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timestamp
float32
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25
frame_index
int64
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750
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1.8
54
0
54
0
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1.833333
55
0
55
0
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1.866667
56
0
56
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1.9
57
0
57
0
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1.933333
58
0
58
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1.966667
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2
60
0
60
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2.033333
61
0
61
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2.066667
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0
62
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2.1
63
0
63
0
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2.133333
64
0
64
0
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2.166667
65
0
65
0
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2.2
66
0
66
0
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2.233333
67
0
67
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2.266667
68
0
68
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2.3
69
0
69
0
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2.333333
70
0
70
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2.366667
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0
71
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2.4
72
0
72
0
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2.433333
73
0
73
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2.466667
74
0
74
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
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2.733333
82
0
82
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2.766667
83
0
83
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2.8
84
0
84
0
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2.833333
85
0
85
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2.866667
86
0
86
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2.9
87
0
87
0
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2.933333
88
0
88
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2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
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3.066667
92
0
92
0
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3.1
93
0
93
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
97
0
97
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3.266667
98
0
98
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3.3
99
0
99
0
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[ -0.05541958659887314, -0.03153875097632408, 0.03340525925159454, 0.21295635402202606, 0.381151407957077, 0.09224387258291245, 0.0011899999808520079 ]
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "piper",
    "total_episodes": 100,
    "total_frames": 75054,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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                1
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.cam_global": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                1080,
                1920,
                3
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_gripper": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                1080,
                1920,
                3
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "gripper"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "gripper"
            ],
            "shape": [
                7
            ]
        }
    }
}

Citation

BibTeX:

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