Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
29.7
| frame_index
int64 0
891
| episode_index
int64 0
16
| index
int64 0
15k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0 | 0 | 0 | 0 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.033333 | 1 | 0 | 1 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2049,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.066667 | 2 | 0 | 2 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2049,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.1 | 3 | 0 | 3 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2048,
2115
] | 0.133333 | 4 | 0 | 4 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.166667 | 5 | 0 | 5 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.2 | 6 | 0 | 6 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.233333 | 7 | 0 | 7 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.266667 | 8 | 0 | 8 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.3 | 9 | 0 | 9 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.333333 | 10 | 0 | 10 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.366667 | 11 | 0 | 11 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.4 | 12 | 0 | 12 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.433333 | 13 | 0 | 13 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.466667 | 14 | 0 | 14 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.5 | 15 | 0 | 15 | 0 |
[
2047,
2047,
2043,
2067,
2048,
2050,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.533333 | 16 | 0 | 16 | 0 |
[
2047,
2047,
2043,
2065,
2050,
2049,
2115
] | [
2047,
2047,
2044,
2066,
2048,
2049,
2115
] | 0.566667 | 17 | 0 | 17 | 0 |
[
2047,
2047,
2043,
2061,
2054,
2049,
2115
] | [
2047,
2047,
2044,
2064,
2050,
2049,
2115
] | 0.6 | 18 | 0 | 18 | 0 |
[
2047,
2047,
2043,
2054,
2060,
2049,
2115
] | [
2047,
2047,
2044,
2061,
2053,
2049,
2115
] | 0.633333 | 19 | 0 | 19 | 0 |
[
2047,
2047,
2043,
2051,
2063,
2049,
2115
] | [
2047,
2047,
2044,
2054,
2060,
2049,
2115
] | 0.666667 | 20 | 0 | 20 | 0 |
[
2047,
2047,
2043,
2044,
2070,
2050,
2115
] | [
2047,
2047,
2044,
2049,
2063,
2049,
2115
] | 0.7 | 21 | 0 | 21 | 0 |
[
2047,
2047,
2043,
2039,
2073,
2050,
2115
] | [
2047,
2047,
2043,
2044,
2070,
2049,
2115
] | 0.733333 | 22 | 0 | 22 | 0 |
[
2047,
2047,
2043,
2034,
2080,
2050,
2115
] | [
2047,
2047,
2043,
2039,
2074,
2050,
2115
] | 0.766667 | 23 | 0 | 23 | 0 |
[
2047,
2047,
2043,
2029,
2084,
2050,
2115
] | [
2047,
2047,
2043,
2033,
2081,
2050,
2115
] | 0.8 | 24 | 0 | 24 | 0 |
[
2047,
2047,
2043,
2023,
2091,
2050,
2115
] | [
2047,
2047,
2043,
2029,
2085,
2050,
2115
] | 0.833333 | 25 | 0 | 25 | 0 |
[
2047,
2047,
2043,
2019,
2095,
2051,
2115
] | [
2047,
2047,
2043,
2024,
2091,
2050,
2115
] | 0.866667 | 26 | 0 | 26 | 0 |
[
2047,
2047,
2043,
2014,
2101,
2051,
2115
] | [
2047,
2047,
2042,
2019,
2095,
2050,
2115
] | 0.9 | 27 | 0 | 27 | 0 |
[
2047,
2047,
2043,
2009,
2105,
2053,
2115
] | [
2047,
2047,
2042,
2015,
2100,
2051,
2115
] | 0.933333 | 28 | 0 | 28 | 0 |
[
2047,
2048,
2043,
2005,
2110,
2054,
2115
] | [
2047,
2047,
2043,
2006,
2106,
2052,
2115
] | 0.966667 | 29 | 0 | 29 | 0 |
[
2047,
2048,
2043,
1996,
2116,
2055,
2115
] | [
2047,
2048,
2043,
2004,
2110,
2053,
2115
] | 1 | 30 | 0 | 30 | 0 |
[
2047,
2048,
2043,
1994,
2120,
2055,
2115
