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imagewidth (px)
128
128
wrist_image
imagewidth (px)
128
128
state
list
actions
list
timestamp
float32
0
23.6
frame_index
int64
0
472
episode_index
int64
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4
index
int64
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1.79k
task_index
int64
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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
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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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3.55
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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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0
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[ 0.05100756586014475, -0.049461243834697424, -0.21656659691056868, 0.015587506265848351, -0.01247045281291266, -0.05738039989855484, -1, 0, 0, 0, 0, -1 ]
4.1
82
0
82
0
[ 0.5370900452391075, -0.10170150388816168, 0.7529591940457186, 0.8675560355186462, -0.44689351320266724, 0.16335034370422363, 0.14473862946033478, 0.039915348201056494, -0.03998817317791237 ]
[ 0.04397842139620652, -0.001927015701690793, -0.2491861574430605, 0.03098491150299553, -0.046924453093744836, -0.0442124528301122, -1, 0, 0, 0, 0, -1 ]
4.15
83
0
83
0
[ 0.5383394426294941, -0.10116871789694493, 0.750917898577417, 0.8659186363220215, -0.45076823234558105, 0.1616298407316208, 0.14446045458316803, 0.03991464555164386, -0.03999302479425326 ]
[ 0.08097333379839504, -0.008667729555326617, -0.29700616789192713, -0.03856180672520289, -0.15275792045313494, 0.020987561727281445, -1, 0, 0, 0, 0, -1 ]
4.2
84
0
84
0
[ 0.5402503411821815, -0.10073969032881624, 0.7502349544260646, 0.8645208477973938, -0.4531843662261963, 0.16316041350364685, 0.14354954659938812, 0.03991460446924193, -0.03999703324480354 ]
[ 0.09744303603988833, -0.08395948465595979, -0.34149520375273335, -0.01562177388106644, -0.2198196970368687, 0.008811630165161663, -1, 0, 0, 0, 0, -1 ]
4.25
85
0
85
0
[ 0.5427060124533526, -0.10064381406059386, 0.7502498735449968, 0.8628078103065491, -0.45566803216934204, 0.16676786541938782, 0.14183685183525085, 0.039914294558870245, -0.04000087309386186 ]
[ -0.03304216972024068, -0.10561040699567745, -0.46349285951328706, 0.058522130590788035, -0.2627611299779301, -0.08963561916346723, -1, 0, 0, 0, 0, -1 ]
4.3
86
0
86
0
[ 0.5442857211465837, -0.10066793585398415, 0.7498254924257136, 0.8595008254051208, -0.462425172328949, 0.16880621016025543, 0.13757166266441345, 0.03991220427589961, -0.04000308135699269 ]
[ -0.08500725498098351, 0.01239865637059906, -0.38763319690185166, -0.056999672139872885, -0.1712703368680786, -0.05525658574229825, 1, 0, 0, 0, 0, -1 ]
4.35
87
0
87
0
[ 0.5449984222408075, -0.10124349244160502, 0.7495150325791313, 0.8560948967933655, -0.46902894973754883, 0.16998107731342316, 0.13498054444789886, 0.038864162578945066, -0.03901382717908328 ]
[ 0.10029381380984595, -0.09360179846944844, -0.5387379510313166, 0.04862481155301997, -0.1672039127292527, 0.09199408856927964, 1, 0, 0, 0, 0, -1 ]
4.4
88
0
88
0
[ 0.5464153892049306, -0.10077736150168759, 0.748631953731607, 0.8552632927894592, -0.4712793827056885, 0.17027264833450317, 0.13201405107975006, 0.037738493629619604, -0.03676325684877822 ]
[ -0.0408937033823504, 0.0020258157066268823, -0.48711504918734716, -0.012576463552098419, -0.0868164633061243, 0.049866962248993243, 1, 0, 0, 0, 0, -1 ]
4.45
89
0
89
0
[ 0.5463714874112775, -0.10101858716193535, 0.7480212995003178, 0.8555044531822205, -0.47189098596572876, 0.16882510483264923, 0.13011176884174347, 0.037684095836241875, -0.03381074304477456 ]
[ -0.07658105801474918, 0.18759155161308694, -0.5003614228884316, -0.02036692462375811, -0.23862452746133894, 0.016464757123442558, 1, 0, 0, 0, 0, -1 ]
