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Datasets:
Loki0929
/
pi0_ur5

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
pi0
ur5
rlds
Libraries:
Datasets
pandas
License:
Dataset card Viewer Files Community
1
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image
imagewidth (px)
1.92k
1.92k
wrist_image
imagewidth (px)
640
640
state
sequence
actions
sequence
timestamp
float32
0
15.3
frame_index
int64
0
153
episode_index
int64
0
0
index
int64
0
153
task_index
int64
0
0
[ 1.5700113773345947, -1.5700043439865112, 1.5700163841247559, 0.000048279762268066406, 1.569974660873413, -0.000023667013010708615, 1 ]
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0
0
0
0
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[ 1.569987416267395, -1.5700401067733765, 1.5700526237487793, 0.00003635883331298828, 1.5699986219406128, 0.00004793690095539205, 1 ]
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0.1
1
0
1
0
[ 1.5658434629440308, -1.5703285932540894, 1.5701966285705566, 0.000024318695068359375, 1.5699267387390137, -0.000023667013010708615, 1 ]
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0.2
2
0
2
0
[ 1.5261400938034058, -1.5716360807418823, 1.571432113647461, -0.000047508870920864865, 1.5698788166046143, -0.00011951127817155793, 1 ]
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0.3
3
0
3
0
[ 1.470626950263977, -1.5705922842025757, 1.5703043937683105, -0.00010711351205827668, 1.5703701972961426, -0.0003350416664034128, 1 ]
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0.4
4
0
4
0
[ 1.4706748723983765, -1.5705798864364624, 1.570268154144287, -0.00009519258310319856, 1.5704541206359863, -0.00035888352431356907, 1 ]
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0.5
5
0
5
0
[ 1.4523026943206787, -1.5712884664535522, 1.571000099182129, -0.00009519258310319856, 1.5702983140945435, -0.0004070440772920847, 1 ]
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0.6
6
0
6
0
[ 1.3986579179763794, -1.5720199346542358, 1.5715160369873047, -0.0001910368591779843, 1.5703222751617432, -0.0005148092750459909, 1 ]
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0.7
7
0
7
0
[ 1.3716975450515747, -1.5712403059005737, 1.5704965591430664, -0.00013143221440259367, 1.5707416534423828, -0.0005868116859346628, 1 ]
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0.8
8
0
8
0
[ 1.3712061643600464, -1.571060061454773, 1.5704364776611328, -0.00015527407231274992, 1.5706098079681396, -0.0005987326148897409, 1 ]
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0.9
9
0
9
0
[ 1.3297538757324219, -1.572691798210144, 1.5718159675598145, -0.00015527407231274992, 1.570418119430542, -0.0008018652442842722, 1 ]
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1
10
0
10
0
[ 1.2723592519760132, -1.5719479322433472, 1.5707602500915527, -0.0002988020423799753, 1.5708376169204712, -0.0008857885841280222, 1 ]
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1.1
11
0
11
0
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1.2
12
0
12
0
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1.3
13
0
13
0
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1.4
14
0
14
0
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1.5
15
0
15
0
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1.6
16
0
16
0
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1.7
17
0
17
0
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1.8
18
0
18
0
[ 1.073339819908142, -1.5734714269638062, 1.5711565017700195, -0.00039512314833700657, 1.5710413455963135, -0.001304928446188569, 1 ]
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1.9
19
0
19
0
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2
20
0
20
0
[ 1.062583565711975, -1.5344709157943726, 1.5671014785766602, 0.001283407211303711, 1.5610936880111694, 0.009052958339452744, 1 ]
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2.1
21
0
21
0
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2.2
22
0
22
0
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2.3
23
0
23
0
[ 1.037022352218628, -1.4188350439071655, 1.540696144104004, 0.011020660400390625, 1.532245397567749, 0.0337681770324707, 1 ]
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2.4
24
0
24
0
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2.5
25
0
25
0
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2.6
26
0
26
0
[ 1.0130183696746826, -1.2695659399032593, 1.5087251663208008, 0.023491382598876953, 1.5025825500488281, 0.06041098013520241, 1 ]
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2.7
27
0
27
0
[ 1.0121198892593384, -1.26154363155365, 1.5060615539550781, 0.023802876472473145, 1.5011444091796875, 0.0612131766974926, 1 ]
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2.8
28
0
28
0
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2.9
29
0
29
0
[ 1.0100117921829224, -1.245846152305603, 1.5039863586425781, 0.025337696075439453, 1.4984835386276245, 0.06419499963521957, 1 ]
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3
30
0
30
0
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3.1
31
0
31
0
[ 0.9956381916999817, -1.1110118627548218, 1.4703478813171387, 0.03832447528839111, 1.476575255393982, 0.0832941085100174, 1 ]
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3.2
32
0
32
0
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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
