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hoffnung1208
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koch_test_lego_long_UMI_2

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
9.46
frame_index
int64
0
473
episode_index
int64
0
0
index
int64
0
473
task_index
int64
0
0
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[ -10.8984375, 63.544921875, 130.166015625, -57.919921875, 181.40625, 27.685546875 ]
1.58
79
0
79
0
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[ -10.986328125, 63.017578125, 130.166015625, -58.623046875, 181.0546875, 26.89453125 ]
1.6
80
0
80
0
[ -11.513671875, 63.544921875, 129.0234375, -65.654296875, 179.47265625, 25.048828125 ]
[ -11.07421875, 62.490234375, 130.078125, -59.150390625, 180.791015625, 25.751953125 ]
1.62
81
0
81
0
[ -11.513671875, 63.193359375, 128.935546875, -65.654296875, 179.296875, 25.048828125 ]
[ -10.986328125, 62.40234375, 130.166015625, -59.150390625, 180.615234375, 25.3125 ]
1.64
82
0
82
0
[ -11.513671875, 63.017578125, 128.935546875, -65.7421875, 179.12109375, 24.873046875 ]
[ -10.986328125, 62.314453125, 130.166015625, -59.150390625, 180.439453125, 25.400390625 ]
1.66
83
0
83
0
[ -11.513671875, 62.841796875, 128.935546875, -65.7421875, 178.857421875, 24.43359375 ]
[ -10.986328125, 62.314453125, 130.078125, -59.23828125, 180.439453125, 24.78515625 ]
1.68
84
0
84
0
[ -11.6015625, 62.666015625, 128.935546875, -65.7421875, 178.76953125, 22.67578125 ]
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1.7
85
0
85
0
[ -11.953125, 62.578125, 128.935546875, -65.7421875, 178.681640625, 22.32421875 ]
[ -10.986328125, 61.69921875, 130.078125, -59.326171875, 180.263671875, 23.818359375 ]
1.72
86
0
86
0
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1.74
87
0
87
0
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[ -11.07421875, 61.5234375, 130.078125, -59.326171875, 180.087890625, 22.32421875 ]
1.76
88
0
88
0
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[ -11.337890625, 61.5234375, 130.078125, -59.326171875, 180.087890625, 20.654296875 ]
1.78
89
0
89
0
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[ -11.6015625, 61.5234375, 130.078125, -59.326171875, 180.087890625, 17.9296875 ]
1.8
90
0
90
0
[ -14.4140625, 62.314453125, 130.341796875, -65.91796875, 178.154296875, 8.876953125 ]
[ -12.12890625, 61.5234375, 130.166015625, -59.326171875, 180.087890625, 15.029296875 ]
1.82
91
0
91
0
[ -15.64453125, 62.578125, 131.1328125, -65.91796875, 178.06640625, 5.009765625 ]
[ -12.83203125, 61.5234375, 130.25390625, -59.4140625, 180.087890625, 12.568359375 ]
1.84
92
0
92
0
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[ -13.7109375, 61.5234375, 130.693359375, -59.501953125, 180, 9.66796875 ]
1.86
93
0
93
0
[ -17.2265625, 62.9296875, 132.451171875, -65.91796875, 178.06640625, -0.966796875 ]
[ -14.150390625, 61.611328125, 131.220703125, -59.853515625, 179.912109375, 7.822265625 ]
1.88
94
0
94
0
[ -18.369140625, 63.369140625, 133.2421875, -65.91796875, 178.06640625, -4.74609375 ]
[ -15.029296875, 61.69921875, 131.572265625, -60.46875, 179.82421875, 5.888671875 ]
1.9
95
0
95
0
[ -19.423828125, 63.80859375, 133.9453125, -65.91796875, 177.978515625, -7.734375 ]
[ -16.259765625, 61.787109375, 132.1875, -61.083984375, 179.736328125, 5.185546875 ]
1.92
96
0
96
0
[ -19.951171875, 63.896484375, 134.384765625, -65.91796875, 177.890625, -7.91015625 ]
[ -17.40234375, 61.875, 132.802734375, -61.5234375, 179.560546875, 5.185546875 ]
1.94
97
0
97
0
[ -20.126953125, 64.072265625, 134.47265625, -65.91796875, 177.890625, -7.91015625 ]
[ -18.80859375, 62.314453125, 133.76953125, -61.962890625, 179.296875, 5.185546875 ]
1.96
98
0
98
0
[ -20.56640625, 64.599609375, 134.47265625, -65.91796875, 177.890625, -7.91015625 ]
[ -18.984375, 62.40234375, 133.9453125, -61.962890625, 179.296875, 5.185546875 ]
1.98
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": 474,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "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.uvc": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 50.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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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