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int64
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int64
index
int64
task_index
int64
[ -0.009669676423072815, -0.380593478679657, 0.7308220863342285, 0.496531218290329, 0.4811185300350189, -1.4985989332199097, 0.9220332503318787, 0.9220332503318787 ]
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0
0
0
0
0
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0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
[ -0.014610959216952324, -0.39566460251808167, 0.7437241673469543, 0.44089198112487793, 0.41416120529174805, -1.5415842533111572, 0.935156524181366, 0.935156524181366 ]
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0.4
4
0
4
0
[ -0.017895258963108063, -0.40607935190200806, 0.7562341094017029, 0.3933427333831787, 0.3627191185951233, -1.566770076751709, 0.9474421143531799, 0.9474421143531799 ]
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0.5
5
0
5
0
[ -0.017057174816727638, -0.41759568452835083, 0.7646244168281555, 0.34459519386291504, 0.31355664134025574, -1.5831072330474854, 0.953305721282959, 0.953305721282959 ]
[ -0.003939845599234104, -0.4341876804828644, 0.6174426078796387, 0.37502482533454895, 0.36323708295822144, -1.5942271947860718, 0.9143558144569397 ]
0.6
6
0
6
0
[ -0.014056479558348656, -0.4261155426502228, 0.7581822872161865, 0.32737448811531067, 0.2977055609226227, -1.592503309249878, 0.9460460543632507, 0.9460460543632507 ]
[ -0.0037874430418014526, -0.43875500559806824, 0.6047153472900391, 0.3857387602329254, 0.37540850043296814, -1.5938365459442139, 0.9241052269935608 ]
0.7
7
0
7
0
[ -0.007844788953661919, -0.42745649814605713, 0.7421202063560486, 0.3418005108833313, 0.3175218403339386, -1.5925891399383545, 0.9401824474334717, 0.9401824474334717 ]
[ -0.004535560496151447, -0.44443291425704956, 0.5941058397293091, 0.3941207826137543, 0.38531357049942017, -1.59397554397583, 0.8973686099052429 ]
0.8
8
0
8
0
[ -0.004092864226549864, -0.42644020915031433, 0.7199445366859436, 0.3750903308391571, 0.35716888308525085, -1.5890928506851196, 0.9237085580825806, 0.9237085580825806 ]
[ -0.006684593856334686, -0.4517499506473541, 0.5883228778839111, 0.3962165415287018, 0.38996779918670654, -1.5972286462783813, 0.904758095741272 ]
0.9
9
0
9
0
[ -0.002395249903202057, -0.42806902527809143, 0.7093111872673035, 0.38234418630599976, 0.372153103351593, -1.5892847776412964, 0.9237085580825806, 0.9237085580825806 ]
[ -0.010065682232379913, -0.4605867862701416, 0.5856647491455078, 0.39675822854042053, 0.389796644449234, -1.6035306453704834, 0.9011767506599426 ]
1
10
0
10
0
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[ -0.013859697617590427, -0.47057539224624634, 0.5872642397880554, 0.391457200050354, 0.38417521119117737, -1.6104769706726074, 0.9096561670303345 ]
1.1
11
0
11
0
[ 0.0017696083523333073, -0.43768373131752014, 0.6773253083229065, 0.40217989683151245, 0.3915276527404785, -1.5899293422698975, 0.9125398397445679, 0.9125398397445679 ]
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1.2
12
0
12
0
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[ -0.022133804857730865, -0.49243423342704773, 0.5952575206756592, 0.37143227458000183, 0.3676386773586273, -1.6257370710372925, 0.8405356407165527 ]
1.3
13
0
13
0
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[ -0.025285465642809868, -0.5031179189682007, 0.600021481513977, 0.36174389719963074, 0.3575683534145355, -1.6302677392959595, 0.8150187730789185 ]
1.4
14
0
14
0
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[ -0.02738787606358528, -0.5131798982620239, 0.6059391498565674, 0.34905150532722473, 0.3481937348842621, -1.6320521831512451, 0.8267349004745483 ]
1.5
15
0
15
0
[ -0.006508463062345982, -0.46448200941085815, 0.6352301836013794, 0.3920690417289734, 0.3827219605445862, -1.611807942390442, 0.9055593609809875, 0.9055593609809875 ]
[ -0.028764400631189346, -0.5222711563110352, 0.6104413866996765, 0.33904725313186646, 0.34145864844322205, -1.6315492391586304, 0.788120687007904 ]
1.6
16
0
16
0
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[ -0.029592037200927734, -0.5308765769004822, 0.6144694089889526, 0.32911813259124756, 0.3320254683494568, -1.6310384273529053, 0.7534893155097961 ]
