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Datasets:
shirasu206
/
ur5e_dataset_20251015_v2

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
ur5e
pi0
robot-dataset
Libraries:
Datasets
pandas
License:
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xet
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image
imagewidth (px)
256
256
wrist_image
imagewidth (px)
256
256
state
list
actions
list
timestamp
float32
0
48.1
frame_index
int64
0
481
episode_index
int64
0
0
index
int64
0
481
task_index
int64
0
0
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0.1
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0.3
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0.4
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0.8
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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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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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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5.6
56
0
56
0
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[ 1.4185093641281128, -1.1944034099578857, -0.3584464192390442, -1.8715215921401978, -1.5149186849594116, -0.961907684803009, 0.9953333735466003 ]
5.7
57
0
57
0
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5.8
58
0
58
0
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[ 1.4287189245224, -1.2030766010284424, -0.3531563878059387, -1.8686624765396118, -1.518093466758728, -0.9362724423408508, 0.9953333735466003 ]
5.9
59
0
59
0
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[ 1.4370516538619995, -1.2098379135131836, -0.3495219349861145, -1.8683239221572876, -1.5199741125106812, -0.9191024899482727, 0.9953333735466003 ]
6
60
0
60
0
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[ 1.4397886991500854, -1.2119641304016113, -0.35610896348953247, -1.8718887567520142, -1.5222433805465698, -0.922537624835968, 0.9953333735466003 ]
6.1
61
0
61
0
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[ 1.438555121421814, -1.21152925491333, -0.3545239567756653, -1.8708621263504028, -1.5217465162277222, -0.9206398129463196, 0.9959999322891235 ]
6.2
62
0
62
0
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[ 1.4313873052597046, -1.2066603899002075, -0.3572767376899719, -1.8737527132034302, -1.5215481519699097, -0.9234912991523743, 0.9953333735466003 ]
6.3
63
0
63
0
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6.4
64
0
64
0
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[ 1.4067801237106323, -1.1931710243225098, -0.3564518094062805, -1.8537541627883911, -1.5190824270248413, -0.9345963597297668, 0.9959999322891235 ]
6.5
65
0
65
0
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[ 1.3887537717819214, -1.1830018758773804, -0.3562243580818176, -1.8369733095169067, -1.5179437398910522, -0.943195641040802, 0.9959999322891235 ]
6.6
66
0
66
0
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[ 1.408668875694275, -1.1910656690597534, -0.36408311128616333, -1.8642631769180298, -1.5140875577926636, -0.9401329159736633, 0.9959999322891235 ]
6.7
67
0
67
0
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[ 1.4120696783065796, -1.1900924444198608, -0.3702247738838196, -1.8739835023880005, -1.5104025602340698, -0.9428604245185852, 0.9959999322891235 ]
6.8
68
0
68
0
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[ 1.4034565687179565, -1.1867715120315552, -0.37144118547439575, -1.8726545572280884, -1.506240725517273, -0.9708560109138489, 0.9959999322891235 ]
6.9
69
0
69
0
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[ 1.399114966392517, -1.1832975149154663, -0.37656813859939575, -1.877437710762024, -1.5007151365280151, -0.993603527545929, 0.9959999322891235 ]
7
70
0
70
0
[ 1.4152158498764038, -1.1963356733322144, -0.3684409260749817, -1.8729654550552368, -1.5108164548873901, -0.9866631627082825, 0.9959999322891235 ]
[ 1.4152158498764038, -1.1963356733322144, -0.3684409260749817, -1.8729654550552368, -1.5108164548873901, -0.9866631627082825, 0.9959999322891235 ]
7.1
71
0
71
0
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[ 1.4231780767440796, -1.2031950950622559, -0.36593562364578247, -1.8729664087295532, -1.5145405530929565, -0.9955022931098938, 0.9959999322891235 ]
7.2
72
0
72
0
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[ 1.432176947593689, -1.207879900932312, -0.36477261781692505, -1.882881760597229, -1.5128482580184937, -1.006496787071228, 0.9959999322891235 ]
7.3
73
0
73
0
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[ 1.4429110288619995, -1.2153338193893433, -0.3623722195625305, -1.8894439935684204, -1.5136221647262573, -1.019485354423523, 0.9959999322891235 ]
7.4
74
0
74
0
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[ 1.4465240240097046, -1.2178504467010498, -0.36167222261428833, -1.8820010423660278, -1.5181244611740112, -1.0136221647262573, 0.9959999322891235 ]
7.5
75
0
75
0
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[ 1.4552773237228394, -1.2244548797607422, -0.35943347215652466, -1.8811365365982056, -1.5216339826583862, -1.0176104307174683, 0.9959999322891235 ]
7.6
76
0
76
0
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[ 1.46405827999115, -1.229220986366272, -0.36118727922439575, -1.8811355829238892, -1.5267623662948608, -1.020546317100525, 0.9959999322891235 ]
