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imagewidth (px)
910
910
state
sequence
action
sequence
timestamp
float32
0
9.6
frame_index
int64
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48
episode_index
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192
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5.69k
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int64
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12
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4
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4.2
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1
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3
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3.4
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4
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1
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4.4
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4.6
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4.8
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5
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5.2
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0
0
2
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0.2
1
2
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0.4
2
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2
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[ 4.245650291442871, -1.9553197622299194, 2.076166868209839, 2.0759878158569336, -1.67577064037323, 3.5007033348083496, 0 ]
0.6
3
2
54
2
[ 4.245650291442871, -1.9553197622299194, 2.076166868209839, 2.0759878158569336, -1.67577064037323, 3.5007033348083496, 0 ]
[ 4.44485330581665, -1.9915043115615845, 1.9028966426849365, 2.347712278366089, -1.7965161800384521, 3.42492413520813, 0 ]
0.8
4
2
55
2
[ 4.44485330581665, -1.9915043115615845, 1.9028966426849365, 2.347712278366089, -1.7965161800384521, 3.42492413520813, 0 ]
[ 4.653615951538086, -1.8839442729949951, 1.6873762607574463, 2.4268558025360107, -1.9065768718719482, 3.2685024738311768, 0 ]
1
5
2
56
2
[ 4.653615951538086, -1.8839442729949951, 1.6873762607574463, 2.4268558025360107, -1.9065768718719482, 3.2685024738311768, 0 ]
[ 4.556491374969482, -1.8620983362197876, 1.5950219631195068, 2.466242551803589, -1.811331033706665, 3.3149399757385254, 0 ]
1.2
6
2
57
2
[ 4.556491374969482, -1.8620983362197876, 1.5950219631195068, 2.466242551803589, -1.811331033706665, 3.3149399757385254, 0 ]
[ 4.364777088165283, -1.8838993310928345, 1.5068836212158203, 2.556030511856079, -1.5397307872772217, 3.4278781414031982, 0 ]
1.4
7
2
58
2
[ 4.364777088165283, -1.8838993310928345, 1.5068836212158203, 2.556030511856079, -1.5397307872772217, 3.4278781414031982, 0 ]
[ 4.425920486450195, -1.8034849166870117, 1.3513396978378296, 2.6346142292022705, -1.5756113529205322, 3.3637547492980957, 0 ]
1.6
8
2
59
2
[ 4.425920486450195, -1.8034849166870117, 1.3513396978378296, 2.6346142292022705, -1.5756113529205322, 3.3637547492980957, 0 ]
[ 4.754796981811523, -1.5875184535980225, 1.117741346359253, 2.616367816925049, -1.8556938171386719, 3.0835494995117188, 0 ]
1.8
9
2
60
2
[ 4.754796981811523, -1.5875184535980225, 1.117741346359253, 2.616367816925049, -1.8556938171386719, 3.0835494995117188, 0 ]
[ 4.872553825378418, -1.5254817008972168, 1.0519605875015259, 2.6229465007781982, -1.971830129623413, 3.0336291790008545, 1 ]
2
10
2
61
2
[ 4.872553825378418, -1.5254817008972168, 1.0519605875015259, 2.6229465007781982, -1.971830129623413, 3.0336291790008545, 1 ]
