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float32
0
48.2
frame_index
int64
0
482
episode_index
int64
0
14
index
int64
0
5.37k
task_index
int64
0
0
[ 0.18867948351185515, -0.01687378866658865, -0.5123495831538039, -2.4190723611537965, -0.2868544088685941, 2.4543692606171796, 0.07824835999112213, 1 ]
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0.1
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0.2
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0.3
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0.4
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0.6
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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
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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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2.5
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2.6
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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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3.4
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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
40
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4.1
41
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4.2
42
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4.3
43
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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[ 0.18650268018245697, 0.17538638412952423, -0.5104811191558838, -2.362210273742676, -0.2786444425582886, 2.451045274734497, -0.08687860518693924, 0.02080274150810308 ]
4.8
48
0
48
0
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[ 0.18617679178714752, 0.17746488749980927, -0.5105136632919312, -2.3568241596221924, -0.2786273658275604, 2.4559807777404785, -0.08690290153026581, 0.02080274150810308 ]
4.9
49
0
49
0
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[ 0.18617570400238037, 0.18151184916496277, -0.5104665160179138, -2.3540754318237305, -0.2786177694797516, 2.4587314128875732, -0.08691176772117615, 0.02080274150810308 ]
5
50
0
50
0
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5.1
51
0
51
0
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[ 0.18619436025619507, 0.19383221864700317, -0.5101401209831238, -2.3473501205444336, -0.27860015630722046, 2.465473175048828, -0.0869181677699089, 0.02080274150810308 ]
5.2
52
0
52
0
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[ 0.18619050085544586, 0.1978398561477661, -0.5100325345993042, -2.344370126724243, -0.2785899341106415, 2.4656805992126465, -0.08691288530826569, 0.02080274150810308 ]
5.3
53
0
53
0
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[ 0.18618367612361908, 0.1997690200805664, -0.510027289390564, -2.3425045013427734, -0.27858805656433105, 2.4656856060028076, -0.08691319078207016, 0.02080274150810308 ]
5.4
54
0
54
0
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[ 0.18614695966243744, 0.20061030983924866, -0.5100262761116028, -2.340958595275879, -0.2785819172859192, 2.465693235397339, -0.08691462129354477, 0.02080274150810308 ]
5.5
55
0
55
0
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[ 0.18613767623901367, 0.20118676126003265, -0.5100262761116028, -2.340698003768921, -0.278544157743454, 2.4656925201416016, -0.08691248297691345, 0.02080274150810308 ]
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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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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[ 0.18853947520256042, 0.20437747240066528, -0.508233368396759, -2.34028697013855, -0.2689511775970459, 2.4657015800476074, -0.08691313117742538, 0.02080274150810308 ]
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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[ 0.19115987420082092, 0.20462003350257874, -0.5078069567680359, -2.3401949405670166, -0.26890620589256287, 2.4657037258148193, -0.08691827952861786, 0.14145863759848806 ]
6.9
69
0
69
0
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[ 0.1935897320508957, 0.2047410011291504, -0.5076979398727417, -2.3401997089385986, -0.2689032256603241, 2.4657039642333984, -0.08691602200269699, 0.14561918667621082 ]
7
70
0
70
0
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[ 0.19428415596485138, 0.2048962414264679, -0.5075545310974121, -2.3401970863342285, -0.2688964903354645, 2.4657015800476074, -0.08691633492708206, 0.16642193206482464 ]
7.1
71
0
71
0
