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Zhaoting123
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koch_test

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
28.6
frame_index
int64
0
858
episode_index
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int64
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[ 1.7578125, 79.365234375, 85.693359375, 91.58203125, 10.01953125, 45.087890625 ]
2.533333
76
0
76
0
[ 2.548828125, 79.62890625, 82.265625, 94.921875, 18.193359375, 44.736328125 ]
[ 1.845703125, 79.365234375, 85.693359375, 91.58203125, 12.3046875, 45.087890625 ]
2.566667
77
0
77
0
[ 2.63671875, 79.62890625, 82.08984375, 94.921875, 19.6875, 44.736328125 ]
[ 1.845703125, 79.365234375, 85.693359375, 91.58203125, 14.4140625, 45.087890625 ]
2.6
78
0
78
0
[ 2.63671875, 79.62890625, 81.9140625, 94.921875, 21.533203125, 44.736328125 ]
[ 1.93359375, 79.365234375, 85.78125, 91.58203125, 16.34765625, 45.087890625 ]
2.633333
79
0
79
0
[ 2.724609375, 79.62890625, 81.474609375, 94.921875, 23.02734375, 44.736328125 ]
[ 1.93359375, 79.365234375, 85.693359375, 91.58203125, 18.017578125, 45.087890625 ]
2.666667
80
0
80
0
[ 2.98828125, 79.62890625, 80.947265625, 94.833984375, 25.048828125, 44.736328125 ]
[ 2.021484375, 79.365234375, 85.693359375, 91.58203125, 19.775390625, 45.087890625 ]
2.7
81
0
81
0
[ 3.1640625, 79.62890625, 80.068359375, 94.921875, 27.158203125, 44.6484375 ]
[ 2.28515625, 79.365234375, 85.078125, 91.58203125, 23.466796875, 45.087890625 ]
2.733333
82
0
82
0
[ 3.427734375, 79.716796875, 79.27734375, 94.833984375, 28.65234375, 44.6484375 ]
[ 2.373046875, 79.27734375, 84.55078125, 91.58203125, 24.2578125, 45.087890625 ]
2.766667
83
0
83
0
[ 3.427734375, 79.892578125, 79.013671875, 94.74609375, 28.916015625, 44.296875 ]
[ 2.63671875, 79.27734375, 83.408203125, 91.58203125, 25.83984375, 45.087890625 ]
2.8
84
0
84
0
[ 3.515625, 80.068359375, 78.3984375, 94.658203125, 29.091796875, 42.978515625 ]
[ 2.900390625, 79.365234375, 82.44140625, 91.58203125, 27.158203125, 45 ]
2.833333
85
0
85
0
[ 3.603515625, 80.15625, 77.51953125, 94.658203125, 29.00390625, 41.484375 ]
[ 2.98828125, 79.365234375, 81.650390625, 91.58203125, 28.037109375, 44.296875 ]
2.866667
86
0
86
0
[ 3.69140625, 80.5078125, 76.728515625, 94.658203125, 29.00390625, 39.638671875 ]
[ 3.1640625, 79.365234375, 80.859375, 91.58203125, 28.564453125, 42.978515625 ]
2.9
87
0
87
0
[ 3.69140625, 80.68359375, 75.76171875, 94.658203125, 29.00390625, 37.880859375 ]
[ 3.251953125, 79.365234375, 80.5078125, 91.58203125, 28.740234375, 41.484375 ]
2.933333
88
0
88
0
[ 3.69140625, 80.771484375, 74.794921875, 94.658203125, 28.828125, 36.298828125 ]
[ 3.427734375, 79.27734375, 80.068359375, 91.58203125, 29.00390625, 39.814453125 ]
2.966667
89
0
89
0
[ 3.69140625, 81.2109375, 74.091796875, 94.658203125, 28.65234375, 34.62890625 ]
[ 3.515625, 79.365234375, 79.27734375, 91.58203125, 29.00390625, 38.14453125 ]
3
90
0
90
0
[ 3.69140625, 81.650390625, 73.388671875, 94.5703125, 28.65234375, 33.22265625 ]
[ 3.603515625, 79.365234375, 78.134765625, 91.58203125, 28.916015625, 36.298828125 ]
3.033333
91
0
91
0
[ 3.779296875, 82.265625, 72.685546875, 94.39453125, 28.564453125, 32.16796875 ]
[ 3.69140625, 79.453125, 77.080078125, 91.58203125, 28.916015625, 34.62890625 ]
3.066667
92
0
92
0
[ 3.779296875, 82.529296875, 72.0703125, 94.21875, 28.30078125, 31.201171875 ]
[ 3.69140625, 79.716796875, 76.11328125, 91.58203125, 28.916015625, 33.22265625 ]
3.1
93
0
93
0
[ 3.8671875, 83.056640625, 71.54296875, 94.21875, 27.7734375, 30.234375 ]
[ 3.779296875, 80.068359375, 75.498046875, 91.58203125, 28.65234375, 31.9921875 ]
3.133333
94
0
94
0
[ 3.955078125, 83.671875, 71.103515625, 94.130859375, 26.71875, 29.267578125 ]
[ 3.779296875, 80.5078125, 75.234375, 91.58203125, 28.4765625, 30.9375 ]
3.166667
95
0
95
0
[ 4.04296875, 84.462890625, 71.103515625, 93.076171875, 25.576171875, 28.4765625 ]
[ 3.779296875, 80.947265625, 74.970703125, 91.58203125, 28.037109375, 30.05859375 ]
3.2
96
0
96
0
[ 4.04296875, 85.693359375, 71.103515625, 91.7578125, 24.43359375, 27.59765625 ]
[ 3.8671875, 81.5625, 75.05859375, 91.58203125, 27.333984375, 29.1796875 ]
3.233333
97
0
97
0
[ 3.955078125, 86.748046875, 71.103515625, 90.17578125, 23.5546875, 26.71875 ]
[ 3.955078125, 82.353515625, 75.05859375, 91.58203125, 26.54296875, 28.4765625 ]
3.266667
98
0
98
0
[ 3.955078125, 88.330078125, 71.103515625, 88.154296875, 22.5, 25.751953125 ]
[ 3.955078125, 83.14453125, 75.05859375, 91.318359375, 25.48828125, 27.421875 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 859,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": {
        "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.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": [
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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