[ 4.836951732635498, -1.6019325256347656, 1.3319813013076782, 2.4744296073913574, -1.9827704429626465, 3.005260944366455, 1 ]
2.2
11
2
62
2
[ 4.836951732635498, -1.6019325256347656, 1.3319813013076782, 2.4744296073913574, -1.9827704429626465, 3.005260944366455, 1 ]
[ 4.9389519691467285, -1.5798275470733643, 1.4462271928787231, 2.545142412185669, -2.1821975708007812, 3.1549248695373535, 1 ]
2.4
12
2
63
2
[ 4.9389519691467285, -1.5798275470733643, 1.4462271928787231, 2.545142412185669, -2.1821975708007812, 3.1549248695373535, 1 ]
[ 5.008119106292725, -1.5012454986572266, 1.493571400642395, 2.544778347015381, -2.2488834857940674, 3.283918857574463, 1 ]
2.6
13
2
64
2
[ 5.008119106292725, -1.5012454986572266, 1.493571400642395, 2.544778347015381, -2.2488834857940674, 3.283918857574463, 1 ]
[ 5.090934753417969, -1.2634457349777222, 1.3324187994003296, 2.44150972366333, -2.3805854320526123, 3.1797990798950195, 1 ]
2.8
14
2
65
2
[ 5.090934753417969, -1.2634457349777222, 1.3324187994003296, 2.44150972366333, -2.3805854320526123, 3.1797990798950195, 1 ]
[ 5.132397651672363, -1.0654891729354858, 1.1597980260849, 2.3439478874206543, -2.3414556980133057, 3.159054756164551, 1 ]
3
15
2
66
2
[ 5.132397651672363, -1.0654891729354858, 1.1597980260849, 2.3439478874206543, -2.3414556980133057, 3.159054756164551, 1 ]
[ 5.1335601806640625, -0.7966859936714172, 0.8134744167327881, 2.233952522277832, -2.282564163208008, 3.0152792930603027, 1 ]
3.2
16
2
67
2
[ 5.1335601806640625, -0.7966859936714172, 0.8134744167327881, 2.233952522277832, -2.282564163208008, 3.0152792930603027, 1 ]
[ 5.096522808074951, -0.582179069519043, 0.4419803321361542, 2.2747676372528076, -2.1819608211517334, 2.92838454246521, 1 ]
3.4
17
2
68
2
[ 5.096522808074951, -0.582179069519043, 0.4419803321361542, 2.2747676372528076, -2.1819608211517334, 2.92838454246521, 1 ]
[ 5.0447869300842285, -0.3919919729232788, 0.07223771512508392, 2.4026732444763184, -2.0690388679504395, 2.9194142818450928, 1 ]
3.6
18
2
69
2
[ 5.0447869300842285, -0.3919919729232788, 0.07223771512508392, 2.4026732444763184, -2.0690388679504395, 2.9194142818450928, 1 ]
[ 5.055642604827881, -0.37095901370048523, 0.031200949102640152, 2.4335789680480957, -2.0872786045074463, 2.883709192276001, 0 ]
3.8
19
2
70
2
[ 5.055642604827881, -0.37095901370048523, 0.031200949102640152, 2.4335789680480957, -2.0872786045074463, 2.883709192276001, 0 ]
[ 5.140843391418457, -0.5896193981170654, 0.4157460629940033, 2.4231812953948975, -2.220728874206543, 2.8740956783294678, 0 ]
4
20
2
71
2
[ 5.140843391418457, -0.5896193981170654, 0.4157460629940033, 2.4231812953948975, -2.220728874206543, 2.8740956783294678, 0 ]
[ 5.161493301391602, -0.8170562386512756, 0.8012964129447937, 2.3940653800964355, -2.2567782402038574, 2.9284210205078125, 0 ]
4.2
21
2
72
2
[ 5.161493301391602, -0.8170562386512756, 0.8012964129447937, 2.3940653800964355, -2.2567782402038574, 2.9284210205078125, 0 ]
[ 5.161493301391602, -0.8170562386512756, 0.8012964129447937, 2.3940653800964355, -2.2567782402038574, 2.9284210205078125, 0 ]
4.4
22
2
73
2
[ 3.5409669876098633, -1.8147577047348022, 2.1925759315490723, 1.413070797920227, -1.0925203561782837, 4.256961345672607, 0 ]
[ 3.4444961547851562, -1.9320939779281616, 2.223637342453003, 1.4855695962905884, -1.0790103673934937, 4.429624080657959, 0 ]
0
0
3
74
3
[ 3.4444961547851562, -1.9320939779281616, 2.223637342453003, 1.4855695962905884, -1.0790103673934937, 4.429624080657959, 0 ]
[ 3.3588063716888428, -2.1141159534454346, 2.127607822418213, 1.7113051414489746, -1.0646111965179443, 4.542795658111572, 0 ]