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[ 0.19472375512123108, 0.2048913836479187, -0.5074005722999573, -2.3401644229888916, -0.26890355348587036, 2.4657042026519775, -0.08692769706249237, 0.2121879615717464 ]
7.2
72
0
72
0
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[ 0.19621184468269348, 0.20489364862442017, -0.5072281360626221, -2.340071678161621, -0.2689001262187958, 2.465702772140503, -0.08692413568496704, 0.22050905972719193 ]
7.3
73
0
73
0
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[ 0.197432741522789, 0.20488540828227997, -0.5072103142738342, -2.3398618698120117, -0.26890259981155396, 2.465704917907715, -0.0869278684258461, 0.22883015788263747 ]
7.4
74
0
74
0
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[ 0.19795924425125122, 0.2048887461423874, -0.5072006583213806, -2.339768886566162, -0.26890066266059875, 2.4657042026519775, -0.0869305208325386, 0.23715125603808299 ]
7.5
75
0
75
0
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[ 0.1985408067703247, 0.20488277077674866, -0.5071845650672913, -2.33951997756958, -0.2689012885093689, 2.465705394744873, -0.0869220718741417, 0.23299070696036023 ]
7.6
76
0
76
0
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[ 0.19873015582561493, 0.20486235618591309, -0.5071845054626465, -2.3390746116638184, -0.268898069858551, 2.465707302093506, -0.08692526072263718, 0.22466960880491468 ]
7.7
77
0
77
0
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[ 0.19880372285842896, 0.20484957098960876, -0.5071857571601868, -2.3386991024017334, -0.26890066266059875, 2.4657092094421387, -0.08692502230405807, 0.21634851064946917 ]
7.8
78
0
78
0
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[ 0.19883380830287933, 0.20485231280326843, -0.5071744322776794, -2.338674306869507, -0.26890215277671814, 2.465711832046509, -0.08693336695432663, 0.2038668634163009 ]
7.9
79
0
79
0
[ 0.20093614340514016, 0.20401944478894535, -0.5062136600022615, -2.3393052067856646, -0.25307615038537307, 2.469709070029863, -0.11044661672776623, 0.9883254453302623 ]
[ 0.19883927702903748, 0.20486317574977875, -0.5071839690208435, -2.33870792388916, -0.2688939869403839, 2.4657042026519775, -0.0869220718741417, 0.14145863759848806 ]
8
80
0
80
0
[ 0.20095132981494024, 0.20401944478879194, -0.5062136600022615, -2.3393205465782034, -0.25462516418498016, 2.4712277094912287, -0.11196525770777317, 0.9998832544533026 ]
[ 0.19913488626480103, 0.20487290620803833, -0.5070151686668396, -2.338895797729492, -0.26903364062309265, 2.465786933898926, -0.08698097616434097, 0.06656876972152127 ]
8.1
81
0
81
0
[ 0.20095148167903826, 0.20401944478879042, -0.5062136600022615, -2.339320699976129, -0.2546406543229762, 2.469724254905836, -0.11198044411757324, 0.999998832544533 ]
[ 0.1995936632156372, 0.20502696931362152, -0.5067275762557983, -2.33931827545166, -0.26870813965797424, 2.4657251834869385, -0.08730315417051315, 0.02912383837004503 ]
8.2
82
0
82
0
[ 0.1994328422176725, 0.20401944478879042, -0.5062136600022615, -2.339320701510108, -0.25464080922435617, 2.4697092203599817, -0.11198059598167125, 0.9999999883254453 ]
[ 0.20000284910202026, 0.20506124198436737, -0.5066313147544861, -2.339345932006836, -0.26870840787887573, 2.4657084941864014, -0.08734509348869324, 0.02912383837004503 ]
8.3
83
0
83
0
[ 0.19941765582305884, 0.20401944478879042, -0.5062136600022615, -2.339320701525448, -0.25615945175337645, 2.4697090700145234, -0.11198059750031222, 0.9999999998832545 ]
[ 0.2000383883714676, 0.20508140325546265, -0.5066418051719666, -2.3393611907958984, -0.26870784163475037, 2.4657013416290283, -0.08735132217407227, 0.02912383837004503 ]
8.4
84
0
84
0
[ 0.1994175039591127, 0.20401944478879042, -0.5062136600022615, -2.3393207015256015, -0.2561746381786667, 2.4697090685110688, -0.11198059751549863, 0.9999999999988325 ]
[ 0.20005257427692413, 0.2050783634185791, -0.5066419243812561, -2.339357614517212, -0.268706738948822, 2.465702772140503, -0.08735207468271255, 0.02912383837004503 ]
8.5
85
0
85
0
[ 0.20093614342047997, 0.2025008038087835, -0.5062136600022615, -2.339320701525603, -0.2561747900429196, 2.469709068496034, -0.11501787947566351, 0.9999999999999883 ]
[ 0.20004752278327942, 0.20508132874965668, -0.5066419243812561, -2.339357852935791, -0.2687089741230011, 2.465702772140503, -0.08734674751758575, 0.02912383837004503 ]
8.6
86
0
86
0
[ 0.20095132981509364, 0.18578056661890877, -0.5062136600022615, -2.3408393425056095, -0.2546561505815556, 2.4697090684958836, -0.13479058503535365, 0.9999999999999999 ]
[ 0.2000863254070282, 0.20508550107479095, -0.5066360831260681, -2.339357614517212, -0.26870837807655334, 2.4657018184661865, -0.08739163726568222, 0.02912383837004503 ]
8.7
87
0