] | [
2047,
2048,
2043,
1997,
2117,
2053,
2115
] | 1.033333 | 31 | 0 | 31 | 0 |
[
2047,
2049,
2043,
1987,
2127,
2055,
2115
] | [
2047,
2048,
2043,
1993,
2120,
2054,
2115
] | 1.066667 | 32 | 0 | 32 | 0 |
[
2047,
2049,
2043,
1983,
2128,
2055,
2115
] | [
2047,
2048,
2042,
1988,
2127,
2054,
2115
] | 1.1 | 33 | 0 | 33 | 0 |
[
2047,
2049,
2043,
1978,
2128,
2054,
2115
] | [
2047,
2048,
2042,
1984,
2130,
2054,
2115
] | 1.133333 | 34 | 0 | 34 | 0 |
[
2047,
2049,
2043,
1974,
2128,
2054,
2115
] | [
2047,
2048,
2043,
1979,
2129,
2053,
2115
] | 1.166667 | 35 | 0 | 35 | 0 |
[
2047,
2049,
2043,
1969,
2129,
2054,
2115
] | [
2047,
2048,
2043,
1974,
2129,
2053,
2115
] | 1.2 | 36 | 0 | 36 | 0 |
[
2047,
2049,
2043,
1964,
2128,
2054,
2115
] | [
2047,
2048,
2043,
1969,
2130,
2053,
2115
] | 1.233333 | 37 | 0 | 37 | 0 |
[
2047,
2049,
2043,
1959,
2128,
2055,
2115
] | [
2047,
2048,
2043,
1965,
2128,
2053,
2115
] | 1.266667 | 38 | 0 | 38 | 0 |
[
2047,
2049,
2043,
1955,
2128,
2054,
2115
] | [
2047,
2048,
2043,
1960,
2128,
2054,
2115
] | 1.3 | 39 | 0 | 39 | 0 |
[
2047,
2049,
2043,
1950,
2127,
2054,
2115
] | [
2047,
2048,
2043,
1956,
2128,
2053,
2115
] | 1.333333 | 40 | 0 | 40 | 0 |
[
2047,
2049,
2043,
1946,
2126,
2054,
2115
] | [
2047,
2048,
2043,
1950,
2127,
2053,
2115
] | 1.366667 | 41 | 0 | 41 | 0 |
[
2047,
2049,
2043,
1940,
2127,
2054,
2115
] | [
2047,
2048,
2043,
1946,
2126,
2053,
2115
] | 1.4 | 42 | 0 | 42 | 0 |
[
2047,
2050,
2043,
1936,
2128,
2052,
2115
] | [
2047,
2048,
2043,
1940,
2127,
2053,
2115
] | 1.433333 | 43 | 0 | 43 | 0 |
[
2047,
2050,
2043,
1930,
2130,
2052,
2116
] | [
2047,
2048,
2043,
1937,
2128,
2052,
2115
] | 1.466667 | 44 | 0 | 44 | 0 |
[
2047,
2050,
2043,
1927,
2136,
2052,
2119
] | [
2047,
2049,
2043,
1931,
2130,
2052,
2115
] | 1.5 | 45 | 0 | 45 | 0 |
[
2047,
2050,
2043,
1921,
2140,
2051,
2125
] | [
2047,
2050,
2043,
1927,
2136,
2052,
2118
] | 1.533333 | 46 | 0 | 46 | 0 |
[
2047,
2050,
2043,
1917,
2144,
2051,
2128
] | [
2047,
2049,
2043,
1922,
2140,
2052,
2126
] | 1.566667 | 47 | 0 | 47 | 0 |
[
2047,
2050,
2043,
1912,
2147,
2050,
2136
] | [
2047,
2049,
2043,
1918,
2144,
2051,
2133
] | 1.6 | 48 | 0 | 48 | 0 |
[
2047,
2050,
2043,
1908,
2152,
2050,
2143
] | [
2047,
2049,
2043,
1913,
2148,
2050,
2138
] | 1.633333 | 49 | 0 | 49 | 0 |
[
2047,
2050,
2043,
1903,
2155,
2050,
2148
] | [
2047,
2049,
2043,
1908,
2153,
2050,
2146
] | 1.666667 | 50 | 0 | 50 | 0 |
[
2047,
2050,
2043,
1898,
2158,
2050,
2156
] | [
2047,
2049,
2043,
1903,
2156,
2050,
2152
] | 1.7 | 51 | 0 | 51 | 0 |
[
2047,
2050,
2043,
1893,
2164,
2050,
2162
] | [
2047,
2049,
2043,
1897,
2159,
2050,
2158
] | 1.733333 | 52 | 0 | 52 | 0 |
[
2047,
2050,
2043,
1887,
2169,
2051,
2168
] | [
2047,
2049,
2043,
1893,
2165,
2050,
2165
] | 1.766667 | 53 | 0 | 53 | 0 |
[
2047,
2050,
2043,
1883,
2175,
2054,
2175
] | [
2047,
2049,
2043,
1887,
2169,
2051,
2171
] | 1.8 | 54 | 0 | 54 | 0 |
[
2047,
2050,
2043,
1878,
2179,
2056,
2181
] | [
2047,
2050,
2043,
1883,
2174,
2053,
2179
] | 1.833333 | 55 | 0 | 55 | 0 |
[
2047,
2050,
2043,
1873,
2184,
2060,
2189
] | [
2047,
2050,
2043,
1878,
2180,
2054,
2184
] | 1.866667 | 56 | 0 | 56 | 0 |
[
2047,
2050,
2043,
1868,
2190,
2062,
2194
] | [
2047,
2049,
2043,
1873,
2185,
2058,
2191
] | 1.9 | 57 | 0 | 57 | 0 |
[
2047,
2050,
2043,
1864,
2195,
2060,