0.2
1
3
75
3
[ 3.3588063716888428, -2.1141159534454346, 2.127607822418213, 1.7113051414489746, -1.0646111965179443, 4.542795658111572, 0 ]
[ 3.4384572505950928, -2.1896679401397705, 2.0233194828033447, 1.9472318887710571, -1.0691882371902466, 4.472592830657959, 0 ]
0.4
2
3
76
3
[ 3.4384572505950928, -2.1896679401397705, 2.0233194828033447, 1.9472318887710571, -1.0691882371902466, 4.472592830657959, 0 ]
[ 3.536602020263672, -2.2181835174560547, 1.8975603580474854, 2.2057456970214844, -1.087712287902832, 4.2565693855285645, 0 ]
0.6
3
3
77
3
[ 3.536602020263672, -2.2181835174560547, 1.8975603580474854, 2.2057456970214844, -1.087712287902832, 4.2565693855285645, 0 ]
[ 3.756044626235962, -2.061296224594116, 1.7299919128417969, 2.181551694869995, -1.1494885683059692, 4.136183738708496, 0 ]
0.8
4
3
78
3
[ 3.756044626235962, -2.061296224594116, 1.7299919128417969, 2.181551694869995, -1.1494885683059692, 4.136183738708496, 0 ]
[ 3.6913905143737793, -2.0432889461517334, 1.5819272994995117, 2.2444238662719727, -1.1201339960098267, 4.211676120758057, 0 ]
1
5
3
79
3
[ 3.6913905143737793, -2.0432889461517334, 1.5819272994995117, 2.2444238662719727, -1.1201339960098267, 4.211676120758057, 0 ]
[ 3.581177234649658, -2.114621877670288, 1.4809962511062622, 2.454512357711792, -1.0981947183609009, 4.266712188720703, 0 ]
1.2
6
3
80
3
[ 3.581177234649658, -2.114621877670288, 1.4809962511062622, 2.454512357711792, -1.0981947183609009, 4.266712188720703, 0 ]
[ 3.46404767036438, -2.167541742324829, 1.4112175703048706, 2.589021682739258, -1.071003794670105, 4.351548671722412, 0 ]
1.4
7
3
81
3
[ 3.46404767036438, -2.167541742324829, 1.4112175703048706, 2.589021682739258, -1.071003794670105, 4.351548671722412, 0 ]
[ 3.369257688522339, -2.205888509750366, 1.3574098348617554, 2.6850924491882324, -1.0596017837524414, 4.422424793243408, 0 ]
1.6
8
3
82
3
[ 3.369257688522339, -2.205888509750366, 1.3574098348617554, 2.6850924491882324, -1.0596017837524414, 4.422424793243408, 0 ]
[ 3.322812795639038, -2.2287888526916504, 1.3255695104599, 2.752467632293701, -1.0586349964141846, 4.454922676086426, 0 ]
1.8
9
3
83
3
[ 3.322812795639038, -2.2287888526916504, 1.3255695104599, 2.752467632293701, -1.0586349964141846, 4.454922676086426, 0 ]
[ 3.3117012977600098, -2.238003969192505, 1.3198292255401611, 2.7747960090637207, -1.058335781097412, 4.470439434051514, 1 ]
2
10
3
84
3
[ 3.3117012977600098, -2.238003969192505, 1.3198292255401611, 2.7747960090637207, -1.058335781097412, 4.470439434051514, 1 ]
[ 3.3077328205108643, -2.241831064224243, 1.3189321756362915, 2.7810323238372803, -1.0589569807052612, 4.489824295043945, 1 ]
2.2
11
3
85
3
[ 3.3077328205108643, -2.241831064224243, 1.3189321756362915, 2.7810323238372803, -1.0589569807052612, 4.489824295043945, 1 ]
[ 3.289848566055298, -2.2971417903900146, 1.466653823852539, 2.6681039333343506, -1.071252703666687, 4.578271865844727, 1 ]
2.4
12
3
86
3
[ 3.289848566055298, -2.2971417903900146, 1.466653823852539, 2.6681039333343506, -1.071252703666687, 4.578271865844727, 1 ]
[ 3.199016571044922, -2.3850643634796143, 1.6968144178390503, 2.4297213554382324, -1.041846513748169, 4.731100082397461, 1 ]
2.6
13
3
87
3
[ 3.199016571044922, -2.3850643634796143, 1.6968144178390503, 2.4297213554382324, -1.041846513748169, 4.731100082397461, 1 ]
[ 3.0279719829559326, -2.5656723976135254, 1.8710427284240723, 2.2651166915893555, -1.0405397415161133, 4.900801658630371, 1 ]
2.8
14
3
88
3
