Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
9.87
| frame_index
int64 0
296
| episode_index
int64 0
19
| index
int64 0
5.06k
| task_index
int64 0
0
|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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91.23046875,
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[
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[
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90,
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[
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[
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[
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| 43
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[
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[
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[
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[
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[
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83.671875,
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[
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[
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[
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[
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| 48
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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78.134765625,
-9.755859375,
3.955078125,
34.98046875
] |
[
10.810546875,
105.908203125,
78.75,
-10.8984375,
4.04296875,
34.98046875
] | 1.9
| 57
| 0
| 57
| 0
|
[
20.91796875,
110.302734375,
78.22265625,
-9.140625,
3.955078125,
34.98046875
] |
[
14.765625,
107.40234375,
78.837890625,
-9.931640625,
4.04296875,
34.98046875
] | 1.933333
| 58
| 0
| 58
| 0
|
[
25.3125,
110.91796875,
78.22265625,
-8.701171875,
4.04296875,
35.068359375
] |
[
19.3359375,
108.544921875,
78.75,
-9.228515625,
4.04296875,
34.98046875
] | 1.966667
| 59
| 0
| 59
| 0
|
[
30.322265625,
111.181640625,
78.134765625,
-8.61328125,
3.955078125,
34.98046875
] |
[
23.5546875,
109.248046875,
78.75,
-8.701171875,
4.04296875,
34.98046875
] | 2
| 60
| 0
| 60
| 0
|
[
34.716796875,
111.09375,
78.134765625,
-8.61328125,
3.955078125,
34.98046875
] |
[
28.4765625,
109.6875,
78.75,
-8.525390625,
4.04296875,
34.98046875
] | 2.033333
| 61
| 0
| 61
| 0
|
[
39.287109375,
111.09375,
78.134765625,
-8.61328125,
3.955078125,
34.98046875
] |
[
33.22265625,
109.86328125,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.066667
| 62
| 0
| 62
| 0
|
[
43.41796875,
110.7421875,
78.134765625,
-8.61328125,
4.04296875,
34.98046875
] |
[
37.529296875,
109.86328125,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.1
| 63
| 0
| 63
| 0
|
[
46.7578125,
110.654296875,
78.134765625,
-8.525390625,
3.955078125,
34.98046875
] |
[
41.923828125,
109.775390625,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.133333
| 64
| 0
| 64
| 0
|
[
49.921875,
110.56640625,
78.22265625,
-8.61328125,
3.955078125,
34.98046875
] |
[
45.3515625,
109.86328125,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.166667
| 65
| 0
| 65
| 0
|
[
52.470703125,
110.126953125,
78.22265625,
-8.61328125,
3.955078125,
34.98046875
] |
[
48.603515625,
109.86328125,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.2
| 66
| 0
| 66
| 0
|
[