1.7
17
0
17
0
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[ -0.0292318407446146, -0.5385270714759827, 0.6158725023269653, 0.32496532797813416, 0.3285928964614868, -1.6266498565673828, 0.717050313949585 ]
1.8
18
0
18
0
[ -0.02378045953810215, -0.4914022982120514, 0.613014280796051, 0.36009085178375244, 0.35797983407974243, -1.625522255897522, 0.8329625129699707, 0.8329625129699707 ]
[ -0.028122108429670334, -0.5458946824073792, 0.6186462044715881, 0.3171233832836151, 0.32396200299263, -1.621187448501587, 0.7433316111564636 ]
1.9
19
0
19
0
[ -0.027190376073122025, -0.49687671661376953, 0.609751284122467, 0.3565373718738556, 0.3544301986694336, -1.6275107860565186, 0.8329625129699707, 0.8329625129699707 ]
[ -0.026722043752670288, -0.5523532629013062, 0.619785726070404, 0.30825313925743103, 0.3238507807254791, -1.6148788928985596, 0.687017023563385 ]
2
20
0
20
0
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2.1
21
0
21
0
[ -0.03360803425312042, -0.5182727575302124, 0.6064366698265076, 0.3348820209503174, 0.3365270793437958, -1.624342441558838, 0.7986186742782593, 0.7986186742782593 ]
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2.2
22
0
22
0
[ -0.03303247317671776, -0.5267082452774048, 0.6070566773414612, 0.32863757014274597, 0.3323459327220917, -1.6189384460449219, 0.7810278534889221, 0.7810278534889221 ]
[ -0.021108129993081093, -0.5678078532218933, 0.6220303773880005, 0.2900434136390686, 0.3258294463157654, -1.5919305086135864, 0.7001949548721313 ]
2.3
23
0
23
0
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2.4
24
0
24
0
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[ -0.019160196185112, -0.5771819949150085, 0.6245348453521729, 0.27890193462371826, 0.32556095719337463, -1.5813816785812378, 0.683011531829834 ]
2.5
25
0
25
0
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[ -0.01944355107843876, -0.5822359323501587, 0.6272796392440796, 0.2711925506591797, 0.3239574432373047, -1.5792689323425293, 0.7078624963760376 ]
2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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[ -0.022420143708586693, -0.5974838137626648, 0.6376621127128601, 0.24733003973960876, 0.32009661197662354, -1.5778919458389282, 0.6399778723716736 ]
2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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[ -0.05672810599207878, -0.6956354379653931, 0.6581909656524658, 0.22194114327430725, 0.21810424327850342, -1.5967590808868408, 0.6086404323577881 ]
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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4.8
48
0
48
0
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[ -0.07001715153455734, -0.741921067237854, 0.6502447724342346, 0.19379247725009918, 0.24333569407463074, -1.6128548383712769, 0.5664822459220886 ]
4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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[ -0.07838154584169388, -0.7607110142707825, 0.6463471055030823, 0.2058575600385666, 0.21515534818172455, -1.618018388748169, 0.2561810314655304 ]
5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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[ -0.07942299544811249, -0.7641904950141907, 0.6474936604499817, 0.2098264843225479, 0.15953709185123444, -1.6150106191635132, -0.284669429063797 ]
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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[ -0.058781325817108154, -0.7522333860397339, 0.6217871308326721, 0.21396981179714203, 0.2056458592414856, -1.5459824800491333, -0.6459930539131165 ]
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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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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[ -0.014892532490193844, -0.6101048588752747, 0.6260190606117249, 0.21813008189201355, 0.23706187307834625, -1.4283745288848877, -0.4908033609390259 ]
8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