87
0
[ 0.20095148167903978, 0.16131510856690157, -0.5062136600022615, -2.353003656755464, -0.253122323206935, 2.4697090684958822, -0.14561879895099833, 1 ]
[ 0.20045077800750732, 0.20399519801139832, -0.5066227316856384, -2.3386447429656982, -0.26870840787887573, 2.465742588043213, -0.09322835505008698, 0.02912383837004503 ]
8.8
88
0
88
0
[ 0.19943284221767252, 0.14588404418631334, -0.5062136600022615, -2.3728676326380507, -0.25158834395318186, 2.4697090684958822, -0.14572708109015475, 1 ]
[ 0.2009637951850891, 0.19733183085918427, -0.5066148638725281, -2.3379063606262207, -0.2687060236930847, 2.4657413959503174, -0.10534089058637619, 0.024963289292322267 ]
8.9
89
0
89
0
[ 0.20093629680306557, 0.13661788766246713, -0.5062136600022615, -2.3791408363169033, -0.25309164514065124, 2.4697090684958822, -0.14572816391154633, 1 ]
[ 0.20101597905158997, 0.1845150738954544, -0.5066751837730408, -2.3417675495147705, -0.26870450377464294, 2.4656546115875244, -0.11188508570194244, 0.024963289292322267 ]
9
90
0
90
0
[ 0.20095133134891952, 0.11374561139712669, -0.5062136600022615, -2.398945901093781, -0.25766260109254635, 2.468190427515876, -0.14572817473976024, 1 ]
[ 0.20105746388435364, 0.1738196611404419, -0.5066720247268677, -2.3518381118774414, -0.26870471239089966, 2.4656476974487305, -0.11355527490377426, 0.024963289292322267 ]
9.1
91
0
91
0
[ 0.1994328407143713, 0.1044050427544325, -0.5062136600022615, -2.421923566441651, -0.25922695163207227, 2.4696938820860823, -0.1563586617080892, 1 ]
[ 0.20117056369781494, 0.1603434532880783, -0.5066710710525513, -2.365743637084961, -0.26870477199554443, 2.4656429290771484, -0.11466152220964432, 0.024963289292322267 ]
9.2
92
0
92
0
[ 0.19486173286800546, 0.10431163706800556, -0.5077323009822685, -2.434302470935184, -0.25620531317745365, 2.469708916631784, -0.17620729931786103, 1 ]
[ 0.20115581154823303, 0.14552348852157593, -0.5067079067230225, -2.384275197982788, -0.2687053680419922, 2.4656078815460205, -0.12043386697769165, 0.024963289292322267 ]
9.3
93
0
93
0
[ 0.19329738080953485, 0.10431070301114129, -0.5092661283720755, -2.435944900960126, -0.2576937377729144, 2.471227707957248, -0.17640578569395873, 1 ]
[ 0.20078837871551514, 0.13302215933799744, -0.5069673657417297, -2.406693935394287, -0.2687145173549652, 2.4656829833984375, -0.13114820420742035, 0.024963289292322267 ]
9.4
94
0
94
0
[ 0.1917630963089434, 0.10431069367057265, -0.5108001076259805, -2.4344426842803686, -0.25770862201886896, 2.4727615368505096, -0.17792641153772668, 1 ]
[ 0.1994289606809616, 0.12810786068439484, -0.5084310173988342, -2.418076276779175, -0.26872125267982483, 2.465763807296753, -0.14175638556480408, 0.024963289292322267 ]
9.5
95
0
95
0
[ 0.1871918305239171, 0.10431069357716696, -0.5123340883985257, -2.4329090211335647, -0.25770877086132854, 2.4788514390594694, -0.1764229768161574, 1 ]
[ 0.19767005741596222, 0.12376296520233154, -0.5098267793655396, -2.419144868850708, -0.26871606707572937, 2.465745687484741, -0.14638330042362213, 0.024963289292322267 ]
9.6
96
0
96
0
[ 0.18714611786606683, 0.1027920525962264, -0.513868069186258, -2.428337761562076, -0.25770877234975315, 2.4880241839615995, -0.1764079424689417, 1 ]
[ 0.1956225484609604, 0.12249152362346649, -0.5111733078956604, -2.419210433959961, -0.2687166631221771, 2.465752124786377, -0.14740970730781555, 0.024963289292322267 ]
9.7
97
0
97
0
[ 0.18258973779946816, 0.10125822520641005, -0.5154020499741423, -2.426773407986354, -0.25770877236463735, 2.486597270430614, -0.1779264331054765, 1 ]
[ 0.19287730753421783, 0.12152140587568283, -0.5125703811645508, -2.4184608459472656, -0.26871606707572937, 2.4671268463134766, -0.1475428193807602, 0.024963289292322267 ]
9.8
98
0
98
0
[ 0.18102553301879523, 0.09516832301248455, -0.5154173897820211, -2.4252391234705906, -0.25770877236478623, 2.4850643603152975, -0.17794161801184186, 1 ]
[ 0.1918727308511734, 0.11987260729074478, -0.513941764831543, -2.417459726333618, -0.26871535181999207, 2.4677486419677734, -0.14755691587924957, 0.024963289292322267 ]
9.9
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": 15,
    "total_frames": 5366,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:15"
    },
    "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": {
        "action": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.images.wrist_camera": {
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_camera": {
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "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
        }
    }
}

Citation

BibTeX:

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