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Datasets:
ajacquet
/
franka-discrete-reach4abs

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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observation.state
sequence
action
sequence
observation.images.rgb
imagewidth (px)
640
640
timestamp
float32
0
7.3
frame_index
int64
0
73
episode_index
int64
0
259
index
int64
0
19k
task_index
int64
0
0
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0.1
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0.3
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0.6
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0.7
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0.9
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1.1
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1.3
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1.5
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2.1
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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[ 0.2352036088705063, -0.13722211122512817, -0.7126971483230591, -2.950917959213257, -0.6087594032287598, 2.7977826595306396, 0.7598260641098022 ]
6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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[ 0.23526905477046967, -0.13847583532333374, -0.7126163244247437, -2.9509925842285156, -0.6077790856361389, 2.79710054397583, 0.7616466283798218 ]
6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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0
0
1
73
0
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0.1
1
1
74
0
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0.2
2
1
75
0
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[ 0.0015114368870854378, -0.7893013954162598, 0.00012525175407063216, -2.3576500415802, -0.003823155304417014, 1.577479362487793, 0.7741427421569824 ]
0.3
3
1
76
0
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[ 0.0016614535124972463, -0.789362370967865, 0.00017018087964970618, -2.3576433658599854, -0.003859767457470298, 1.5774965286254883, 0.7740647196769714 ]
0.4
4
1
77
0
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0.5
5
1
78
0
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0.6
6
1
79
0
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0.7
7
1
80
0
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0.8
8
1
81
0
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0.9
9
1
82
0
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1
10
1
83
0
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1.1
11
1
84
0
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1.2
12
1
85
0
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1.3
13
1
86
0
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1.4
14
1
87
0
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1.5
15
1
88
0
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1.6
16
1
89
0
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1.7
17
1
90
0
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1.8
18
1
91
0
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1.9
19
1
92
0
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2
20
1
93
0
[ -0.0026576174423098564, -0.5021210312843323, -0.13711859285831451, -2.3387670516967773, -0.06482627242803574, 1.9285529851913452, 0.652005672454834 ]
[ -0.0026504183188080788, -0.47091948986053467, -0.14600269496440887, -2.334162950515747, -0.06491652131080627, 1.9638614654541016, 0.6463794708251953 ]
2.1
21
1
94
0
[ -0.0026504183188080788, -0.47091954946517944, -0.14600268006324768, -2.334162950515747, -0.06491652876138687, 1.9638614654541016, 0.6463794708251953 ]
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2.2
22
1
95
0
[ -0.0026488297153264284, -0.4399338662624359, -0.15474733710289001, -2.3280231952667236, -0.0649120956659317, 1.9847431182861328, 0.636049747467041 ]
[ -0.0026318952441215515, -0.4092350900173187, -0.16234339773654938, -2.3180184364318848, -0.06483727693557739, 1.9882866144180298, 0.6213411092758179 ]
2.3
23
1
96
0
[ -0.002631895476952195, -0.4092351198196411, -0.16234338283538818, -2.3180184364318848, -0.06483727693557739, 1.9882866144180298, 0.6213411688804626 ]
[ -0.0026318980380892754, -0.3793417513370514, -0.16548679769039154, -2.3055102825164795, -0.06477824598550797, 1.9884260892868042, 0.6176588535308838 ]
2.4
24
1
97
0
[ -0.0026318985037505627, -0.3793417811393738, -0.16548676788806915, -2.3055102825164795, -0.06477825343608856, 1.9884260892868042, 0.6176588535308838 ]
[ -0.002614924218505621, -0.3530767261981964, -0.16647469997406006, -2.296557903289795, -0.06479087471961975, 1.989335536956787, 0.617560625076294 ]
2.5
25
1
98
0
[ -0.002614924916997552, -0.3530767560005188, -0.16647467017173767, -2.296557903289795, -0.06479087471961975, 1.989335536956787, 0.6175606846809387 ]
[ -0.002616594545543194, -0.32906222343444824, -0.1668325960636139, -2.2941455841064453, -0.06478488445281982, 2.0011894702911377, 0.6161096096038818 ]
2.6
26
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "franka_panda",
    "total_episodes": 371,
    "total_frames": 27053,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:371"
    },
    "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": [
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            "names": [
                [
                    "joint1",
                    "joint2",
                    "joint3",
                    "joint4",
                    "joint5",
                    "joint6",
                    "joint7"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                [
                    "joint1",
                    "joint2",
                    "joint3",
                    "joint4",
                    "joint5",
                    "joint6",
                    "joint7"
                ]
            ]
        },
        "observation.images.rgb": {
            "dtype": "image",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
27,053