[ -0.008084597997367382, -0.6220395565032959, 0.6203877329826355, 0.22638937830924988, 0.24922536313533783, -1.4189471006393433, -0.48522821068763733, -0.48522821068763733 ]
[ 0.005346435122191906, -0.5703338980674744, 0.6153839826583862, 0.23926453292369843, 0.26517319679260254, -1.3861695528030396, -0.40106871724128723 ]
9
90
0
90
0
[ -0.005036600399762392, -0.6131200790405273, 0.619809627532959, 0.22808004915714264, 0.2495686262845993, -1.4139463901519775, -0.4785269796848297, -0.4785269796848297 ]
[ 0.010281058959662914, -0.5632491707801819, 0.6148515343666077, 0.23903842270374298, 0.2712151110172272, -1.3749316930770874, -0.4048568904399872 ]
9.1
91
0
91
0
[ -0.00013762117305304855, -0.6034027934074402, 0.6166314482688904, 0.2344423234462738, 0.2564304769039154, -1.4024806022644043, -0.4573063552379608, -0.4573063552379608 ]
[ 0.015827937051653862, -0.5560674667358398, 0.6135326027870178, 0.2429351955652237, 0.27596718072891235, -1.3630646467208862, -0.41070663928985596 ]
9.2
92
0
92
0
[ 0.003743954701349139, -0.5950518250465393, 0.6166595816612244, 0.23358218371868134, 0.25665411353111267, -1.3961269855499268, -0.4461376368999481, -0.4461376368999481 ]
[ 0.022150976583361626, -0.5488094687461853, 0.6136490702629089, 0.2421988844871521, 0.2782880663871765, -1.349638819694519, -0.3810569643974304 ]
9.3
93
0
93
0
[ 0.00920851156115532, -0.5861517190933228, 0.6154907941818237, 0.23487208783626556, 0.2632295489311218, -1.3825730085372925, -0.42072874307632446, -0.42072874307632446 ]
[ 0.028450943529605865, -0.5410934686660767, 0.6126701831817627, 0.24271807074546814, 0.2842184603214264, -1.3364951610565186, -0.37546712160110474 ]
9.4
94
0
94
0
[ 0.012971196323633194, -0.5784743428230286, 0.6155608892440796, 0.23487722873687744, 0.26476919651031494, -1.3747987747192383, -0.40397563576698303, -0.40397563576698303 ]
[ 0.03552182763814926, -0.5328037738800049, 0.6117540001869202, 0.2424658089876175, 0.2905190885066986, -1.3209891319274902, -0.3325454592704773 ]
9.5
95
0
95
0
[ 0.018526697531342506, -0.569832980632782, 0.6141988039016724, 0.23828379809856415, 0.27162450551986694, -1.3606951236724854, -0.40397563576698303, -0.40397563576698303 ]
[ 0.043769095093011856, -0.5237770080566406, 0.6099405288696289, 0.24219028651714325, 0.3001631498336792, -1.3026103973388672, -0.32770654559135437 ]
9.6
96
0
96
0
[ 0.024583902209997177, -0.5598301291465759, 0.6141179203987122, 0.23845356702804565, 0.27467045187950134, -1.3470549583435059, -0.398112028837204, -0.398112028837204 ]
[ 0.05343601107597351, -0.5146811604499817, 0.6097352504730225, 0.24426017701625824, 0.3015526831150055, -1.2825074195861816, -0.3015536963939667 ]
9.7
97
0
97
0
[ 0.031313877552747726, -0.5520498156547546, 0.614206850528717, 0.23653756082057953, 0.2773851454257965, -1.335221290588379, -0.385267972946167, -0.385267972946167 ]
[ 0.06348555535078049, -0.5058186650276184, 0.6088350415229797, 0.2457442283630371, 0.3035658299922943, -1.2621445655822754, -0.38602688908576965 ]
9.8
98
0
98
0
[ 0.03639392927289009, -0.5462669134140015, 0.6137443780899048, 0.2355268895626068, 0.28139635920524597, -1.3225953578948975, -0.3562292456626892, -0.3562292456626892 ]
[ 0.07471544295549393, -0.4969857335090637, 0.6098183989524841, 0.24499228596687317, 0.30023324489593506, -1.239076018333435, -0.3342304229736328 ]
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": "Stretch",
    "total_episodes": 37,
    "total_frames": 11044,
    "total_tasks": 2,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:37"
    },
    "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": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "eef_x",
                "eef_y",
                "eef_z",
                "eef_ax",
                "eef_ay",
                "eef_az",
                "gripper_0",
                "gripper_1"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "eef_x",
                "eef_y",
                "eef_z",
                "eef_ax",
                "eef_ay",
                "eef_az",
                "gripper"
            ]
        },
        "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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