2201
] | [
2047,
2049,
2043,
1869,
2191,
2060,
2198
] | 1.933333 | 58 | 0 | 58 | 0 |
[
2047,
2050,
2043,
1859,
2201,
2058,
2208
] | [
2047,
2049,
2043,
1863,
2196,
2060,
2204
] | 1.966667 | 59 | 0 | 59 | 0 |
[
2047,
2050,
2043,
1853,
2206,
2057,
2214
] | [
2047,
2049,
2043,
1858,
2202,
2058,
2211
] | 2 | 60 | 0 | 60 | 0 |
[
2047,
2050,
2043,
1848,
2212,
2057,
2221
] | [
2047,
2049,
2043,
1853,
2206,
2057,
2218
] | 2.033333 | 61 | 0 | 61 | 0 |
[
2047,
2050,
2043,
1843,
2216,
2058,
2228
] | [
2047,
2049,
2043,
1849,
2211,
2057,
2222
] | 2.066667 | 62 | 0 | 62 | 0 |
[
2047,
2050,
2043,
1839,
2221,
2060,
2232
] | [
2047,
2050,
2043,
1844,
2217,
2057,
2229
] | 2.1 | 63 | 0 | 63 | 0 |
[
2047,
2049,
2043,
1834,
2227,
2061,
2239
] | [
2047,
2050,
2043,
1839,
2222,
2059,
2236
] | 2.133333 | 64 | 0 | 64 | 0 |
[
2047,
2049,
2043,
1829,
2232,
2062,
2246
] | [
2047,
2049,
2043,
1835,
2228,
2060,
2242
] | 2.166667 | 65 | 0 | 65 | 0 |
[
2047,
2049,
2043,
1825,
2238,
2064,
2252
] | [
2047,
2049,
2043,
1829,
2234,
2061,
2248
] | 2.2 | 66 | 0 | 66 | 0 |
[
2047,
2049,
2043,
1819,
2244,
2068,
2258
] | [
2047,
2048,
2043,
1825,
2239,
2063,
2255
] | 2.233333 | 67 | 0 | 67 | 0 |
[
2046,
2048,
2043,
1815,
2249,
2072,
2265
] | [
2047,
2048,
2043,
1819,
2245,
2067,
2261
] | 2.266667 | 68 | 0 | 68 | 0 |
[
2044,
2047,
2043,
1809,
2255,
2076,
2271
] | [
2045,
2048,
2043,
1814,
2250,
2070,
2268
] | 2.3 | 69 | 0 | 69 | 0 |
[
2042,
2046,
2043,
1804,
2260,
2080,
2278
] | [
2044,
2048,
2043,
1808,
2255,
2073,
2274
] | 2.333333 | 70 | 0 | 70 | 0 |
[
2039,
2043,
2043,
1799,
2265,
2083,
2284
] | [
2043,
2048,
2043,
1804,
2261,
2077,
2282
] | 2.366667 | 71 | 0 | 71 | 0 |
[
2036,
2040,
2043,
1794,
2269,
2087,
2292
] | [
2040,
2046,
2043,
1799,
2263,
2082,
2286
] | 2.4 | 72 | 0 | 72 | 0 |
[
2034,
2036,
2042,
1789,
2269,
2092,
2296
] | [
2036,
2044,
2043,
1795,
2268,
2085,
2295
] | 2.433333 | 73 | 0 | 73 | 0 |
[
2032,
2034,
2042,
1785,
2268,
2095,
2305
] | [
2034,
2039,
2043,
1789,
2271,
2090,
2301
] | 2.466667 | 74 | 0 | 74 | 0 |
[
2030,
2029,
2042,
1779,
2267,
2100,
2311
] | [
2031,
2035,
2042,
1784,
2269,
2094,
2307
] | 2.5 | 75 | 0 | 75 | 0 |
[
2030,
2025,
2042,
1774,
2267,
2102,
2317
] | [
2029,
2030,
2042,
1778,
2268,
2099,
2315
] | 2.533333 | 76 | 0 | 76 | 0 |
[
2029,
2020,
2042,
1768,
2265,
2102,
2325
] | [
2029,
2025,
2041,
1771,
2268,
2101,
2321
] | 2.566667 | 77 | 0 | 77 | 0 |
[
2029,
2015,
2042,
1761,
2264,
2102,
2331
] | [
2028,
2021,
2040,
1766,
2266,
2102,
2328
] | 2.6 | 78 | 0 | 78 | 0 |
[
2028,
2011,
2042,
1756,
2259,
2101,
2338
] | [
2028,
2015,
2041,
1760,
2266,
2102,
2335
] | 2.633333 | 79 | 0 | 79 | 0 |
[
2028,
2005,
2042,
1750,
2255,
2101,
2345
] | [
2028,
2012,
2041,
1755,
2259,
2101,
2341
] | 2.666667 | 80 | 0 | 80 | 0 |
[
2028,
2002,
2042,
1746,
2249,
2100,
2351
] | [
2028,
2007,
2041,
1749,
2257,
2101,
2348
] | 2.7 | 81 | 0 | 81 | 0 |
[
2028,
1997,
2042,
1739,
2247,
2100,
2358
] | [
2028,
2002,
2041,
1745,
2250,
2100,
2354
] | 2.733333 | 82 | 0 | 82 | 0 |
[
2028,
1992,
2042,
1735,
2240,
2096,
2365
] | [
2028,
1999,
2041,
1737,
2249,
2100,
2361
] | 2.766667 | 83 | 0 | 83 | 0 |
[
2028,
1989,
2042,
1728,
2239,
2092,
2371
] | [
2027,
1992,
2041,
1732,
2241,
2098,
2368
] | 2.8 | 84 | 0 | 84 | 0 |
[
2028,
1982,
2042,
1722,
2232,
2088,