55.01953125,
109.072265625,
78.134765625,
-8.701171875,
3.955078125,
34.98046875
] |
[
51.416015625,
109.6875,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.233333
| 67
| 0
| 67
| 0
|
[
57.48046875,
107.490234375,
78.134765625,
-8.701171875,
3.955078125,
34.98046875
] |
[
53.96484375,
108.896484375,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.266667
| 68
| 0
| 68
| 0
|
[
59.853515625,
105.556640625,
78.134765625,
-8.701171875,
3.955078125,
34.98046875
] |
[
56.42578125,
107.578125,
78.75,
-8.4375,
4.04296875,
34.98046875
] | 2.3
| 69
| 0
| 69
| 0
|
[
61.962890625,
103.359375,
78.046875,
-8.876953125,
3.955078125,
34.98046875
] |
[
58.798828125,
105.732421875,
78.75,
-8.4375,
3.955078125,
34.98046875
] | 2.333333
| 70
| 0
| 70
| 0
|
[
63.720703125,
101.162109375,
77.783203125,
-8.876953125,
3.955078125,
34.98046875
] |
[
60.99609375,
103.7109375,
78.75,
-8.4375,
4.04296875,
35.068359375
] | 2.366667
| 71
| 0
| 71
| 0
|
[
65.0390625,
98.876953125,
77.16796875,
-8.876953125,
3.955078125,
34.98046875
] |
[
63.10546875,
101.162109375,
78.3984375,
-8.4375,
4.04296875,
34.98046875
] | 2.4
| 72
| 0
| 72
| 0
|
[
66.005859375,
96.328125,
76.025390625,
-8.876953125,
3.955078125,
34.98046875
] |
[
64.599609375,
98.7890625,
77.87109375,
-8.4375,
4.130859375,
34.98046875
] | 2.433333
| 73
| 0
| 73
| 0
|
[
66.62109375,
93.8671875,
74.53125,
-8.96484375,
3.955078125,
34.98046875
] |
[
65.654296875,
96.240234375,
76.640625,
-8.4375,
4.04296875,
34.98046875
] | 2.466667
| 74
| 0
| 74
| 0
|
[
67.060546875,
91.0546875,
72.685546875,
-8.96484375,
3.955078125,
34.98046875
] |
[
66.357421875,
93.779296875,
75.146484375,
-8.4375,
4.04296875,
34.98046875
] | 2.5
| 75
| 0
| 75
| 0
|
[
67.587890625,
87.978515625,
70.751953125,
-8.96484375,
4.04296875,
34.98046875
] |
[
66.708984375,
91.40625,
73.388671875,
-8.4375,
3.955078125,
34.98046875
] | 2.533333
| 76
| 0
| 76
| 0
|
[
68.02734375,
84.90234375,
68.73046875,
-8.96484375,
3.955078125,
34.98046875
] |
[
67.32421875,
88.330078125,
71.3671875,
-8.4375,
3.955078125,
34.98046875
] | 2.566667
| 77
| 0
| 77
| 0
|
[
68.466796875,
81.650390625,
66.4453125,
-8.96484375,
4.04296875,
34.98046875
] |
[
67.8515625,
85.341796875,
69.521484375,
-8.4375,
3.955078125,
34.98046875
] | 2.6
| 78
| 0
| 78
| 0
|
[
68.818359375,
78.92578125,
64.423828125,
-8.96484375,
3.955078125,
34.98046875
] |
[
68.203125,
82.177734375,
67.236328125,
-8.4375,
3.955078125,
34.98046875
] | 2.633333
| 79
| 0
| 79
| 0
|
[
69.08203125,
76.2890625,
62.40234375,
-8.96484375,
4.04296875,
34.98046875
] |
[
68.642578125,
79.1015625,
65.0390625,
-8.4375,
3.955078125,
34.98046875
] | 2.666667
| 80
| 0
| 80
| 0
|
[
69.345703125,
73.564453125,
60.556640625,
-8.876953125,
3.955078125,
34.98046875
] |
[
68.90625,
76.11328125,
63.017578125,
-8.4375,
3.955078125,
34.98046875
] | 2.7
| 81
| 0
| 81
| 0
|
[
69.521484375,
70.927734375,
59.23828125,
-8.7890625,
3.955078125,
34.98046875
] |
[
69.08203125,
73.564453125,
61.34765625,
-8.4375,
3.955078125,
34.98046875
] | 2.733333
| 82
| 0
| 82
| 0
|
[
69.697265625,
68.466796875,
58.447265625,
-8.701171875,
3.955078125,
34.98046875
] |
[
69.2578125,
71.103515625,
59.94140625,
-8.4375,
3.955078125,
34.98046875
] | 2.766667
| 83
| 0
| 83
| 0
|
[
69.873046875,
66.533203125,
58.0078125,
