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ZCWei
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koch_test

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Robotics
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Tags:
LeRobot
tutorial
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
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+ tags:
6
+ - LeRobot
7
+ - tutorial
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+ configs:
9
+ - config_name: default
10
+ data_files: data/*/*.parquet
11
+ ---
12
+
13
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
14
+
15
+ ## Dataset Description
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+
17
+
18
+
19
+ - **Homepage:** [More Information Needed]
20
+ - **Paper:** [More Information Needed]
21
+ - **License:** apache-2.0
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
+ ```json
27
+ {
28
+ "codebase_version": "v2.0",
29
+ "robot_type": "koch",
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+ "total_episodes": 51,
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+ "total_frames": 16602,
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+ "total_tasks": 1,
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+ "total_videos": 102,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:51"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "main_shoulder_pan",
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+ "main_shoulder_lift",
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+ "main_elbow_flex",
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+ "main_wrist_flex",
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+ "main_wrist_roll",
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+ "main_gripper"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "main_shoulder_pan",
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+ "main_shoulder_lift",
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+ "main_elbow_flex",
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+ "main_wrist_flex",
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+ "main_wrist_roll",
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+ "main_gripper"
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+ ]
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+ },
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+ "observation.images.laptop": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.phone": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 3
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+ ],
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ 1
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+ },
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+ "task_index": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
155
+
156
+
157
+ ## Citation
158
+
159
+ **BibTeX:**
160
+
161
+ ```bibtex
162
+ [More Information Needed]
163
+ ```
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