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observation.state
listlengths
15
15
delta_pose_action
listlengths
7
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delta_joint_action
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abs_pose_action
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1.55
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1.6
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2.7
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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
62
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3.15
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3.2
64
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3.25
65
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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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3.5
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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
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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4.1
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4.15
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4.2
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4.25
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4.3
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4.35
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4.4
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4.45
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4.5
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4.55
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4.6
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4.65
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4.7
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4.75
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4.8
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4.85
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[ 0.2660132646560669, 1.023033857345581, 0.0713128000497818, -1.5046801567077637, -0.24972133338451385, 2.674010753631592, 1.6662001609802246, 0 ]
4.9
98
0
98
0
[ 0.0635770633816719, 0.22676126658916473, 0.9338944554328918, 3.1212399005889893, -0.5271459221839905, 0.3229075074195862, 0.2466231882572174, 1.0129828453063965, 0.07557395100593567, -1.3849928379058838, -0.220502570271492, 2.5874385833740234, 1.577401876449585, 0.008057613857090473, -0.0074953618459403515 ]
[ -0.1339285671710968, 0.0535714291036129, -0.19285714626312256, 0, -0.040714286267757416, -0.04500000178813934, 1 ]
[ 0.019078776240348816, 0.010782737284898758, -0.003076778259128332, -0.1078537330031395, -0.022395089268684387, 0.08143333345651627, 0.09366525709629059, 1 ]
[ 0.056880638003349304, 0.22943982481956482, 0.9242516160011292, 0.3404199779033661, 0.9127968549728394, 0.2256460189819336, 0.9368775486946106, -0.34965604543685913, 0.0010329801589250565, 1 ]
[ 0.2657019793987274, 1.0237655639648438, 0.0724971741437912, -1.4928466081619263, -0.2428976595401764, 2.6688718795776367, 1.6710671186447144, 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": "franka",
    "total_episodes": 500,
    "total_frames": 62250,
    "total_tasks": 10,
    "total_videos": 1000,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:500"
    },
    "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.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_image": {
            "dtype": "video",
            "shape": [
                256,
                256,
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            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
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            "names": {
                "motors": [
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                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper",
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        },
        "delta_pose_action": {
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            "names": {
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                    "yaw",
                    "gripper"
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        },
        "delta_joint_action": {
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            "names": {
                "motors": [
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        "abs_pose_action": {
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        },
        "abs_joint_action": {
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            "names": {
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        "timestamp": {
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        },
        "frame_index": {
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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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