[ 3.0279719829559326, -2.5656723976135254, 1.8710427284240723, 2.2651166915893555, -1.0405397415161133, 4.900801658630371, 1 ]
[ 2.887733221054077, -2.8136990070343018, 1.99003005027771, 2.2881505489349365, -1.0338209867477417, 5.008518695831299, 1 ]
3
15
3
89
3
[ 2.887733221054077, -2.8136990070343018, 1.99003005027771, 2.2881505489349365, -1.0338209867477417, 5.008518695831299, 1 ]
[ 2.7155590057373047, -3.0803849697113037, 2.0186641216278076, 2.4435439109802246, -1.0564167499542236, 5.071732044219971, 1 ]
3.2
16
3
90
3
[ 2.7155590057373047, -3.0803849697113037, 2.0186641216278076, 2.4435439109802246, -1.0564167499542236, 5.071732044219971, 1 ]
[ 2.5940842628479004, -3.2703232765197754, 1.9158991575241089, 2.7024192810058594, -1.0808743238449097, 5.087809085845947, 1 ]
3.4
17
3
91
3
[ 2.5940842628479004, -3.2703232765197754, 1.9158991575241089, 2.7024192810058594, -1.0808743238449097, 5.087809085845947, 1 ]
[ 2.5465476512908936, -3.3387322425842285, 1.7906999588012695, 2.8997013568878174, -1.0951627492904663, 5.084116458892822, 1 ]
3.6
18
3
92
3
[ 2.5465476512908936, -3.3387322425842285, 1.7906999588012695, 2.8997013568878174, -1.0951627492904663, 5.084116458892822, 1 ]
[ 2.5325636863708496, -3.3511099815368652, 1.7260994911193848, 2.9866831302642822, -1.1037338972091675, 5.0743560791015625, 1 ]
3.8
19
3
93
3
[ 2.5325636863708496, -3.3511099815368652, 1.7260994911193848, 2.9866831302642822, -1.1037338972091675, 5.0743560791015625, 1 ]
[ 2.528825521469116, -3.3545026779174805, 1.710695505142212, 3.0098023414611816, -1.1079046726226807, 5.05642032623291, 0 ]
4
20
3
94
3
[ 2.528825521469116, -3.3545026779174805, 1.710695505142212, 3.0098023414611816, -1.1079046726226807, 5.05642032623291, 0 ]
[ 2.527275323867798, -3.355956792831421, 1.707353115081787, 3.0160131454467773, -1.1107038259506226, 5.033497333526611, 0 ]
4.2
21
3
95
3
[ 2.527275323867798, -3.355956792831421, 1.707353115081787, 3.0160131454467773, -1.1107038259506226, 5.033497333526611, 0 ]
[ 2.526782512664795, -3.3564629554748535, 1.706581711769104, 3.0177698135375977, -1.1116141080856323, 5.025911331176758, 0 ]
4.4
22
3
96
3
[ 2.526782512664795, -3.3564629554748535, 1.706581711769104, 3.0177698135375977, -1.1116141080856323, 5.025911331176758, 0 ]
[ 2.526628017425537, -3.3566343784332275, 1.7063835859298706, 3.018300771713257, -1.1119049787521362, 5.02346134185791, 0 ]
4.6
23
3
97
3
[ 2.526628017425537, -3.3566343784332275, 1.7063835859298706, 3.018300771713257, -1.1119049787521362, 5.02346134185791, 0 ]
[ 2.526628017425537, -3.3566343784332275, 1.7063835859298706, 3.018300771713257, -1.1119049787521362, 5.02346134185791, 0 ]
4.8
24
3
98
3
[ 3.5409669876098633, -1.8147650957107544, 2.1925902366638184, 1.413077712059021, -1.092519760131836, 4.25695276260376, 0 ]
[ 3.659733533859253, -1.9270811080932617, 2.2421116828918457, 1.638321042060852, -1.2476288080215454, 4.0321221351623535, 0 ]
0
0
4
99
4
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "ur3e",
    "total_episodes": 193,
    "total_frames": 5690,
    "total_tasks": 13,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:193"
    },
    "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": [
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                3
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            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
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        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "action"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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