090463042259, 0, 0, -0.030153324827551842, 0 ]
3.5
35
2
84
0
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[ -0.010686341673135757, 0.03480951488018036, -0.001068002195097506, 0, 0, 0.018502112478017807, 0 ]
3.6
36
2
85
0
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[ -0.19106841087341309, 0.2896870970726013, 0.3529341518878937, 0, 0, 0.03138410300016403, 0 ]
3.7
37
2
86
0
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[ -0.08782187849283218, 0.04829183593392372, 0.1618030071258545, 0, 0, -0.0036866378504782915, 0 ]
3.8
38
2
87
0
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[ -0.12195143103599548, -0.040715523064136505, 0.0008409224101342261, 0, 0, -0.054680321365594864, 0 ]
3.9
39
2
88
0
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[ -0.3106854557991028, 0.20150251686573029, -0.03390955179929733, 0, 0, 0.0462467297911644, 0 ]
4
40
2
89
0
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[ -0.43665194511413574, 0.586546778678894, 0.20013397932052612, 0, 0, 0.24871128797531128, 0 ]
4.1
41
2
90
0
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[ -0.3842529356479645, 0.5480301380157471, 0.2383808046579361, 0, 0, 0.2424866408109665, 0 ]
4.2
42
2
91
0
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[ -0.3545319139957428, 0.5136162638664246, 0.2079426795244217, 0, 0, 0.23607900738716125, 0 ]
4.3
43
2
92
0
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[ -0.030376074835658073, 0.0914483517408371, -0.003600423689931631, 0, 0, 0.05135669931769371, 0 ]
4.4
44
2
93
0
[ 0.6511044502258301, -0.25043365359306335, 0.030338898301124573, 0.5850902795791626, 0.8108378648757935, -0.0022968410048633814, 0.01435522735118866, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
4.5
45
2
94
0
[ 0.6511044502258301, -0.25043365359306335, 0.030338898301124573, 0.5850902795791626, 0.8108378648757935, -0.0022968410048633814, 0.01435522735118866, 0 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
4.6
46
2
95
0
[ 0.6104598641395569, -0.25083452463150024, 0.03464788571000099, 0.8140295147895813, 0.5808098316192627, -0.0039025803562253714, 0.0007897895993664861, 0 ]
[ 0.29329851269721985, -0.10162980109453201, -0.09529176354408264, 0, 0, -0.23417802155017853, 0 ]
0
0
3
96
0
[ 0.6112591624259949, -0.24901802837848663, 0.035279031842947006, 0.8109962940216064, 0.5850332379341125, -0.004472592379897833, 0.0010301508009433746, 0 ]
[ 0.3011128306388855, -0.10285550355911255, -0.309695839881897, 0, 0, -0.3450166583061218, 0 ]
0.1
1
3
97
0
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[ 0.3318534195423126, -0.056395042687654495, -0.35595452785491943, 0, 0, -0.15722425282001495, 0 ]
0.2
2
3
98
0
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[ 0.08663123100996017, 0.08436015248298645, -0.09052751213312149, 0, 0, 0.26334241032600403, 0 ]
0.3
3
3
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "franka",
    "total_episodes": 1482,
    "total_frames": 38240,
    "total_tasks": 1,
    "total_videos": 5928,
    "total_chunks": 2,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:1482"
    },
    "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.images.top_image": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.height": 128,
                "video.width": 128,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.image": {
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            "names": [
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        "observation.images.wrist45_image": {
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        },
        "observation.images.wrist225_image": {
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            "info": {
                "video.fps": 10.0,
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        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
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                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "pad"
                ]
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        },
        "action": {
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            "names": {
                "motors": [
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                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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