Datasets:
base_rgb imagewidth (px) 224 224 | wrist_rgb imagewidth (px) 224 224 | ultrasound_rgb imagewidth (px) 640 640 | state list | actions list | prompt stringclasses 5
values | us_gt int32 0 0 | stage int32 0 0 | timestamp float32 0 25.6 | frame_index int64 0 769 | episode_index int64 0 82 | index int64 0 20.6k | task_index int64 0 4 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | Acquire the left kidney long-axis view | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.066667 | 2 | 0 | 2 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.1 | 3 | 0 | 3 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.133333 | 4 | 0 | 4 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.166667 | 5 | 0 | 5 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.2 | 6 | 0 | 6 | 0 | |||
[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.266667 | 8 | 0 | 8 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.3 | 9 | 0 | 9 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.333333 | 10 | 0 | 10 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.366667 | 11 | 0 | 11 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.4 | 12 | 0 | 12 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.433333 | 13 | 0 | 13 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.466667 | 14 | 0 | 14 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.5 | 15 | 0 | 15 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.533333 | 16 | 0 | 16 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.566667 | 17 | 0 | 17 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.6 | 18 | 0 | 18 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.633333 | 19 | 0 | 19 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.666667 | 20 | 0 | 20 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.7 | 21 | 0 | 21 | 0 | |||
[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.766667 | 23 | 0 | 23 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.8 | 24 | 0 | 24 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.833333 | 25 | 0 | 25 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.866667 | 26 | 0 | 26 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.9 | 27 | 0 | 27 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.933333 | 28 | 0 | 28 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 0.966667 | 29 | 0 | 29 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1 | 30 | 0 | 30 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.033333 | 31 | 0 | 31 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.066667 | 32 | 0 | 32 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.1 | 33 | 0 | 33 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.133333 | 34 | 0 | 34 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.166667 | 35 | 0 | 35 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.2 | 36 | 0 | 36 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.233333 | 37 | 0 | 37 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.266667 | 38 | 0 | 38 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.3 | 39 | 0 | 39 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.333333 | 40 | 0 | 40 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.366667 | 41 | 0 | 41 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.4 | 42 | 0 | 42 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.433333 | 43 | 0 | 43 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.466667 | 44 | 0 | 44 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.5 | 45 | 0 | 45 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.533333 | 46 | 0 | 46 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.566667 | 47 | 0 | 47 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.6 | 48 | 0 | 48 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.633333 | 49 | 0 | 49 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.666667 | 50 | 0 | 50 | 0 | |||
[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.733333 | 52 | 0 | 52 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.766667 | 53 | 0 | 53 | 0 | |||
[
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[
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[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 1.9 | 57 | 0 | 57 | 0 | |||
[
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[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2 | 60 | 0 | 60 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.033333 | 61 | 0 | 61 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.066667 | 62 | 0 | 62 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.1 | 63 | 0 | 63 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.133333 | 64 | 0 | 64 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.166667 | 65 | 0 | 65 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.2 | 66 | 0 | 66 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.233333 | 67 | 0 | 67 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.266667 | 68 | 0 | 68 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.3 | 69 | 0 | 69 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.333333 | 70 | 0 | 70 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.366667 | 71 | 0 | 71 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.4 | 72 | 0 | 72 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.433333 | 73 | 0 | 73 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.466667 | 74 | 0 | 74 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.5 | 75 | 0 | 75 | 0 | |||
[
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[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.566667 | 77 | 0 | 77 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.6 | 78 | 0 | 78 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.633333 | 79 | 0 | 79 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.666667 | 80 | 0 | 80 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.7 | 81 | 0 | 81 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.733333 | 82 | 0 | 82 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.766667 | 83 | 0 | 83 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.8 | 84 | 0 | 84 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.833333 | 85 | 0 | 85 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.866667 | 86 | 0 | 86 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.9 | 87 | 0 | 87 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.933333 | 88 | 0 | 88 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 2.966667 | 89 | 0 | 89 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 3 | 90 | 0 | 90 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.033333 | 91 | 0 | 91 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.066667 | 92 | 0 | 92 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.1 | 93 | 0 | 93 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.133333 | 94 | 0 | 94 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.166667 | 95 | 0 | 95 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.2 | 96 | 0 | 96 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.233333 | 97 | 0 | 97 | 0 | |||
[
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] | [
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.266667 | 98 | 0 | 98 | 0 | |||
[
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] | Acquire the left kidney long-axis view | 0 | 0 | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur",
"total_episodes": 120,
"total_frames": 29665,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:120"
},
"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": {
"base_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"ultrasound_rgb": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
},
"actions": {
"dtype": "float32",
"shape": [
6
],
"names": [
"dx",
"dy",
"dz",
"droll",
"dpitch",
"dyaw"
]
},
"prompt": {
"dtype": "string",
"shape": [
1
],
"names": [
"prompt"
]
},
"us_gt": {
"dtype": "int32",
"shape": [
1
],
"names": [
"us_gt"
]
},
"stage": {
"dtype": "int32",
"shape": [
1
],
"names": [
"stage"
]
},
"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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