[ 0.9851449131965637, -0.9710739254951477, 1.4353418350219727, 0.05421257019042969, 1.456272840499878, 0.10161461681127548, 1 ]
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3.6
36
0
36
0
[ 0.9834921956062317, -0.9445951581001282, 1.4257330894470215, 0.0592728853225708, 1.4517784118652344, 0.10414142161607742, 1 ]
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3.7
37
0
37
0
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3.8
38
0
38
0
[ 0.9831206798553467, -0.9450147747993469, 1.4262490272521973, 0.05911707878112793, 1.4515626430511475, 0.10395004600286484, 1 ]
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3.9
39
0
39
0
[ 0.9672853946685791, -0.9520390629768372, 1.4382452964782715, 0.05530381202697754, 1.4380916357040405, 0.09572362154722214, 1 ]
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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
[ 0.8522424697875977, -0.9931061863899231, 1.5080533027648926, 0.03710126876831055, 1.3391109704971313, 0.03472616523504257, 1 ]
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4.4
44
0
44
0
[ 0.8517510890960693, -0.9940293431282043, 1.508448600769043, 0.03699338436126709, 1.3387993574142456, 0.03452243283390999, 1 ]
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4.5
45
0
45
0
[ 0.8517990112304688, -0.9940531849861145, 1.508544921875, 0.03677773475646973, 1.3387514352798462, 0.034498464316129684, 1 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
4.6
46
0
46
0
[ 0.851775050163269, -0.9686883091926575, 1.5281834602355957, -0.008513275533914566, 1.3386675119400024, 0.03448648005723953, 1 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
4.7
47
0
47
0
[ 0.8517510890960693, -0.9379790425300598, 1.5470542907714844, -0.0577734149992466, 1.3386316299438477, 0.03454640135169029, 1 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
4.8
48
0
48
0
[ 0.8517630696296692, -0.9316022992134094, 1.5502095222473145, -0.06793005019426346, 1.3386316299438477, 0.0345943383872509, 1 ]
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4.9
49
0
49
0
[ 0.8509129285812378, -0.9284618496894836, 1.5448589324951172, -0.0651601031422615, 1.3380084037780762, 0.0343070924282074, 1 ]
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5
50
0
50
0
[ 0.8365978002548218, -0.8642428517341614, 1.4276885986328125, -0.010791603475809097, 1.3262279033660889, 0.02653532102704048, 1 ]
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5.1
51
0
51
0
[ 0.8284282684326172, -0.8231838345527649, 1.3516569137573242, 0.024642229080200195, 1.3193249702453613, 0.022104904055595398, 1 ]
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5.2
52
0
52
0
[ 0.8277811408042908, -0.8166883587837219, 1.3401169776916504, 0.02945089340209961, 1.3185815811157227, 0.021554378792643547, 1 ]
[ -0.000009765624781721272, 0.000009765624781721272, -0.05000000074505806, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
5.3
53
0
53
0
[ 0.8276972770690918, -0.8146751523017883, 1.341376781463623, 0.026920676231384277, 1.3185096979141235, 0.021422551944851875, 1 ]
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5.4
54
0
54
0
[ 0.8278051018714905, -0.7735951542854309, 1.3607501983642578, -0.03441459313035011, 1.3182820081710815, 0.02138659916818142, 1 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
5.5
55
0
55
0
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[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
5.6
56
0
56
0
[ 0.8279489278793335, -0.7525647282600403, 1.3676352500915527, -0.06300193816423416, 1.3183059692382812, 0.021530410274863243, 1 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 1 ]
5.7
57
0
57
0
[ 0.8279249668121338, -0.7531402707099915, 1.3677797317504883, -0.06339771300554276, 1.318269968032837, 0.02157834731042385, 0 ]
[ -0.00019531250291038305, 0.00019531250291038305, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 0 ]
5.8
58
0
58
0
[ 0.8280088305473328, -0.7535832524299622, 1.3680434226989746, -0.06336147338151932, 1.318329930305481, 0.021542394533753395, 0 ]
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5.9
59
0
59
0
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6
60
0
60
0
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[ -0.00019531250291038305, 0.00019531250291038305, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 0 ]
6.1
61
0
61
0
[ 0.8271467089653015, -0.7551291584968567, 1.368955135345459, -0.06375724822282791, 1.317635178565979, 0.02114691399037838, 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
[ 0.825110137462616, -0.7574899792671204, 1.3702387809753418, -0.06411678344011307, 1.31716787815094, 0.02024884708225727, 0 ]
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6.5
65
0
65
0
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6.6
66
0
66
0
[ 0.8246787190437317, -0.758256733417511, 1.3706707954406738, -0.06427270919084549, 1.316784381866455, 0.020045489072799683, 0 ]
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6.7
67
0
67
0
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6.8
68
0
68
0
[ 0.8233851790428162, -0.7597787976264954, 1.3714022636413574, -0.064656563103199, 1.3163409233093262, 0.019254904240369797, 0 ]
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6.9
69
0
69
0
[ 0.8228698372840881, -0.7604616284370422, 1.3718700408935547, -0.06481248885393143, 1.3157776594161987, 0.019015595316886902, 0 ]
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7
70
0
70
0
