Search is not available for this dataset
action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|
[
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[
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132.1875,
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] | 0.166667 | 5 | 0 | 5 | 0 |
[
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34.98046875,
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[
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132.1875,
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[
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34.98046875,
-4.39453125,
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179.033203125,
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132.099609375,
178.681640625,
4.04296875,
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[
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34.98046875,
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135.966796875,
179.033203125,
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[
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34.98046875,
-4.39453125,
135.966796875,
179.033203125,
3.69140625,
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132.099609375,
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[
4.921875,
126.650390625,
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12.744140625,
34.98046875,
-4.39453125,
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3.69140625,
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132.1875,
178.681640625,
4.04296875,
-17.2265625,
34.453125
] | 0.366667 | 11 | 0 | 11 | 0 |
[
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126.650390625,
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12.744140625,
34.98046875,
-4.39453125,
135.966796875,
179.033203125,
3.69140625,
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132.1875,
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] | 0.4 | 12 | 0 | 12 | 0 |
[
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12.744140625,
34.98046875,
-4.39453125,
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3.69140625,
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132.1875,
178.681640625,
4.04296875,
-17.2265625,
34.453125
] | 0 | 0 | 1 | 13 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch_bimanual",
"total_episodes": 2,
"total_frames": 14,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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": [
12
],
"names": [
"left_shoulder_pan",
"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_flex",
"left_wrist_roll",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_flex",
"right_wrist_roll",
"right_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan",
"left_shoulder_lift",
"left_elbow_flex",
"left_wrist_flex",
"left_wrist_roll",
"left_gripper",
"right_shoulder_pan",
"right_shoulder_lift",
"right_elbow_flex",
"right_wrist_flex",
"right_wrist_roll",
"right_gripper"
]
},
"observation.images.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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