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action
sequence
observation.state
sequence
timestamp
float32
0
29.1
frame_index
int64
0
291
episode_index
int64
0
3
index
int64
0
1.16k
task_index
int64
0
0
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7.1
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7.3
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7.4
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7.5
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7.6
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7.7
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7.8
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7.9
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8.1
81
0
81
0
[ -0.5908419489860535, -7.4010329246521, 22.545454025268555, 56.49671173095703, 3.296703338623047, 0, 0, 0, 0 ]
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8.2
82
0
82
0
[ -0.29542097449302673, -7.573149681091309, 23.18181800842285, 58.05921173095703, 2.808302879333496, 0, 0, 0, 0 ]
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8.3
83
0
83
0
[ -1.1078286170959473, -8.950085639953613, 26.272727966308594, 56.66118240356445, 3.296703338623047, 0, 0, 0, 0 ]
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8.4
84
0
84
0
[ -2.2156572341918945, -8.864027976989746, 26.363636016845703, 56.25, 3.345543384552002, 0, 0, 0, 0 ]
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8.5
85
0
85
0
[ -3.0280649662017822, -8.864027976989746, 26.363636016845703, 56.332237243652344, 3.443223476409912, 0, 0, 0, 0 ]
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8.6
86
0
86
0
[ -3.397341251373291, -9.294320106506348, 26.18181800842285, 56.08552551269531, 3.492063522338867, 0, 0, 0, 0 ]
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8.7
87
0
87
0
[ -3.6189069747924805, -9.294320106506348, 25.636363983154297, 56.167762756347656, 3.6385836601257324, 0, 0, 0.10000000149011612, 0 ]
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8.8
88
0
88
0
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8.9
89
0
89
0
[ -3.397341251373291, -8.864027976989746, 25.090909957885742, 55.7565803527832, 3.931623935699463, 0, 0, 0.10000000149011612, 0 ]
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9
90
0
90
0
[ -2.954209804534912, -8.777969360351562, 25, 55.345394134521484, 4.126984119415283, 0, 0, 0.10000000149011612, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
9.1
91
0
91
0
[ -2.1418020725250244, -8.089500427246094, 24.454545974731445, 55.09868240356445, 4.224664211273193, 0, 0, 0.10000000149011612, 0 ]
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9.2
92
0
92
0
[ -1.6248153448104858, -7.573149681091309, 23.909090042114258, 54.85197448730469, 4.468864440917969, 0, 0, 0.10000000149011612, 0 ]
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9.3
93
0
93
0
[ -1.3293943405151367, -7.487091064453125, 23.727272033691406, 54.85197448730469, 4.713064670562744, 0, 0, 0.10000000149011612, 0 ]
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9.4
94
0
94
0
[ -1.2555391788482666, -7.659208297729492, 23.727272033691406, 54.93421173095703, 4.810744762420654, 0, 0, 0.10000000149011612, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
9.5
95
0
95
0
[ -1.0339734554290771, -7.745266914367676, 23.545454025268555, 54.93421173095703, 4.859584808349609, 0, 0, 0.10000000149011612, 0 ]
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9.6
96
0
96
0
[ -0.8124076724052429, -7.487091064453125, 23.18181800842285, 54.85197448730469, 4.859584808349609, 0, 0, 0.10000000149011612, 0 ]
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9.7
97
0
97
0
[ -0.738552451133728, -7.228915691375732, 23, 54.85197448730469, 4.9084248542785645, 0, 0, 0.10000000149011612, 0 ]
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9.8
98
0
98
0
[ -0.738552451133728, -7.314974308013916, 23, 55.1809196472168, 4.9084248542785645, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
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": "lekiwi_client",
    "total_episodes": 4,
    "total_frames": 1156,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:4"
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    "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": {
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                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
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        },
        "observation.state": {
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            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
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        "observation.images.wrist": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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