4.5
90
0
90
0
[ 0.5461281181205918, -0.10055528745955256, 0.7485117170354425, 0.8553029894828796, -0.4728569984436035, 0.16916927695274353, 0.1274549663066864, 0.03746458484102502, -0.03034573845858118 ]
[ -0.03427394601433439, 0.010517524009546187, -0.5585366034000923, 0.05480899030285402, -0.16837287842282503, 0.02407490372270804, 1, 0, 0, 0, 0, -1 ]
4.55
91
0
91
0
[ 0.5460179181045071, -0.1001137913334933, 0.7482835411760373, 0.8544570207595825, -0.4755921959877014, 0.16849008202552795, 0.12380071729421616, 0.03733944920950512, -0.02844501132313258 ]
[ 0.041698350722278996, -0.04397351027494271, -0.6570390347213821, 0.00562218417588739, -0.14022981007266813, -0.037588062977334094, 1, 0, 0, 0, 0, -1 ]
4.6
92
0
92
0
[ 0.5460276308411973, -0.10048512187038172, 0.7474548282338755, 0.8530726432800293, -0.47938382625579834, 0.1670546531677246, 0.12062765657901764, 0.03724054144073073, -0.028369731191528077 ]
[ 0.05450767677043222, -0.06828845829427456, -0.6221254290835931, -0.053333148985401695, -0.08650479101551482, -0.05326671915922471, 1, 0, 0, 0, 0, -1 ]
4.65
93
0
93
0
[ 0.5459965879448395, -0.10094991798818276, 0.7467954267565954, 0.8514870405197144, -0.4827350378036499, 0.1661420315504074, 0.11972296237945557, 0.03712125511625147, -0.0283756882742749 ]
[ 0.03701196145726138, -0.15126653381635613, -0.4754055616975012, -0.05839012230354353, -0.1432209509455768, 0.0644400549541199, 1, 0, 0, 0, 0, -1 ]
4.7
94
0
94
0
[ 0.5460898893091459, -0.1011532071569281, 0.7472436279797012, 0.8507694005966187, -0.48354947566986084, 0.16727393865585327, 0.11996090412139893, 0.03710422653151304, -0.028340844260427274 ]
[ -0.08303527922700302, 0.07238408431436126, 0.04905416889681721, 0.013518519191410332, -0.22074595309024353, 0.041939722912083394, 1, 0, 0, 0, 0, -1 ]
4.75
95
0
95
0
[ 0.5459940595057208, -0.10030631372274978, 0.7501325091925898, 0.8501438498497009, -0.4837258458137512, 0.1721639782190323, 0.11672284454107285, 0.03716945546939814, -0.02833630556226824 ]
[ -0.24063546172613567, 0.01556604271343413, 0.13008295016989768, 0.05732085599889389, -0.2829122809755844, -0.11432363955528313, 1, 0, 0, 0, 0, -1 ]
4.8
96
0
96
0
[ 0.5446442921412769, -0.0994021381018344, 0.754313084391382, 0.8466479182243347, -0.48927897214889526, 0.1780768483877182, 0.10991857200860977, 0.037129293615172254, -0.02833513020302898 ]
[ -0.2765740525447645, -0.017215136808702822, 0.07096808551364055, 0.2152653195128445, -0.23926958882294988, -0.02947215285049193, 1, 0, 0, 0, 0, -1 ]
4.85
97
0
97
0
[ 0.5423715879870612, -0.09727133273017552, 0.757729546961549, 0.8430427312850952, -0.4970357418060303, 0.18060025572776794, 0.09807078540325165, 0.03708418212285457, -0.02832930138756203 ]
[ -0.6352759445903263, -0.07289756610905607, 0.08065359466250648, 0.06980364067111351, -0.23746912384950986, -0.10935375852710635, 1, 0, 0, 0, 0, -1 ]
4.9
98
0
98
0
[ 0.5376111899386902, -0.09730600949252155, 0.7616981363129678, 0.8386993408203125, -0.5060777068138123, 0.1810634583234787, 0.08766379207372665, 0.03704563370065982, -0.028337133627838726 ]
[ -0.5366395245007068, -0.03750479605952077, 0.2943170012729268, 0.024838358658012608, -0.22410028532678708, -0.04772247850852382, 1, 0, 0, 0, 0, -1 ]
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": "panda",
    "total_episodes": 5,
    "total_frames": 1791,
    "total_tasks": 5,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float64",
            "shape": [
                9
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float64",
            "shape": [
                12
            ],
            "names": [
                "actions"
            ]
        },
        "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
        }
    }
}

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BibTeX:

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