[ 0.8224024772644043, -0.7613843083381653, 1.3722782135009766, -0.06495601683855057, 1.3154420852661133, 0.018847815692424774, 0 ]
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7.1
71
0
71
0
[ 0.8224384188652039, -0.7613962292671204, 1.3723258972167969, -0.06494409590959549, 1.3153941631317139, 0.01888376846909523, 0 ]
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7.2
72
0
72
0
[ 0.8220552802085876, -0.7621510624885559, 1.3727335929870605, -0.06517202407121658, 1.3151664733886719, 0.018572553992271423, 0 ]
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7.3
73
0
73
0
[ 0.8212407827377319, -0.7630141377449036, 1.3731298446655273, -0.06529218703508377, 1.314842939376831, 0.018344853073358536, 0 ]
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7.4
74
0
74
0
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7.5
75
0
75
0
[ 0.8208812475204468, -0.766956627368927, 1.3725781440734863, -0.06054336205124855, 1.3145673274993896, 0.018045620992779732, 0 ]
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7.6
76
0
76
0
[ 0.8208093047142029, -0.7935717701911926, 1.362741470336914, -0.025253120809793472, 1.314615249633789, 0.018057605251669884, 0 ]
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7.7
77
0
77
0
[ 0.8207494020462036, -0.8283970952033997, 1.3447833061218262, 0.02799999713897705, 1.3147950172424316, 0.017949748784303665, 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
[ 0.8206894993782043, -0.8691809773445129, 1.3142657279968262, 0.09857964515686035, 1.314842939376831, 0.017782343551516533, 0 ]
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8.1
81
0
81
0
[ 0.8205097317695618, -0.8836348652839661, 1.300278663635254, 0.12810158729553223, 1.314950704574585, 0.017686469480395317, 0 ]
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8.2
82
0
82
0
[ 0.8204741477966309, -0.8836467862129211, 1.3001108169555664, 0.12731027603149414, 1.3149387836456299, 0.017734406515955925, 0 ]
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8.3
83
0
83
0
[ 0.820569634437561, -0.9027398228645325, 1.277571201324463, 0.16855883598327637, 1.3150227069854736, 0.01769845373928547, 0 ]
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8.4
84
0
84
0
[ 0.8204861283302307, -0.9240983128547668, 1.2458558082580566, 0.22230136394500732, 1.3151185512542725, 0.017566626891493797, 0 ]
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8.5
85
0
85
0
[ 0.820462167263031, -0.9279821515083313, 1.2392101287841797, 0.23318910598754883, 1.3151904344558716, 0.017542658373713493, 0 ]
[ -4.882812731921149e-7, 4.882812731921149e-7, 0, -0.0003906250058207661, 0.0003906250058207661, 0, 0 ]
8.6
86
0
86
0
[ 0.8204861283302307, -0.9285815358161926, 1.2394018173217773, 0.23341679573059082, 1.3151664733886719, 0.017542658373713493, 0 ]
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8.7
87
0
87
0
[ 0.8205217123031616, -0.9293249249458313, 1.2395339012145996, 0.23332083225250244, 1.3151664733886719, 0.017482737079262733, 0 ]
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8.8
88
0
88
0
[ 0.8232293725013733, -0.9298761487007141, 1.2407097816467285, 0.23274528980255127, 1.3175513744354248, 0.01888376846909523, 0 ]
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8.9
89
0
89
0
[ 0.8536198735237122, -0.9363368153572083, 1.2505574226379395, 0.2240757942199707, 1.343173623085022, 0.03506134822964668, 0 ]
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9
90
0
90
0
[ 0.9099442362785339, -0.9441879391670227, 1.2622170448303223, 0.21520256996154785, 1.3926219940185547, 0.06429087370634079, 0 ]
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9.1
91
0
91
0
[ 0.9119085073471069, -0.9442957043647766, 1.2623968124389648, 0.21372783184051514, 1.3936766386032104, 0.06527245789766312, 0 ]
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9.2
92
0
92
0
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9.3
93
0
93
0
[ 0.9623621106147766, -0.9813464283943176, 1.3225665092468262, 0.18744409084320068, 1.4376003742218018, 0.09089772403240204, 0 ]
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9.4
94
0
94
0
[ 0.9837438464164734, -0.9954555630683899, 1.345107078552246, 0.17726397514343262, 1.4561409950256348, 0.10187827050685883, 0 ]
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9.5
95
0
95
0
[ 0.9839588403701782, -0.9954317212104797, 1.34521484375, 0.17714405059814453, 1.4560691118240356, 0.10190223902463913, 0 ]
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9.6
96
0
96
0
[ 0.9972789287567139, -1.0034993886947632, 1.35772705078125, 0.17146050930023193, 1.4666635990142822, 0.10863175988197327, 0 ]
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9.7
97
0
97
0
[ 1.0547020435333252, -1.0327733755111694, 1.4039959907531738, 0.15265882015228271, 1.5176957845687866, 0.1373339742422104, 0 ]
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9.8
98
0
98
0
[ 1.0618888139724731, -1.0362857580184937, 1.4093942642211914, 0.1501765251159668, 1.5236399173736572, 0.14099852740764618, 0 ]
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9.9
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "ur5",
    "total_episodes": 1,
    "total_frames": 154,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
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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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    }
}

Citation

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