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observation.state
sequence
action
sequence
timestamp
float32
0
425
frame_index
int64
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12.7k
episode_index
int64
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82
index
int64
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293k
task_index
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1.6
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1.666667
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1.7
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2.3
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2.6
78
0
78
0
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2.633333
79
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79
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2.666667
80
0
80
0
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2.7
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81
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2.733333
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82
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[ -0.7715923190116882, 1.2655341625213623, -0.9286719560623169, 0.8283496499061584, 0.07516505569219589, -0.6350680589675903, 0.9999999403953552, 0.882038950920105, 1.919930338859558, -1.4293632507324219, 0.43902531266212463, -0.16597671806812286, 0.34207770228385925, 0 ]
2.766667
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83
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2.8
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84
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2.833333
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85
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[ -0.778035044670105, 1.2701361179351807, -0.9286719560623169, 0.812396228313446, 0.07516505569219589, -0.6369088292121887, 0.9999999403953552, 0.8084079027175903, 1.879433274269104, -1.5437983274459839, 0.5221670866012573, -0.1306951642036438, 0.34207770228385925, 0 ]
2.866667
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86
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2.9
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87
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2.933333
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88
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2.966667
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89
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3
90
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90
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3.033333
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91
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3.066667
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92
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3.1
93
0
93
0
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3.133333
94
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94
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3.166667
95
0
95
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3.2
96
0
96
0
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3.233333
97
0
97
0
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[ -0.8004311919212341, 1.2701361179351807, -0.9326603412628174, 0.7961360216140747, 0.07516505569219589, -0.6458058953285217, 0.9999999403953552, 0.3227495551109314, 1.9061245918273926, -1.5950331687927246, 0.7059379816055298, -0.12916117906570435, 0.2948310971260071, 0 ]
3.266667
98
0
98
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3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "Unitree_Z1_Dual",
    "total_episodes": 83,
    "total_frames": 293197,
    "total_tasks": 1,
    "total_videos": 249,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:83"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                [
                    "kLeftWaist",
                    "kLeftShoulder",
                    "kLeftElbow",
                    "kLeftForearmRoll",
                    "kLeftWristAngle",
                    "kLeftWristRotate",
                    "kLeftGripper",
                    "kRightWaist",
                    "kRightShoulder",
                    "kRightElbow",
                    "kRightForearmRoll",
                    "kRightWristAngle",
                    "kRightWristRotate",
                    "kRightGripper"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
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            "names": [
                [
                    "kLeftWaist",
                    "kLeftShoulder",
                    "kLeftElbow",
                    "kLeftForearmRoll",
                    "kLeftWristAngle",
                    "kLeftWristRotate",
                    "kLeftGripper",
                    "kRightWaist",
                    "kRightShoulder",
                    "kRightElbow",
                    "kRightForearmRoll",
                    "kRightWristAngle",
                    "kRightWristRotate",
                    "kRightGripper"
                ]
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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                640
            ],
            "names": [
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                "height",
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            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.cam_left_wrist": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.cam_right_wrist": {
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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