7.7
77
0
77
0
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[ 1.4727238416671753, -1.2350937128067017, -0.36073237657546997, -1.8807827234268188, -1.530877947807312, -1.0241464376449585, 0.984666645526886 ]
7.8
78
0
78
0
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[ 1.4805740118026733, -1.2376952171325684, -0.3628581166267395, -1.883194088935852, -1.53714120388031, -1.0269659757614136, 0.9806666970252991 ]
7.9
79
0
79
0
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[ 1.492026686668396, -1.2436882257461548, -0.3641727566719055, -1.8853169679641724, -1.5446375608444214, -1.0314711332321167, 0.9900000095367432 ]
8
80
0
80
0
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[ 1.497778296470642, -1.2464540004730225, -0.36585360765457153, -1.8858376741409302, -1.5396836996078491, -1.0338267087936401, 0.9913333058357239 ]
8.1
81
0
81
0
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[ 1.50694739818573, -1.2514309883117676, -0.36748629808425903, -1.8875142335891724, -1.541277289390564, -1.0376266241073608, 0.9979999661445618 ]
8.2
82
0
82
0
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[ 1.5160831212997437, -1.2556408643722534, -0.37018996477127075, -1.8933497667312622, -1.5411604642868042, -1.0411638021469116, 1 ]
8.3
83
0
83
0
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[ 1.5286058187484741, -1.2620866298675537, -0.37333184480667114, -1.8991533517837524, -1.54184091091156, -1.0463379621505737, 1 ]
8.4
84
0
84
0
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[ 1.5344494581222534, -1.2656424045562744, -0.3740003705024719, -1.8994089365005493, -1.5369161367416382, -1.0552209615707397, 1 ]
8.5
85
0
85
0
[ 1.5412782430648804, -1.269761085510254, -0.37547093629837036, -1.901854157447815, -1.535105586051941, -1.061013102531433, 1 ]
[ 1.5412782430648804, -1.269761085510254, -0.37547093629837036, -1.901854157447815, -1.535105586051941, -1.061013102531433, 1 ]
8.6
86
0
86
0
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8.7
87
0
87
0
[ 1.5323055982589722, -1.2666840553283691, -0.37266474962234497, -1.8982492685317993, -1.536293387413025, -1.0568212270736694, 1 ]
[ 1.5323055982589722, -1.2666840553283691, -0.37266474962234497, -1.8982492685317993, -1.536293387413025, -1.0568212270736694, 1 ]
8.8
88
0
88
0
[ 1.5093005895614624, -1.253560185432434, -0.3693717122077942, -1.8848644495010376, -1.5326699018478394, -1.0858019590377808, 1 ]
[ 1.5093005895614624, -1.253560185432434, -0.3693717122077942, -1.8848644495010376, -1.5326699018478394, -1.0858019590377808, 1 ]
8.9
89
0
89
0
[ 1.5006855726242065, -1.249099850654602, -0.3681543469429016, -1.8796621561050415, -1.531305193901062, -1.0972036123275757, 1 ]
[ 1.5006855726242065, -1.249099850654602, -0.3681543469429016, -1.8796621561050415, -1.531305193901062, -1.0972036123275757, 1 ]
9
90
0
90
0
[ 1.4977210760116577, -1.245592713356018, -0.36897212266921997, -1.8961654901504517, -1.535605788230896, -1.1088727712631226, 1 ]
[ 1.4977210760116577, -1.245592713356018, -0.36897212266921997, -1.8961654901504517, -1.535605788230896, -1.1088727712631226, 1 ]
9.1
91
0
91
0
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[ 1.4909332990646362, -1.2408185005187988, -0.3686283230781555, -1.9003373384475708, -1.536476969718933, -1.1218136548995972, 1 ]
9.2
92
0
92
0
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[ 1.4837630987167358, -1.2364977598190308, -0.36795932054519653, -1.9085355997085571, -1.5403064489364624, -1.1343973875045776, 1 ]
9.3
93
0
93
0
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[ 1.478484034538269, -1.2328743934631348, -0.36776143312454224, -1.9130464792251587, -1.5417903661727905, -1.1443580389022827, 1 ]
9.4
94
0
94
0
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[ 1.470427393913269, -1.2278425693511963, -0.36715298891067505, -1.9199858903884888, -1.54417884349823, -1.158586859703064, 1 ]
9.5
95
0
95
0
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[ 1.4656304121017456, -1.2245099544525146, -0.36695271730422974, -1.9244190454483032, -1.54544198513031, -1.1679829359054565, 1 ]
9.6
96
0
96
0
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[ 1.4574540853500366, -1.2193992137908936, -0.3664143681526184, -1.9312807321548462, -1.5475696325302124, -1.1820958852767944, 0.9959999322891235 ]
9.7
97
0
97
0
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[ 1.4525822401046753, -1.2159183025360107, -0.366258442401886, -1.9356356859207153, -1.548709750175476, -1.1915868520736694, 0.9906666874885559 ]
9.8
98
0
98
0
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[ 1.4459503889083862, -1.2119290828704834, -0.3658483624458313, -1.9412108659744263, -1.550139307975769, -1.20305335521698, 0.9906666874885559 ]
9.9
99
0
99
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5e",
    "total_episodes": 1,
    "total_frames": 482,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10.0,
    "splits": {
        "train": "0:1"
    },
    "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": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ]
        },
        "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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Downloads last month
11
License:
apache-2.0
Size of downloaded dataset files:
76.2 MB
Size of the auto-converted Parquet files:
76.2 MB
Number of rows:
482