-8.701171875,
3.955078125,
34.98046875
] |
[
69.345703125,
68.642578125,
59.23828125,
-8.4375,
4.04296875,
34.98046875
] | 2.8
| 84
| 0
| 84
| 0
|
[
69.873046875,
64.951171875,
57.83203125,
-8.701171875,
3.955078125,
34.98046875
] |
[
69.521484375,
66.26953125,
58.7109375,
-8.4375,
4.130859375,
34.98046875
] | 2.833333
| 85
| 0
| 85
| 0
|
[
69.9609375,
63.80859375,
57.83203125,
-8.701171875,
3.955078125,
34.98046875
] |
[
69.697265625,
64.51171875,
58.53515625,
-8.4375,
3.955078125,
34.98046875
] | 2.866667
| 86
| 0
| 86
| 0
|
[
69.873046875,
62.9296875,
57.83203125,
-8.61328125,
3.955078125,
34.98046875
] |
[
69.78515625,
63.10546875,
58.53515625,
-8.4375,
3.955078125,
34.98046875
] | 2.9
| 87
| 0
| 87
| 0
|
[
69.9609375,
62.05078125,
57.83203125,
-8.61328125,
3.955078125,
34.98046875
] |
[
69.873046875,
62.2265625,
58.53515625,
-8.4375,
3.955078125,
34.98046875
] | 2.933333
| 88
| 0
| 88
| 0
|
[
69.9609375,
61.435546875,
57.919921875,
-8.61328125,
3.955078125,
34.98046875
] |
[
69.873046875,
61.5234375,
58.53515625,
-8.4375,
3.955078125,
34.98046875
] | 2.966667
| 89
| 0
| 89
| 0
|
[
69.9609375,
60.908203125,
57.919921875,
-8.525390625,
3.955078125,
34.98046875
] |
[
69.873046875,
60.908203125,
58.447265625,
-8.4375,
3.955078125,
34.98046875
] | 3
| 90
| 0
| 90
| 0
|
[
69.873046875,
60.8203125,
58.095703125,
-8.525390625,
3.955078125,
34.98046875
] |
[
69.78515625,
60.29296875,
58.53515625,
-8.4375,
4.130859375,
34.98046875
] | 3.033333
| 91
| 0
| 91
| 0
|
[
69.9609375,
60.908203125,
58.18359375,
-8.349609375,
3.955078125,
34.98046875
] |
[
69.78515625,
60.029296875,
58.53515625,
-8.4375,
4.130859375,
34.98046875
] | 3.066667
| 92
| 0
| 92
| 0
|
[
69.9609375,
61.083984375,
58.359375,
-7.646484375,
3.955078125,
34.98046875
] |
[
69.873046875,
60.029296875,
58.447265625,
-8.349609375,
4.04296875,
34.98046875
] | 3.1
| 93
| 0
| 93
| 0
|
[
69.9609375,
61.083984375,
58.623046875,
-6.240234375,
3.8671875,
34.98046875
] |
[
69.873046875,
60.029296875,
58.623046875,
-7.734375,
3.955078125,
34.98046875
] | 3.133333
| 94
| 0
| 94
| 0
|
[
69.9609375,
61.5234375,
58.798828125,
-4.04296875,
3.8671875,
34.98046875
] |
[
69.873046875,
60.029296875,
58.798828125,
-6.591796875,
3.955078125,
34.98046875
] | 3.166667
| 95
| 0
| 95
| 0
|
[
70.048828125,
62.578125,
58.7109375,
-1.318359375,
3.8671875,
34.98046875
] |
[
69.78515625,
60.029296875,
59.150390625,
-4.658203125,
4.130859375,
34.98046875
] | 3.2
| 96
| 0
| 96
| 0
|
[
69.9609375,
64.51171875,
58.798828125,
1.845703125,
3.8671875,
34.98046875
] |
[
69.873046875,
60.29296875,
58.974609375,
-2.197265625,
4.130859375,
34.98046875
] | 3.233333
| 97
| 0
| 97
| 0
|
[
70.048828125,
66.533203125,
58.7109375,
5.361328125,
3.8671875,
34.98046875
] |
[
69.873046875,
61.787109375,
59.150390625,
0.966796875,
4.130859375,
34.98046875
] | 3.266667
| 98
| 0
| 98
| 0
|
[
70.048828125,
68.73046875,
58.7109375,
9.580078125,
3.8671875,
34.98046875
] |
[
69.9609375,
63.720703125,
59.150390625,
4.130859375,
4.130859375,
34.98046875
] | 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": "koch",
"total_episodes": 20,
"total_frames": 5064,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"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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