2378
] | [
2027,
1989,
2041,
1726,
2239,
2093,
2374
] | 2.833333 | 85 | 0 | 85 | 0 |
[
2028,
1979,
2042,
1717,
2233,
2083,
2384
] | [
2027,
1982,
2041,
1720,
2233,
2089,
2381
] | 2.866667 | 86 | 0 | 86 | 0 |
[
2028,
1972,
2042,
1710,
2233,
2079,
2391
] | [
2028,
1978,
2041,
1714,
2232,
2084,
2387
] | 2.9 | 87 | 0 | 87 | 0 |
[
2026,
1969,
2042,
1704,
2232,
2076,
2397
] | [
2028,
1974,
2041,
1709,
2235,
2081,
2394
] | 2.933333 | 88 | 0 | 88 | 0 |
[
2025,
1964,
2042,
1699,
2231,
2074,
2404
] | [
2027,
1968,
2041,
1702,
2233,
2077,
2400
] | 2.966667 | 89 | 0 | 89 | 0 |
[
2023,
1958,
2042,
1692,
2229,
2072,
2410
] | [
2026,
1964,
2041,
1697,
2233,
2075,
2407
] | 3 | 90 | 0 | 90 | 0 |
[
2021,
1954,
2041,
1687,
2226,
2071,
2417
] | [
2024,
1957,
2040,
1690,
2230,
2072,
2414
] | 3.033333 | 91 | 0 | 91 | 0 |
[
2019,
1947,
2041,
1680,
2223,
2071,
2424
] | [
2022,
1952,
2040,
1684,
2228,
2071,
2419
] | 3.066667 | 92 | 0 | 92 | 0 |
[
2017,
1942,
2041,
1674,
2222,
2072,
2429
] | [
2018,
1948,
2040,
1677,
2223,
2070,
2427
] | 3.1 | 93 | 0 | 93 | 0 |
[
2015,
1938,
2041,
1667,
2223,
2072,
2437
] | [
2017,
1941,
2040,
1671,
2222,
2071,
2433
] | 3.133333 | 94 | 0 | 94 | 0 |
[
2014,
1937,
2041,
1661,
2223,
2072,
2443
] | [
2015,
1937,
2040,
1666,
2222,
2070,
2439
] | 3.166667 | 95 | 0 | 95 | 0 |
[
2012,
1937,
2041,
1656,
2223,
2073,
2449
] | [
2014,
1936,
2040,
1659,
2223,
2071,
2446
] | 3.2 | 96 | 0 | 96 | 0 |
[
2009,
1937,
2041,
1649,
2223,
2075,
2456
] | [
2013,
1936,
2040,
1652,
2223,
2071,
2452
] | 3.233333 | 97 | 0 | 97 | 0 |
[
2005,
1937,
2041,
1642,
2224,
2078,
2462
] | [
2009,
1938,
2040,
1646,
2222,
2072,
2458
] | 3.266667 | 98 | 0 | 98 | 0 |
[
2002,
1937,
2041,
1636,
2224,
2082,
2468
] | [
2006,
1938,
2040,
1640,
2223,
2075,
2465
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
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"robot_type": "aloha",
"total_episodes": 17,
"total_frames": 14976,
"total_tasks": 1,
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"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"features": {
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7
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"names": [
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"left_shoulder",
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"left_forearm_roll",
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"left_gripper"
]
},
"observation.state": {
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7
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"names": [
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"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
},
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480,
640,
3
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},
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640,
3
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},
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3
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}
},
"timestamp": {
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},
"frame_index": {
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"task_index": {
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}
}
}
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